request
stringlengths 11k
36.4k
| response
stringlengths 11k
36.3k
|
|---|---|
i would like you to demonstrate remove pedestrian actor named pedestrian_close_to_standing_12310?
```
<?xml version="1.0" ?>
<OpenSCENARIO>
<FileHeader revMajor="1" revMinor="0" date="2020-03-24T12:00:00" description="CARLA:LaneChangeSimple" author=""/>
<ParameterDeclarations/>
<CatalogLocations/>
<RoadNetwork>
<LogicFile filepath="Town04"/>
<SceneGraphFile filepath=""/>
</RoadNetwork>
<Entities>
<ScenarioObject name="hero">
<Vehicle name="vehicle.tesla.model3" vehicleCategory="car">
<ParameterDeclarations/>
<Performance maxSpeed="69.444" maxAcceleration="200" maxDeceleration="10.0"/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2.1" length="4.5" height="1.8"/>
</BoundingBox>
<Axles>
<FrontAxle maxSteering="0.5" wheelDiameter="0.6" trackWidth="1.8" positionX="3.1" positionZ="0.3"/>
<RearAxle maxSteering="0.0" wheelDiameter="0.6" trackWidth="1.8" positionX="0.0" positionZ="0.3"/>
</Axles>
<Properties>
<Property name="type" value="ego_vehicle"/>
</Properties>
</Vehicle>
</ScenarioObject>
<ScenarioObject name="adversary">
<Vehicle name="vehicle.lincoln.mkz_2017" vehicleCategory="car">
<ParameterDeclarations/>
<Performance maxSpeed="69.444" maxAcceleration="200" maxDeceleration="10.0"/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2.1" length="4.5" height="1.8"/>
</BoundingBox>
<Axles>
<FrontAxle maxSteering="0.5" wheelDiameter="0.6" trackWidth="1.8" positionX="3.1" positionZ="0.3"/>
<RearAxle maxSteering="0.0" wheelDiameter="0.6" trackWidth="1.8" positionX="0.0" positionZ="0.3"/>
</Axles>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Vehicle>
</ScenarioObject>
<ScenarioObject name="standing">
<Vehicle name="vehicle.volkswagen.t2" vehicleCategory="car">
<ParameterDeclarations/>
<Performance maxSpeed="69.444" maxAcceleration="200" maxDeceleration="10.0"/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2.1" length="4.5" height="1.8"/>
</BoundingBox>
<Axles>
<FrontAxle maxSteering="0.5" wheelDiameter="0.6" trackWidth="1.8" positionX="3.1" positionZ="0.3"/>
<RearAxle maxSteering="0.0" wheelDiameter="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_12298">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_close_to_hero_12299">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_close_to_standing_12300">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_w_transform_12301">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_w_transform_12303">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_w_transform_12304">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_w_transform_12305">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_close_to_standing_12306">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_close_to_standing_12307">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_close_to_standing_12308">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_w_transform_12309">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_close_to_standing_12310">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_close_to_adversary_12311">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_close_to_standing_12312">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
</Entities>
<Storyboard>
<Init>
<Actions>
<GlobalAction>
<EnvironmentAction>
<Environment name="Environment1">
<TimeOfDay animation="false" dateTime="2019-06-25T12:00:00"/>
<Weather cloudState="free">
<Sun intensity="0.85" azimuth="0" elevation="1.31"/>
<Fog visualRange="100000.0"/>
<Precipitation precipitationType="dry" intensity="0.0"/>
</Weather>
<RoadCondition frictionScaleFactor="1.0"/>
</Environment>
</EnvironmentAction>
</GlobalAction>
<Private entityRef="hero">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-9.4" y="-152.8" z="0.5" h="1.57079632679"/>
</Position>
</TeleportAction>
</PrivateAction>
<PrivateAction>
<ControllerAction>
<AssignControllerAction>
<Controller name="HeroAgent">
<Properties>
<Property name="module" value="external_control"/>
</Properties>
</Controller>
</AssignControllerAction>
<OverrideControllerValueAction>
<Throttle value="0" active="false"/>
<Brake value="0" active="false"/>
<Clutch value="0" active="false"/>
<ParkingBrake value="0" active="false"/>
<SteeringWheel value="0" active="false"/>
<Gear number="0" active="false"/>
</OverrideControllerValueAction>
</ControllerAction>
</PrivateAction>
</Private>
<Private entityRef="adversary">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-9.4" y="-71.0" z="0.5" h="1.57079632679"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="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_12298">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-31.62824821472168" y="-91.01094818115234" z="0.5"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_close_to_hero_12299">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-5.994327545166016" y="-148.91136169433594" z="0.0014652633108198643"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_close_to_standing_12300">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-2.5331871509552" y="20.951129913330078" z="0.003029785118997097"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_w_transform_12301">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="31.060665130615234" y="54.49716567993164" z="0.5"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_w_transform_12303">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="58.635467529296875" y="68.99224090576172" z="0.5"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_w_transform_12304">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="22.97245216369629" y="86.47833251953125" z="0.5"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_w_transform_12305">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-44.67311477661133" y="88.16582489013672" z="0.5"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_close_to_standing_12306">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-11.21707820892334" y="38.242549896240234" z="0.003098983783274889"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_close_to_standing_12307">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-1.046901822090149" y="23.367616653442383" z="0.0031229781452566385"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_close_to_standing_12308">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-9.754056930541992" y="38.13938903808594" z="0.0030880735721439123"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_w_transform_12309">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="67.70283508300781" y="9.16649341583252" z="0.5"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_close_to_standing_12310">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-1.2346696853637695" y="34.840457916259766" z="0.003099975408986211"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_close_to_adversary_12311">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-2.8004400730133057" y="-67.95271301269531" z="0.0338425450026989"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_close_to_standing_12312">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-6.021095275878906" y="27.71571159362793" z="0.0031007002107799053"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
</Actions>
</Init>
<Story name="MyStory">
<Act name="Behavior">
<ManeuverGroup maximumExecutionCount="1" name="ManeuverSequence">
<Actors selectTriggeringEntities="false">
<EntityRef entityRef="adversary"/>
</Actors>
<Maneuver name="LaneChangeSimpleManeuver">
<Event name="AdversaryAccelerates" priority="overwrite">
<Action name="AdversaryAccelerates">
<PrivateAction>
<LongitudinalAction>
<SpeedAction>
<SpeedActionDynamics dynamicsShape="step" value="50" dynamicsDimension="distance"/>
<SpeedActionTarget>
<AbsoluteTargetSpeed value="5.0"/>
</SpeedActionTarget>
</SpeedAction>
</LongitudinalAction>
</PrivateAction>
</Action>
<StartTrigger>
<ConditionGroup>
<Condition name="StartCondition" delay="0" conditionEdge="rising">
<ByEntityCondition>
<TriggeringEntities triggeringEntitiesRule="any">
<EntityRef entityRef="hero"/>
</TriggeringEntities>
<EntityCondition>
<RelativeDistanceCondition entityRef="adversary" relativeDistanceType="cartesianDistance" value="40.0" freespace="false" rule="lessThan"/>
</EntityCondition>
</ByEntityCondition>
</Condition>
</ConditionGroup>
</StartTrigger>
</Event>
<Event name="AdversaryChangesLane" priority="overwrite">
<Action name="AdversaryChangesLane">
<PrivateAction>
<LateralAction>
<LaneChangeAction>
<LaneChangeActionDynamics dynamicsShape="linear" value="25" dynamicsDimension="distance"/>
<LaneChangeTarget>
<RelativeTargetLane entityRef="adversary" value="-1"/>
</LaneChangeTarget>
</LaneChangeAction>
</LateralAction>
</PrivateAction>
</Action>
<StartTrigger>
<ConditionGroup>
<Condition name="AfterAdversaryAccelerates" delay="0" conditionEdge="rising">
<ByValueCondition>
<StoryboardElementStateCondition storyboardElementType="action" storyboardElementRef="AdversaryAccelerates" state="completeState"/>
</ByValueCondition>
</Condition>
</ConditionGroup>
</StartTrigger>
</Event>
</Maneuver>
</ManeuverGroup>
<StartTrigger>
<ConditionGroup>
<Condition name="OverallStartCondition" delay="0" conditionEdge="rising">
<ByEntityCondition>
<TriggeringEntities triggeringEntitiesRule="any">
<EntityRef entityRef="hero"/>
</TriggeringEntities>
<EntityCondition>
<TraveledDistanceCondition value="1.0"/>
</EntityCondition>
</ByEntityCondition>
</Condition>
<Condition name="StartTime" delay="0" conditionEdge="rising">
<ByValueCondition>
<SimulationTimeCondition value="0" rule="equalTo"/>
</ByValueCondition>
</Condition>
</ConditionGroup>
</StartTrigger>
<StopTrigger>
<ConditionGroup>
<Condition name="EndCondition" delay="0" conditionEdge="rising">
<ByEntityCondition>
<TriggeringEntities triggeringEntitiesRule="any">
<EntityRef entityRef="hero"/>
</TriggeringEntities>
<EntityCondition>
<TraveledDistanceCondition value="200.0"/>
</EntityCondition>
</ByEntityCondition>
</Condition>
</ConditionGroup>
</StopTrigger>
</Act>
</Story>
<StopTrigger>
<ConditionGroup>
<Condition name="criteria_RunningStopTest" delay="0" conditionEdge="rising">
<ByValueCondition>
<ParameterCondition parameterRef="" value="" rule="lessThan"/>
</ByValueCondition>
</Condition>
<Condition name="criteria_RunningRedLightTest" delay="0" conditionEdge="rising">
<ByValueCondition>
<ParameterCondition parameterRef="" value="" rule="lessThan"/>
</ByValueCondition>
</Condition>
<Condition name="criteria_WrongLaneTest" delay="0" conditionEdge="rising">
<ByValueCondition>
<ParameterCondition parameterRef="" value="" rule="lessThan"/>
</ByValueCondition>
</Condition>
<Condition name="criteria_OnSidewalkTest" delay="0" conditionEdge="rising">
<ByValueCondition>
<ParameterCondition parameterRef="" value="" rule="lessThan"/>
</ByValueCondition>
</Condition>
<Condition name="criteria_KeepLaneTest" delay="0" conditionEdge="rising">
<ByValueCondition>
<ParameterCondition parameterRef="" value="" rule="lessThan"/>
</ByValueCondition>
</Condition>
<Condition name="criteria_CollisionTest" delay="0" conditionEdge="rising">
<ByValueCondition>
<ParameterCondition parameterRef="" value="" rule="lessThan"/>
</ByValueCondition>
</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_12298">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_close_to_hero_12299">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_close_to_standing_12300">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_w_transform_12301">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_w_transform_12303">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_w_transform_12304">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_w_transform_12305">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_close_to_standing_12306">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_close_to_standing_12307">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_close_to_standing_12308">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_w_transform_12309">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_close_to_adversary_12311">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_close_to_standing_12312">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
</Entities>
<Storyboard>
<Init>
<Actions>
<GlobalAction>
<EnvironmentAction>
<Environment name="Environment1">
<TimeOfDay animation="false" dateTime="2019-06-25T12:00:00"/>
<Weather cloudState="free">
<Sun intensity="0.85" azimuth="0" elevation="1.31"/>
<Fog visualRange="100000.0"/>
<Precipitation precipitationType="dry" intensity="0.0"/>
</Weather>
<RoadCondition frictionScaleFactor="1.0"/>
</Environment>
</EnvironmentAction>
</GlobalAction>
<Private entityRef="hero">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-9.4" y="-152.8" z="0.5" h="1.57079632679"/>
</Position>
</TeleportAction>
</PrivateAction>
<PrivateAction>
<ControllerAction>
<AssignControllerAction>
<Controller name="HeroAgent">
<Properties>
<Property name="module" value="external_control"/>
</Properties>
</Controller>
</AssignControllerAction>
<OverrideControllerValueAction>
<Throttle value="0" active="false"/>
<Brake value="0" active="false"/>
<Clutch value="0" active="false"/>
<ParkingBrake value="0" active="false"/>
<SteeringWheel value="0" active="false"/>
<Gear number="0" active="false"/>
</OverrideControllerValueAction>
</ControllerAction>
</PrivateAction>
</Private>
<Private entityRef="adversary">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-9.4" y="-71.0" z="0.5" h="1.57079632679"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="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_12298">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-31.62824821472168" y="-91.01094818115234" z="0.5"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_close_to_hero_12299">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-5.994327545166016" y="-148.91136169433594" z="0.0014652633108198643"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_close_to_standing_12300">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-2.5331871509552" y="20.951129913330078" z="0.003029785118997097"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_w_transform_12301">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="31.060665130615234" y="54.49716567993164" z="0.5"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_w_transform_12303">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="58.635467529296875" y="68.99224090576172" z="0.5"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_w_transform_12304">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="22.97245216369629" y="86.47833251953125" z="0.5"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_w_transform_12305">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-44.67311477661133" y="88.16582489013672" z="0.5"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_close_to_standing_12306">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-11.21707820892334" y="38.242549896240234" z="0.003098983783274889"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_close_to_standing_12307">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-1.046901822090149" y="23.367616653442383" z="0.0031229781452566385"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_close_to_standing_12308">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-9.754056930541992" y="38.13938903808594" z="0.0030880735721439123"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_w_transform_12309">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="67.70283508300781" y="9.16649341583252" z="0.5"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_close_to_adversary_12311">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-2.8004400730133057" y="-67.95271301269531" z="0.0338425450026989"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_close_to_standing_12312">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-6.021095275878906" y="27.71571159362793" z="0.0031007002107799053"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
</Actions>
</Init>
<Story name="MyStory">
<Act name="Behavior">
<ManeuverGroup maximumExecutionCount="1" name="ManeuverSequence">
<Actors selectTriggeringEntities="false">
<EntityRef entityRef="adversary"/>
</Actors>
<Maneuver name="LaneChangeSimpleManeuver">
<Event name="AdversaryAccelerates" priority="overwrite">
<Action name="AdversaryAccelerates">
<PrivateAction>
<LongitudinalAction>
<SpeedAction>
<SpeedActionDynamics dynamicsShape="step" value="50" dynamicsDimension="distance"/>
<SpeedActionTarget>
<AbsoluteTargetSpeed value="5.0"/>
</SpeedActionTarget>
</SpeedAction>
</LongitudinalAction>
</PrivateAction>
</Action>
<StartTrigger>
<ConditionGroup>
<Condition name="StartCondition" delay="0" conditionEdge="rising">
<ByEntityCondition>
<TriggeringEntities triggeringEntitiesRule="any">
<EntityRef entityRef="hero"/>
</TriggeringEntities>
<EntityCondition>
<RelativeDistanceCondition entityRef="adversary" relativeDistanceType="cartesianDistance" value="40.0" freespace="false" rule="lessThan"/>
</EntityCondition>
</ByEntityCondition>
</Condition>
</ConditionGroup>
</StartTrigger>
</Event>
<Event name="AdversaryChangesLane" priority="overwrite">
<Action name="AdversaryChangesLane">
<PrivateAction>
<LateralAction>
<LaneChangeAction>
<LaneChangeActionDynamics dynamicsShape="linear" value="25" dynamicsDimension="distance"/>
<LaneChangeTarget>
<RelativeTargetLane entityRef="adversary" value="-1"/>
</LaneChangeTarget>
</LaneChangeAction>
</LateralAction>
</PrivateAction>
</Action>
<StartTrigger>
<ConditionGroup>
<Condition name="AfterAdversaryAccelerates" delay="0" conditionEdge="rising">
<ByValueCondition>
<StoryboardElementStateCondition storyboardElementType="action" storyboardElementRef="AdversaryAccelerates" state="completeState"/>
</ByValueCondition>
</Condition>
</ConditionGroup>
</StartTrigger>
</Event>
</Maneuver>
</ManeuverGroup>
<StartTrigger>
<ConditionGroup>
<Condition name="OverallStartCondition" delay="0" conditionEdge="rising">
<ByEntityCondition>
<TriggeringEntities triggeringEntitiesRule="any">
<EntityRef entityRef="hero"/>
</TriggeringEntities>
<EntityCondition>
<TraveledDistanceCondition value="1.0"/>
</EntityCondition>
</ByEntityCondition>
</Condition>
<Condition name="StartTime" delay="0" conditionEdge="rising">
<ByValueCondition>
<SimulationTimeCondition value="0" rule="equalTo"/>
</ByValueCondition>
</Condition>
</ConditionGroup>
</StartTrigger>
<StopTrigger>
<ConditionGroup>
<Condition name="EndCondition" delay="0" conditionEdge="rising">
<ByEntityCondition>
<TriggeringEntities triggeringEntitiesRule="any">
<EntityRef entityRef="hero"/>
</TriggeringEntities>
<EntityCondition>
<TraveledDistanceCondition value="200.0"/>
</EntityCondition>
</ByEntityCondition>
</Condition>
</ConditionGroup>
</StopTrigger>
</Act>
</Story>
<StopTrigger>
<ConditionGroup>
<Condition name="criteria_RunningStopTest" delay="0" conditionEdge="rising">
<ByValueCondition>
<ParameterCondition parameterRef="" value="" rule="lessThan"/>
</ByValueCondition>
</Condition>
<Condition name="criteria_RunningRedLightTest" delay="0" conditionEdge="rising">
<ByValueCondition>
<ParameterCondition parameterRef="" value="" rule="lessThan"/>
</ByValueCondition>
</Condition>
<Condition name="criteria_WrongLaneTest" delay="0" conditionEdge="rising">
<ByValueCondition>
<ParameterCondition parameterRef="" value="" rule="lessThan"/>
</ByValueCondition>
</Condition>
<Condition name="criteria_OnSidewalkTest" delay="0" conditionEdge="rising">
<ByValueCondition>
<ParameterCondition parameterRef="" value="" rule="lessThan"/>
</ByValueCondition>
</Condition>
<Condition name="criteria_KeepLaneTest" delay="0" conditionEdge="rising">
<ByValueCondition>
<ParameterCondition parameterRef="" value="" rule="lessThan"/>
</ByValueCondition>
</Condition>
<Condition name="criteria_CollisionTest" delay="0" conditionEdge="rising">
<ByValueCondition>
<ParameterCondition parameterRef="" value="" rule="lessThan"/>
</ByValueCondition>
</Condition>
<Condition name="criteria_DrivenDistanceTest" delay="0" conditionEdge="rising">
<ByValueCondition>
<ParameterCondition parameterRef="distance_success" value="100" rule="lessThan"/>
</ByValueCondition>
</Condition>
</ConditionGroup>
</StopTrigger>
</Storyboard>
</OpenSCENARIO>
``` |
can you add pedestrian close to hero?
```
<?xml version="1.0" ?>
<OpenSCENARIO>
<FileHeader revMajor="1" revMinor="0" date="2020-03-24T12:00:00" description="CARLA:LaneChangeSimple" author=""/>
<ParameterDeclarations/>
<CatalogLocations/>
<RoadNetwork>
<LogicFile filepath="Town04"/>
<SceneGraphFile filepath=""/>
</RoadNetwork>
<Entities>
<ScenarioObject name="hero">
<Vehicle name="vehicle.tesla.model3" vehicleCategory="car">
<ParameterDeclarations/>
<Performance maxSpeed="69.444" maxAcceleration="200" maxDeceleration="10.0"/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2.1" length="4.5" height="1.8"/>
</BoundingBox>
<Axles>
<FrontAxle maxSteering="0.5" wheelDiameter="0.6" trackWidth="1.8" positionX="3.1" positionZ="0.3"/>
<RearAxle maxSteering="0.0" wheelDiameter="0.6" trackWidth="1.8" positionX="0.0" positionZ="0.3"/>
</Axles>
<Properties>
<Property name="type" value="ego_vehicle"/>
</Properties>
</Vehicle>
</ScenarioObject>
<ScenarioObject name="adversary">
<Vehicle name="vehicle.lincoln.mkz_2017" vehicleCategory="car">
<ParameterDeclarations/>
<Performance maxSpeed="69.444" maxAcceleration="200" maxDeceleration="10.0"/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2.1" length="4.5" height="1.8"/>
</BoundingBox>
<Axles>
<FrontAxle maxSteering="0.5" wheelDiameter="0.6" trackWidth="1.8" positionX="3.1" positionZ="0.3"/>
<RearAxle maxSteering="0.0" wheelDiameter="0.6" trackWidth="1.8" positionX="0.0" positionZ="0.3"/>
</Axles>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Vehicle>
</ScenarioObject>
<ScenarioObject name="standing">
<Vehicle name="vehicle.volkswagen.t2" vehicleCategory="car">
<ParameterDeclarations/>
<Performance maxSpeed="69.444" maxAcceleration="200" maxDeceleration="10.0"/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2.1" length="4.5" height="1.8"/>
</BoundingBox>
<Axles>
<FrontAxle maxSteering="0.5" wheelDiameter="0.6" trackWidth="1.8" positionX="3.1" positionZ="0.3"/>
<RearAxle maxSteering="0.0" wheelDiameter="0.6" trackWidth="1.8" positionX="0.0" positionZ="0.3"/>
</Axles>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Vehicle>
</ScenarioObject>
<ScenarioObject name="pedestrian_close_to_adversary_31152">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_close_to_standing_31153">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_close_to_standing_31154">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_close_to_standing_31155">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_w_transform_31156">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_close_to_adversary_31157">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_close_to_hero_31158">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_close_to_standing_31159">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_close_to_adversary_31160">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_close_to_hero_31161">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_w_transform_31162">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_w_transform_31163">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_close_to_hero_31164">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_close_to_adversary_31165">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_w_transform_31166">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
</Entities>
<Storyboard>
<Init>
<Actions>
<GlobalAction>
<EnvironmentAction>
<Environment name="Environment1">
<TimeOfDay animation="false" dateTime="2019-06-25T12:00:00"/>
<Weather cloudState="free">
<Sun intensity="0.85" azimuth="0" elevation="1.31"/>
<Fog visualRange="100000.0"/>
<Precipitation precipitationType="dry" intensity="0.0"/>
</Weather>
<RoadCondition frictionScaleFactor="1.0"/>
</Environment>
</EnvironmentAction>
</GlobalAction>
<Private entityRef="hero">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-9.4" y="-152.8" z="0.5" h="1.57079632679"/>
</Position>
</TeleportAction>
</PrivateAction>
<PrivateAction>
<ControllerAction>
<AssignControllerAction>
<Controller name="HeroAgent">
<Properties>
<Property name="module" value="external_control"/>
</Properties>
</Controller>
</AssignControllerAction>
<OverrideControllerValueAction>
<Throttle value="0" active="false"/>
<Brake value="0" active="false"/>
<Clutch value="0" active="false"/>
<ParkingBrake value="0" active="false"/>
<SteeringWheel value="0" active="false"/>
<Gear number="0" active="false"/>
</OverrideControllerValueAction>
</ControllerAction>
</PrivateAction>
</Private>
<Private entityRef="adversary">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-9.4" y="-71.0" z="0.5" h="1.57079632679"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="standing">
<PrivateAction>
<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_31152">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-19.108469009399414" y="-67.33770751953125" z="0.0338008888065815"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_close_to_standing_31153">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="1.434672474861145" y="23.4910888671875" z="0.0030881117563694715"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_close_to_standing_31154">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-10.411752700805664" y="29.09229278564453" z="0.0030936049297451973"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_close_to_standing_31155">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-8.717171669006348" y="26.03203582763672" z="0.0030621718615293503"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_w_transform_31156">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="27.104938507080078" y="11.68704605102539" z="0.5"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_close_to_adversary_31157">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-5.459474563598633" y="-68.18099212646484" z="0.03382816165685654"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_close_to_hero_31158">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-9.060141563415527" y="-148.13499450683594" z="0.0020544815342873335"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_close_to_standing_31159">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-1.16835618019104" y="27.316091537475586" z="0.0030581282917410135"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_close_to_adversary_31160">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-1.205709457397461" y="-73.08222961425781" z="0.03377212584018707"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_close_to_hero_31161">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-3.0794906616210938" y="-160.87562561035156" z="0.0020544815342873335"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_w_transform_31162">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="86.15725708007812" y="-21.88829231262207" z="0.5"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_w_transform_31163">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-68.721435546875" y="-60.16938018798828" z="0.5"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_close_to_hero_31164">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-13.305055618286133" y="-161.45603942871094" z="0.0020544815342873335"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_close_to_adversary_31165">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-16.940521240234375" y="-74.21908569335938" z="0.03378337621688843"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_w_transform_31166">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-76.73200988769531" y="-3.7711989879608154" 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_31152">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_close_to_standing_31153">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_close_to_standing_31154">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_close_to_standing_31155">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_w_transform_31156">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_close_to_adversary_31157">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_close_to_hero_31158">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_close_to_standing_31159">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_close_to_adversary_31160">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_close_to_hero_31161">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_w_transform_31162">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_w_transform_31163">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_close_to_hero_31164">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_close_to_adversary_31165">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_w_transform_31166">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_close_to_hero_31167">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
</Entities>
<Storyboard>
<Init>
<Actions>
<GlobalAction>
<EnvironmentAction>
<Environment name="Environment1">
<TimeOfDay animation="false" dateTime="2019-06-25T12:00:00"/>
<Weather cloudState="free">
<Sun intensity="0.85" azimuth="0" elevation="1.31"/>
<Fog visualRange="100000.0"/>
<Precipitation precipitationType="dry" intensity="0.0"/>
</Weather>
<RoadCondition frictionScaleFactor="1.0"/>
</Environment>
</EnvironmentAction>
</GlobalAction>
<Private entityRef="hero">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-9.4" y="-152.8" z="0.5" h="1.57079632679"/>
</Position>
</TeleportAction>
</PrivateAction>
<PrivateAction>
<ControllerAction>
<AssignControllerAction>
<Controller name="HeroAgent">
<Properties>
<Property name="module" value="external_control"/>
</Properties>
</Controller>
</AssignControllerAction>
<OverrideControllerValueAction>
<Throttle value="0" active="false"/>
<Brake value="0" active="false"/>
<Clutch value="0" active="false"/>
<ParkingBrake value="0" active="false"/>
<SteeringWheel value="0" active="false"/>
<Gear number="0" active="false"/>
</OverrideControllerValueAction>
</ControllerAction>
</PrivateAction>
</Private>
<Private entityRef="adversary">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-9.4" y="-71.0" z="0.5" h="1.57079632679"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="standing">
<PrivateAction>
<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_31152">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-19.108469009399414" y="-67.33770751953125" z="0.0338008888065815"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_close_to_standing_31153">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="1.434672474861145" y="23.4910888671875" z="0.0030881117563694715"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_close_to_standing_31154">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-10.411752700805664" y="29.09229278564453" z="0.0030936049297451973"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_close_to_standing_31155">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-8.717171669006348" y="26.03203582763672" z="0.0030621718615293503"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_w_transform_31156">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="27.104938507080078" y="11.68704605102539" z="0.5"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_close_to_adversary_31157">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-5.459474563598633" y="-68.18099212646484" z="0.03382816165685654"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_close_to_hero_31158">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-9.060141563415527" y="-148.13499450683594" z="0.0020544815342873335"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_close_to_standing_31159">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-1.16835618019104" y="27.316091537475586" z="0.0030581282917410135"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_close_to_adversary_31160">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-1.205709457397461" y="-73.08222961425781" z="0.03377212584018707"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_close_to_hero_31161">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-3.0794906616210938" y="-160.87562561035156" z="0.0020544815342873335"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_w_transform_31162">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="86.15725708007812" y="-21.88829231262207" z="0.5"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_w_transform_31163">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-68.721435546875" y="-60.16938018798828" z="0.5"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_close_to_hero_31164">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-13.305055618286133" y="-161.45603942871094" z="0.0020544815342873335"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_close_to_adversary_31165">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-16.940521240234375" y="-74.21908569335938" z="0.03378337621688843"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_w_transform_31166">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-76.73200988769531" y="-3.7711989879608154" z="0.5"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_close_to_hero_31167">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-16.86638832092285" y="-150.17198181152344" z="0.0020544815342873335"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
</Actions>
</Init>
<Story name="MyStory">
<Act name="Behavior">
<ManeuverGroup maximumExecutionCount="1" name="ManeuverSequence">
<Actors selectTriggeringEntities="false">
<EntityRef entityRef="adversary"/>
</Actors>
<Maneuver name="LaneChangeSimpleManeuver">
<Event name="AdversaryAccelerates" priority="overwrite">
<Action name="AdversaryAccelerates">
<PrivateAction>
<LongitudinalAction>
<SpeedAction>
<SpeedActionDynamics dynamicsShape="step" value="50" dynamicsDimension="distance"/>
<SpeedActionTarget>
<AbsoluteTargetSpeed value="5.0"/>
</SpeedActionTarget>
</SpeedAction>
</LongitudinalAction>
</PrivateAction>
</Action>
<StartTrigger>
<ConditionGroup>
<Condition name="StartCondition" delay="0" conditionEdge="rising">
<ByEntityCondition>
<TriggeringEntities triggeringEntitiesRule="any">
<EntityRef entityRef="hero"/>
</TriggeringEntities>
<EntityCondition>
<RelativeDistanceCondition entityRef="adversary" relativeDistanceType="cartesianDistance" value="40.0" freespace="false" rule="lessThan"/>
</EntityCondition>
</ByEntityCondition>
</Condition>
</ConditionGroup>
</StartTrigger>
</Event>
<Event name="AdversaryChangesLane" priority="overwrite">
<Action name="AdversaryChangesLane">
<PrivateAction>
<LateralAction>
<LaneChangeAction>
<LaneChangeActionDynamics dynamicsShape="linear" value="25" dynamicsDimension="distance"/>
<LaneChangeTarget>
<RelativeTargetLane entityRef="adversary" value="-1"/>
</LaneChangeTarget>
</LaneChangeAction>
</LateralAction>
</PrivateAction>
</Action>
<StartTrigger>
<ConditionGroup>
<Condition name="AfterAdversaryAccelerates" delay="0" conditionEdge="rising">
<ByValueCondition>
<StoryboardElementStateCondition storyboardElementType="action" storyboardElementRef="AdversaryAccelerates" state="completeState"/>
</ByValueCondition>
</Condition>
</ConditionGroup>
</StartTrigger>
</Event>
</Maneuver>
</ManeuverGroup>
<StartTrigger>
<ConditionGroup>
<Condition name="OverallStartCondition" delay="0" conditionEdge="rising">
<ByEntityCondition>
<TriggeringEntities triggeringEntitiesRule="any">
<EntityRef entityRef="hero"/>
</TriggeringEntities>
<EntityCondition>
<TraveledDistanceCondition value="1.0"/>
</EntityCondition>
</ByEntityCondition>
</Condition>
<Condition name="StartTime" delay="0" conditionEdge="rising">
<ByValueCondition>
<SimulationTimeCondition value="0" rule="equalTo"/>
</ByValueCondition>
</Condition>
</ConditionGroup>
</StartTrigger>
<StopTrigger>
<ConditionGroup>
<Condition name="EndCondition" delay="0" conditionEdge="rising">
<ByEntityCondition>
<TriggeringEntities triggeringEntitiesRule="any">
<EntityRef entityRef="hero"/>
</TriggeringEntities>
<EntityCondition>
<TraveledDistanceCondition value="200.0"/>
</EntityCondition>
</ByEntityCondition>
</Condition>
</ConditionGroup>
</StopTrigger>
</Act>
</Story>
<StopTrigger>
<ConditionGroup>
<Condition name="criteria_RunningStopTest" delay="0" conditionEdge="rising">
<ByValueCondition>
<ParameterCondition parameterRef="" value="" rule="lessThan"/>
</ByValueCondition>
</Condition>
<Condition name="criteria_RunningRedLightTest" delay="0" conditionEdge="rising">
<ByValueCondition>
<ParameterCondition parameterRef="" value="" rule="lessThan"/>
</ByValueCondition>
</Condition>
<Condition name="criteria_WrongLaneTest" delay="0" conditionEdge="rising">
<ByValueCondition>
<ParameterCondition parameterRef="" value="" rule="lessThan"/>
</ByValueCondition>
</Condition>
<Condition name="criteria_OnSidewalkTest" delay="0" conditionEdge="rising">
<ByValueCondition>
<ParameterCondition parameterRef="" value="" rule="lessThan"/>
</ByValueCondition>
</Condition>
<Condition name="criteria_KeepLaneTest" delay="0" conditionEdge="rising">
<ByValueCondition>
<ParameterCondition parameterRef="" value="" rule="lessThan"/>
</ByValueCondition>
</Condition>
<Condition name="criteria_CollisionTest" delay="0" conditionEdge="rising">
<ByValueCondition>
<ParameterCondition parameterRef="" value="" rule="lessThan"/>
</ByValueCondition>
</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 actor named pedestrian_w_transform_16110?
```
<?xml version="1.0" ?>
<OpenSCENARIO>
<FileHeader revMajor="1" revMinor="0" date="2020-03-24T12:00:00" description="CARLA:LaneChangeSimple" author=""/>
<ParameterDeclarations/>
<CatalogLocations/>
<RoadNetwork>
<LogicFile filepath="Town04"/>
<SceneGraphFile filepath=""/>
</RoadNetwork>
<Entities>
<ScenarioObject name="hero">
<Vehicle name="vehicle.tesla.model3" vehicleCategory="car">
<ParameterDeclarations/>
<Performance maxSpeed="69.444" maxAcceleration="200" maxDeceleration="10.0"/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2.1" length="4.5" height="1.8"/>
</BoundingBox>
<Axles>
<FrontAxle maxSteering="0.5" wheelDiameter="0.6" trackWidth="1.8" positionX="3.1" positionZ="0.3"/>
<RearAxle maxSteering="0.0" wheelDiameter="0.6" trackWidth="1.8" positionX="0.0" positionZ="0.3"/>
</Axles>
<Properties>
<Property name="type" value="ego_vehicle"/>
</Properties>
</Vehicle>
</ScenarioObject>
<ScenarioObject name="adversary">
<Vehicle name="vehicle.lincoln.mkz_2017" vehicleCategory="car">
<ParameterDeclarations/>
<Performance maxSpeed="69.444" maxAcceleration="200" maxDeceleration="10.0"/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2.1" length="4.5" height="1.8"/>
</BoundingBox>
<Axles>
<FrontAxle maxSteering="0.5" wheelDiameter="0.6" trackWidth="1.8" positionX="3.1" positionZ="0.3"/>
<RearAxle maxSteering="0.0" wheelDiameter="0.6" trackWidth="1.8" positionX="0.0" positionZ="0.3"/>
</Axles>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Vehicle>
</ScenarioObject>
<ScenarioObject name="standing">
<Vehicle name="vehicle.volkswagen.t2" vehicleCategory="car">
<ParameterDeclarations/>
<Performance maxSpeed="69.444" maxAcceleration="200" maxDeceleration="10.0"/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2.1" length="4.5" height="1.8"/>
</BoundingBox>
<Axles>
<FrontAxle maxSteering="0.5" wheelDiameter="0.6" trackWidth="1.8" positionX="3.1" positionZ="0.3"/>
<RearAxle maxSteering="0.0" wheelDiameter="0.6" 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_16109">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_w_transform_16110">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_w_transform_16115">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_close_to_hero_16116">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_close_to_adversary_16117">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_close_to_standing_16118">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_w_transform_16119">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_w_transform_16120">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_w_transform_16121">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_w_transform_16122">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_w_transform_16123">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_close_to_standing_16124">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_close_to_standing_16125">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_close_to_adversary_16126">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_close_to_adversary_16127">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
</Entities>
<Storyboard>
<Init>
<Actions>
<GlobalAction>
<EnvironmentAction>
<Environment name="Environment1">
<TimeOfDay animation="false" dateTime="2019-06-25T12:00:00"/>
<Weather cloudState="free">
<Sun intensity="0.85" azimuth="0" elevation="1.31"/>
<Fog visualRange="100000.0"/>
<Precipitation precipitationType="dry" intensity="0.0"/>
</Weather>
<RoadCondition frictionScaleFactor="1.0"/>
</Environment>
</EnvironmentAction>
</GlobalAction>
<Private entityRef="hero">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-9.4" y="-152.8" z="0.5" h="1.57079632679"/>
</Position>
</TeleportAction>
</PrivateAction>
<PrivateAction>
<ControllerAction>
<AssignControllerAction>
<Controller name="HeroAgent">
<Properties>
<Property name="module" value="external_control"/>
</Properties>
</Controller>
</AssignControllerAction>
<OverrideControllerValueAction>
<Throttle value="0" active="false"/>
<Brake value="0" active="false"/>
<Clutch value="0" active="false"/>
<ParkingBrake value="0" active="false"/>
<SteeringWheel value="0" active="false"/>
<Gear number="0" active="false"/>
</OverrideControllerValueAction>
</ControllerAction>
</PrivateAction>
</Private>
<Private entityRef="adversary">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-9.4" y="-71.0" z="0.5" h="1.57079632679"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="standing">
<PrivateAction>
<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_16109">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-11.934146881103516" y="22.772192001342773" z="0.0031306075397878885"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_w_transform_16110">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-93.92292022705078" y="-25.098451614379883" z="0.5"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_w_transform_16115">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-2.2616147994995117" y="-68.09765625" z="0.5"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_close_to_hero_16116">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-13.301820755004883" y="-145.3469696044922" z="0.0014652633108198643"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_close_to_adversary_16117">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-8.513162612915039" y="-77.58438110351562" z="0.033780213445425034"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_close_to_standing_16118">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-15.500310897827148" y="28.41831398010254" z="0.003046836704015732"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_w_transform_16119">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="85.99822998046875" y="48.01491928100586" z="0.5"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_w_transform_16120">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="40.89155197143555" y="28.59649085998535" z="0.5"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_w_transform_16121">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-1.6633121967315674" y="-1.149294376373291" z="0.5"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_w_transform_16122">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="43.774166107177734" y="-42.22403335571289" z="0.5"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_w_transform_16123">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="83.65531158447266" y="-6.370754718780518" z="0.5"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_close_to_standing_16124">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-7.020899295806885" y="25.6336612701416" z="0.0030562591273337603"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_close_to_standing_16125">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="6.218944549560547" y="40.22982406616211" z="0.003060836810618639"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_close_to_adversary_16126">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-18.592002868652344" y="-66.55400848388672" z="0.033816300332546234"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_close_to_adversary_16127">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-8.014501571655273" y="-65.35234832763672" z="0.03383849933743477"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
</Actions>
</Init>
<Story name="MyStory">
<Act name="Behavior">
<ManeuverGroup maximumExecutionCount="1" name="ManeuverSequence">
<Actors selectTriggeringEntities="false">
<EntityRef entityRef="adversary"/>
</Actors>
<Maneuver name="LaneChangeSimpleManeuver">
<Event name="AdversaryAccelerates" priority="overwrite">
<Action name="AdversaryAccelerates">
<PrivateAction>
<LongitudinalAction>
<SpeedAction>
<SpeedActionDynamics dynamicsShape="step" value="50" dynamicsDimension="distance"/>
<SpeedActionTarget>
<AbsoluteTargetSpeed value="5.0"/>
</SpeedActionTarget>
</SpeedAction>
</LongitudinalAction>
</PrivateAction>
</Action>
<StartTrigger>
<ConditionGroup>
<Condition name="StartCondition" delay="0" conditionEdge="rising">
<ByEntityCondition>
<TriggeringEntities triggeringEntitiesRule="any">
<EntityRef entityRef="hero"/>
</TriggeringEntities>
<EntityCondition>
<RelativeDistanceCondition entityRef="adversary" relativeDistanceType="cartesianDistance" value="40.0" freespace="false" rule="lessThan"/>
</EntityCondition>
</ByEntityCondition>
</Condition>
</ConditionGroup>
</StartTrigger>
</Event>
<Event name="AdversaryChangesLane" priority="overwrite">
<Action name="AdversaryChangesLane">
<PrivateAction>
<LateralAction>
<LaneChangeAction>
<LaneChangeActionDynamics dynamicsShape="linear" value="25" dynamicsDimension="distance"/>
<LaneChangeTarget>
<RelativeTargetLane entityRef="adversary" value="-1"/>
</LaneChangeTarget>
</LaneChangeAction>
</LateralAction>
</PrivateAction>
</Action>
<StartTrigger>
<ConditionGroup>
<Condition name="AfterAdversaryAccelerates" delay="0" conditionEdge="rising">
<ByValueCondition>
<StoryboardElementStateCondition storyboardElementType="action" storyboardElementRef="AdversaryAccelerates" state="completeState"/>
</ByValueCondition>
</Condition>
</ConditionGroup>
</StartTrigger>
</Event>
</Maneuver>
</ManeuverGroup>
<StartTrigger>
<ConditionGroup>
<Condition name="OverallStartCondition" delay="0" conditionEdge="rising">
<ByEntityCondition>
<TriggeringEntities triggeringEntitiesRule="any">
<EntityRef entityRef="hero"/>
</TriggeringEntities>
<EntityCondition>
<TraveledDistanceCondition value="1.0"/>
</EntityCondition>
</ByEntityCondition>
</Condition>
<Condition name="StartTime" delay="0" conditionEdge="rising">
<ByValueCondition>
<SimulationTimeCondition value="0" rule="equalTo"/>
</ByValueCondition>
</Condition>
</ConditionGroup>
</StartTrigger>
<StopTrigger>
<ConditionGroup>
<Condition name="EndCondition" delay="0" conditionEdge="rising">
<ByEntityCondition>
<TriggeringEntities triggeringEntitiesRule="any">
<EntityRef entityRef="hero"/>
</TriggeringEntities>
<EntityCondition>
<TraveledDistanceCondition value="200.0"/>
</EntityCondition>
</ByEntityCondition>
</Condition>
</ConditionGroup>
</StopTrigger>
</Act>
</Story>
<StopTrigger>
<ConditionGroup>
<Condition name="criteria_RunningStopTest" delay="0" conditionEdge="rising">
<ByValueCondition>
<ParameterCondition parameterRef="" value="" rule="lessThan"/>
</ByValueCondition>
</Condition>
<Condition name="criteria_RunningRedLightTest" delay="0" conditionEdge="rising">
<ByValueCondition>
<ParameterCondition parameterRef="" value="" rule="lessThan"/>
</ByValueCondition>
</Condition>
<Condition name="criteria_WrongLaneTest" delay="0" conditionEdge="rising">
<ByValueCondition>
<ParameterCondition parameterRef="" value="" rule="lessThan"/>
</ByValueCondition>
</Condition>
<Condition name="criteria_OnSidewalkTest" delay="0" conditionEdge="rising">
<ByValueCondition>
<ParameterCondition parameterRef="" value="" rule="lessThan"/>
</ByValueCondition>
</Condition>
<Condition name="criteria_KeepLaneTest" delay="0" conditionEdge="rising">
<ByValueCondition>
<ParameterCondition parameterRef="" value="" rule="lessThan"/>
</ByValueCondition>
</Condition>
<Condition name="criteria_CollisionTest" delay="0" conditionEdge="rising">
<ByValueCondition>
<ParameterCondition parameterRef="" value="" rule="lessThan"/>
</ByValueCondition>
</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_16109">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_w_transform_16115">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_close_to_hero_16116">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_close_to_adversary_16117">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_close_to_standing_16118">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_w_transform_16119">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_w_transform_16120">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_w_transform_16121">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_w_transform_16122">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_w_transform_16123">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_close_to_standing_16124">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_close_to_standing_16125">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_close_to_adversary_16126">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_close_to_adversary_16127">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
</Entities>
<Storyboard>
<Init>
<Actions>
<GlobalAction>
<EnvironmentAction>
<Environment name="Environment1">
<TimeOfDay animation="false" dateTime="2019-06-25T12:00:00"/>
<Weather cloudState="free">
<Sun intensity="0.85" azimuth="0" elevation="1.31"/>
<Fog visualRange="100000.0"/>
<Precipitation precipitationType="dry" intensity="0.0"/>
</Weather>
<RoadCondition frictionScaleFactor="1.0"/>
</Environment>
</EnvironmentAction>
</GlobalAction>
<Private entityRef="hero">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-9.4" y="-152.8" z="0.5" h="1.57079632679"/>
</Position>
</TeleportAction>
</PrivateAction>
<PrivateAction>
<ControllerAction>
<AssignControllerAction>
<Controller name="HeroAgent">
<Properties>
<Property name="module" value="external_control"/>
</Properties>
</Controller>
</AssignControllerAction>
<OverrideControllerValueAction>
<Throttle value="0" active="false"/>
<Brake value="0" active="false"/>
<Clutch value="0" active="false"/>
<ParkingBrake value="0" active="false"/>
<SteeringWheel value="0" active="false"/>
<Gear number="0" active="false"/>
</OverrideControllerValueAction>
</ControllerAction>
</PrivateAction>
</Private>
<Private entityRef="adversary">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-9.4" y="-71.0" z="0.5" h="1.57079632679"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="standing">
<PrivateAction>
<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_16109">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-11.934146881103516" y="22.772192001342773" z="0.0031306075397878885"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_w_transform_16115">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-2.2616147994995117" y="-68.09765625" z="0.5"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_close_to_hero_16116">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-13.301820755004883" y="-145.3469696044922" z="0.0014652633108198643"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_close_to_adversary_16117">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-8.513162612915039" y="-77.58438110351562" z="0.033780213445425034"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_close_to_standing_16118">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-15.500310897827148" y="28.41831398010254" z="0.003046836704015732"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_w_transform_16119">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="85.99822998046875" y="48.01491928100586" z="0.5"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_w_transform_16120">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="40.89155197143555" y="28.59649085998535" z="0.5"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_w_transform_16121">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-1.6633121967315674" y="-1.149294376373291" z="0.5"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_w_transform_16122">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="43.774166107177734" y="-42.22403335571289" z="0.5"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_w_transform_16123">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="83.65531158447266" y="-6.370754718780518" z="0.5"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_close_to_standing_16124">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-7.020899295806885" y="25.6336612701416" z="0.0030562591273337603"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_close_to_standing_16125">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="6.218944549560547" y="40.22982406616211" z="0.003060836810618639"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_close_to_adversary_16126">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-18.592002868652344" y="-66.55400848388672" z="0.033816300332546234"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_close_to_adversary_16127">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-8.014501571655273" y="-65.35234832763672" z="0.03383849933743477"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
</Actions>
</Init>
<Story name="MyStory">
<Act name="Behavior">
<ManeuverGroup maximumExecutionCount="1" name="ManeuverSequence">
<Actors selectTriggeringEntities="false">
<EntityRef entityRef="adversary"/>
</Actors>
<Maneuver name="LaneChangeSimpleManeuver">
<Event name="AdversaryAccelerates" priority="overwrite">
<Action name="AdversaryAccelerates">
<PrivateAction>
<LongitudinalAction>
<SpeedAction>
<SpeedActionDynamics dynamicsShape="step" value="50" dynamicsDimension="distance"/>
<SpeedActionTarget>
<AbsoluteTargetSpeed value="5.0"/>
</SpeedActionTarget>
</SpeedAction>
</LongitudinalAction>
</PrivateAction>
</Action>
<StartTrigger>
<ConditionGroup>
<Condition name="StartCondition" delay="0" conditionEdge="rising">
<ByEntityCondition>
<TriggeringEntities triggeringEntitiesRule="any">
<EntityRef entityRef="hero"/>
</TriggeringEntities>
<EntityCondition>
<RelativeDistanceCondition entityRef="adversary" relativeDistanceType="cartesianDistance" value="40.0" freespace="false" rule="lessThan"/>
</EntityCondition>
</ByEntityCondition>
</Condition>
</ConditionGroup>
</StartTrigger>
</Event>
<Event name="AdversaryChangesLane" priority="overwrite">
<Action name="AdversaryChangesLane">
<PrivateAction>
<LateralAction>
<LaneChangeAction>
<LaneChangeActionDynamics dynamicsShape="linear" value="25" dynamicsDimension="distance"/>
<LaneChangeTarget>
<RelativeTargetLane entityRef="adversary" value="-1"/>
</LaneChangeTarget>
</LaneChangeAction>
</LateralAction>
</PrivateAction>
</Action>
<StartTrigger>
<ConditionGroup>
<Condition name="AfterAdversaryAccelerates" delay="0" conditionEdge="rising">
<ByValueCondition>
<StoryboardElementStateCondition storyboardElementType="action" storyboardElementRef="AdversaryAccelerates" state="completeState"/>
</ByValueCondition>
</Condition>
</ConditionGroup>
</StartTrigger>
</Event>
</Maneuver>
</ManeuverGroup>
<StartTrigger>
<ConditionGroup>
<Condition name="OverallStartCondition" delay="0" conditionEdge="rising">
<ByEntityCondition>
<TriggeringEntities triggeringEntitiesRule="any">
<EntityRef entityRef="hero"/>
</TriggeringEntities>
<EntityCondition>
<TraveledDistanceCondition value="1.0"/>
</EntityCondition>
</ByEntityCondition>
</Condition>
<Condition name="StartTime" delay="0" conditionEdge="rising">
<ByValueCondition>
<SimulationTimeCondition value="0" rule="equalTo"/>
</ByValueCondition>
</Condition>
</ConditionGroup>
</StartTrigger>
<StopTrigger>
<ConditionGroup>
<Condition name="EndCondition" delay="0" conditionEdge="rising">
<ByEntityCondition>
<TriggeringEntities triggeringEntitiesRule="any">
<EntityRef entityRef="hero"/>
</TriggeringEntities>
<EntityCondition>
<TraveledDistanceCondition value="200.0"/>
</EntityCondition>
</ByEntityCondition>
</Condition>
</ConditionGroup>
</StopTrigger>
</Act>
</Story>
<StopTrigger>
<ConditionGroup>
<Condition name="criteria_RunningStopTest" delay="0" conditionEdge="rising">
<ByValueCondition>
<ParameterCondition parameterRef="" value="" rule="lessThan"/>
</ByValueCondition>
</Condition>
<Condition name="criteria_RunningRedLightTest" delay="0" conditionEdge="rising">
<ByValueCondition>
<ParameterCondition parameterRef="" value="" rule="lessThan"/>
</ByValueCondition>
</Condition>
<Condition name="criteria_WrongLaneTest" delay="0" conditionEdge="rising">
<ByValueCondition>
<ParameterCondition parameterRef="" value="" rule="lessThan"/>
</ByValueCondition>
</Condition>
<Condition name="criteria_OnSidewalkTest" delay="0" conditionEdge="rising">
<ByValueCondition>
<ParameterCondition parameterRef="" value="" rule="lessThan"/>
</ByValueCondition>
</Condition>
<Condition name="criteria_KeepLaneTest" delay="0" conditionEdge="rising">
<ByValueCondition>
<ParameterCondition parameterRef="" value="" rule="lessThan"/>
</ByValueCondition>
</Condition>
<Condition name="criteria_CollisionTest" delay="0" conditionEdge="rising">
<ByValueCondition>
<ParameterCondition parameterRef="" value="" rule="lessThan"/>
</ByValueCondition>
</Condition>
<Condition name="criteria_DrivenDistanceTest" delay="0" conditionEdge="rising">
<ByValueCondition>
<ParameterCondition parameterRef="distance_success" value="100" rule="lessThan"/>
</ByValueCondition>
</Condition>
</ConditionGroup>
</StopTrigger>
</Storyboard>
</OpenSCENARIO>
``` |
i would like to lead you to add pedestrian close to standing?
```
<?xml version="1.0" ?>
<OpenSCENARIO>
<FileHeader revMajor="1" revMinor="0" date="2020-03-24T12:00:00" description="CARLA:LaneChangeSimple" author=""/>
<ParameterDeclarations/>
<CatalogLocations/>
<RoadNetwork>
<LogicFile filepath="Town04"/>
<SceneGraphFile filepath=""/>
</RoadNetwork>
<Entities>
<ScenarioObject name="hero">
<Vehicle name="vehicle.tesla.model3" vehicleCategory="car">
<ParameterDeclarations/>
<Performance maxSpeed="69.444" maxAcceleration="200" maxDeceleration="10.0"/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2.1" length="4.5" height="1.8"/>
</BoundingBox>
<Axles>
<FrontAxle maxSteering="0.5" wheelDiameter="0.6" trackWidth="1.8" positionX="3.1" positionZ="0.3"/>
<RearAxle maxSteering="0.0" wheelDiameter="0.6" trackWidth="1.8" positionX="0.0" positionZ="0.3"/>
</Axles>
<Properties>
<Property name="type" value="ego_vehicle"/>
</Properties>
</Vehicle>
</ScenarioObject>
<ScenarioObject name="adversary">
<Vehicle name="vehicle.lincoln.mkz_2017" vehicleCategory="car">
<ParameterDeclarations/>
<Performance maxSpeed="69.444" maxAcceleration="200" maxDeceleration="10.0"/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2.1" length="4.5" height="1.8"/>
</BoundingBox>
<Axles>
<FrontAxle maxSteering="0.5" wheelDiameter="0.6" trackWidth="1.8" positionX="3.1" positionZ="0.3"/>
<RearAxle maxSteering="0.0" wheelDiameter="0.6" trackWidth="1.8" positionX="0.0" positionZ="0.3"/>
</Axles>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Vehicle>
</ScenarioObject>
<ScenarioObject name="standing">
<Vehicle name="vehicle.volkswagen.t2" vehicleCategory="car">
<ParameterDeclarations/>
<Performance maxSpeed="69.444" maxAcceleration="200" maxDeceleration="10.0"/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2.1" length="4.5" height="1.8"/>
</BoundingBox>
<Axles>
<FrontAxle maxSteering="0.5" wheelDiameter="0.6" trackWidth="1.8" positionX="3.1" positionZ="0.3"/>
<RearAxle maxSteering="0.0" wheelDiameter="0.6" trackWidth="1.8" positionX="0.0" positionZ="0.3"/>
</Axles>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Vehicle>
</ScenarioObject>
<ScenarioObject name="pedestrian_close_to_adversary_4993">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_w_transform_4994">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_w_transform_4995">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_w_transform_4996">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_close_to_adversary_4997">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_w_transform_4998">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
</Entities>
<Storyboard>
<Init>
<Actions>
<GlobalAction>
<EnvironmentAction>
<Environment name="Environment1">
<TimeOfDay animation="false" dateTime="2019-06-25T12:00:00"/>
<Weather cloudState="free">
<Sun intensity="0.85" azimuth="0" elevation="1.31"/>
<Fog visualRange="100000.0"/>
<Precipitation precipitationType="dry" intensity="0.0"/>
</Weather>
<RoadCondition frictionScaleFactor="1.0"/>
</Environment>
</EnvironmentAction>
</GlobalAction>
<Private entityRef="hero">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-9.4" y="-152.8" z="0.5" h="1.57079632679"/>
</Position>
</TeleportAction>
</PrivateAction>
<PrivateAction>
<ControllerAction>
<AssignControllerAction>
<Controller name="HeroAgent">
<Properties>
<Property name="module" value="external_control"/>
</Properties>
</Controller>
</AssignControllerAction>
<OverrideControllerValueAction>
<Throttle value="0" active="false"/>
<Brake value="0" active="false"/>
<Clutch value="0" active="false"/>
<ParkingBrake value="0" active="false"/>
<SteeringWheel value="0" active="false"/>
<Gear number="0" active="false"/>
</OverrideControllerValueAction>
</ControllerAction>
</PrivateAction>
</Private>
<Private entityRef="adversary">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-9.4" y="-71.0" z="0.5" h="1.57079632679"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="standing">
<PrivateAction>
<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_4993">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-12.513509750366211" y="-71.40319061279297" z="0.03375697880983353"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_w_transform_4994">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-34.93061065673828" y="16.980073928833008" z="0.5"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_w_transform_4995">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="89.15502166748047" y="-55.79835510253906" z="0.5"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_w_transform_4996">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="18.43130111694336" y="13.771409034729004" z="0.5"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_close_to_adversary_4997">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-10.919632911682129" y="-73.39509582519531" z="0.033757779747247696"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_w_transform_4998">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="89.62660217285156" y="61.902034759521484" 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_4993">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_w_transform_4994">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_w_transform_4995">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_w_transform_4996">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_close_to_adversary_4997">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_w_transform_4998">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_close_to_standing_4999">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
</Entities>
<Storyboard>
<Init>
<Actions>
<GlobalAction>
<EnvironmentAction>
<Environment name="Environment1">
<TimeOfDay animation="false" dateTime="2019-06-25T12:00:00"/>
<Weather cloudState="free">
<Sun intensity="0.85" azimuth="0" elevation="1.31"/>
<Fog visualRange="100000.0"/>
<Precipitation precipitationType="dry" intensity="0.0"/>
</Weather>
<RoadCondition frictionScaleFactor="1.0"/>
</Environment>
</EnvironmentAction>
</GlobalAction>
<Private entityRef="hero">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-9.4" y="-152.8" z="0.5" h="1.57079632679"/>
</Position>
</TeleportAction>
</PrivateAction>
<PrivateAction>
<ControllerAction>
<AssignControllerAction>
<Controller name="HeroAgent">
<Properties>
<Property name="module" value="external_control"/>
</Properties>
</Controller>
</AssignControllerAction>
<OverrideControllerValueAction>
<Throttle value="0" active="false"/>
<Brake value="0" active="false"/>
<Clutch value="0" active="false"/>
<ParkingBrake value="0" active="false"/>
<SteeringWheel value="0" active="false"/>
<Gear number="0" active="false"/>
</OverrideControllerValueAction>
</ControllerAction>
</PrivateAction>
</Private>
<Private entityRef="adversary">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-9.4" y="-71.0" z="0.5" h="1.57079632679"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="standing">
<PrivateAction>
<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_4993">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-12.513509750366211" y="-71.40319061279297" z="0.03375697880983353"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_w_transform_4994">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-34.93061065673828" y="16.980073928833008" z="0.5"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_w_transform_4995">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="89.15502166748047" y="-55.79835510253906" z="0.5"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_w_transform_4996">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="18.43130111694336" y="13.771409034729004" z="0.5"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_close_to_adversary_4997">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-10.919632911682129" y="-73.39509582519531" z="0.033757779747247696"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_w_transform_4998">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="89.62660217285156" y="61.902034759521484" z="0.5"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_close_to_standing_4999">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-2.1399519443511963" y="32.43489074707031" z="0.003011627122759819"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
</Actions>
</Init>
<Story name="MyStory">
<Act name="Behavior">
<ManeuverGroup maximumExecutionCount="1" name="ManeuverSequence">
<Actors selectTriggeringEntities="false">
<EntityRef entityRef="adversary"/>
</Actors>
<Maneuver name="LaneChangeSimpleManeuver">
<Event name="AdversaryAccelerates" priority="overwrite">
<Action name="AdversaryAccelerates">
<PrivateAction>
<LongitudinalAction>
<SpeedAction>
<SpeedActionDynamics dynamicsShape="step" value="50" dynamicsDimension="distance"/>
<SpeedActionTarget>
<AbsoluteTargetSpeed value="5.0"/>
</SpeedActionTarget>
</SpeedAction>
</LongitudinalAction>
</PrivateAction>
</Action>
<StartTrigger>
<ConditionGroup>
<Condition name="StartCondition" delay="0" conditionEdge="rising">
<ByEntityCondition>
<TriggeringEntities triggeringEntitiesRule="any">
<EntityRef entityRef="hero"/>
</TriggeringEntities>
<EntityCondition>
<RelativeDistanceCondition entityRef="adversary" relativeDistanceType="cartesianDistance" value="40.0" freespace="false" rule="lessThan"/>
</EntityCondition>
</ByEntityCondition>
</Condition>
</ConditionGroup>
</StartTrigger>
</Event>
<Event name="AdversaryChangesLane" priority="overwrite">
<Action name="AdversaryChangesLane">
<PrivateAction>
<LateralAction>
<LaneChangeAction>
<LaneChangeActionDynamics dynamicsShape="linear" value="25" dynamicsDimension="distance"/>
<LaneChangeTarget>
<RelativeTargetLane entityRef="adversary" value="-1"/>
</LaneChangeTarget>
</LaneChangeAction>
</LateralAction>
</PrivateAction>
</Action>
<StartTrigger>
<ConditionGroup>
<Condition name="AfterAdversaryAccelerates" delay="0" conditionEdge="rising">
<ByValueCondition>
<StoryboardElementStateCondition storyboardElementType="action" storyboardElementRef="AdversaryAccelerates" state="completeState"/>
</ByValueCondition>
</Condition>
</ConditionGroup>
</StartTrigger>
</Event>
</Maneuver>
</ManeuverGroup>
<StartTrigger>
<ConditionGroup>
<Condition name="OverallStartCondition" delay="0" conditionEdge="rising">
<ByEntityCondition>
<TriggeringEntities triggeringEntitiesRule="any">
<EntityRef entityRef="hero"/>
</TriggeringEntities>
<EntityCondition>
<TraveledDistanceCondition value="1.0"/>
</EntityCondition>
</ByEntityCondition>
</Condition>
<Condition name="StartTime" delay="0" conditionEdge="rising">
<ByValueCondition>
<SimulationTimeCondition value="0" rule="equalTo"/>
</ByValueCondition>
</Condition>
</ConditionGroup>
</StartTrigger>
<StopTrigger>
<ConditionGroup>
<Condition name="EndCondition" delay="0" conditionEdge="rising">
<ByEntityCondition>
<TriggeringEntities triggeringEntitiesRule="any">
<EntityRef entityRef="hero"/>
</TriggeringEntities>
<EntityCondition>
<TraveledDistanceCondition value="200.0"/>
</EntityCondition>
</ByEntityCondition>
</Condition>
</ConditionGroup>
</StopTrigger>
</Act>
</Story>
<StopTrigger>
<ConditionGroup>
<Condition name="criteria_RunningStopTest" delay="0" conditionEdge="rising">
<ByValueCondition>
<ParameterCondition parameterRef="" value="" rule="lessThan"/>
</ByValueCondition>
</Condition>
<Condition name="criteria_RunningRedLightTest" delay="0" conditionEdge="rising">
<ByValueCondition>
<ParameterCondition parameterRef="" value="" rule="lessThan"/>
</ByValueCondition>
</Condition>
<Condition name="criteria_WrongLaneTest" delay="0" conditionEdge="rising">
<ByValueCondition>
<ParameterCondition parameterRef="" value="" rule="lessThan"/>
</ByValueCondition>
</Condition>
<Condition name="criteria_OnSidewalkTest" delay="0" conditionEdge="rising">
<ByValueCondition>
<ParameterCondition parameterRef="" value="" rule="lessThan"/>
</ByValueCondition>
</Condition>
<Condition name="criteria_KeepLaneTest" delay="0" conditionEdge="rising">
<ByValueCondition>
<ParameterCondition parameterRef="" value="" rule="lessThan"/>
</ByValueCondition>
</Condition>
<Condition name="criteria_CollisionTest" delay="0" conditionEdge="rising">
<ByValueCondition>
<ParameterCondition parameterRef="" value="" rule="lessThan"/>
</ByValueCondition>
</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 (47.07, -53.8, 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_16879">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_close_to_standing_16880">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_w_transform_16881">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_close_to_standing_16882">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_w_transform_16883">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_w_transform_16884">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_w_transform_16885">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_close_to_hero_16886">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_close_to_adversary_16887">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
</Entities>
<Storyboard>
<Init>
<Actions>
<GlobalAction>
<EnvironmentAction>
<Environment name="Environment1">
<TimeOfDay animation="false" dateTime="2019-06-25T12:00:00"/>
<Weather cloudState="free">
<Sun intensity="0.85" azimuth="0" elevation="1.31"/>
<Fog visualRange="100000.0"/>
<Precipitation precipitationType="dry" intensity="0.0"/>
</Weather>
<RoadCondition frictionScaleFactor="1.0"/>
</Environment>
</EnvironmentAction>
</GlobalAction>
<Private entityRef="hero">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-9.4" y="-152.8" z="0.5" h="1.57079632679"/>
</Position>
</TeleportAction>
</PrivateAction>
<PrivateAction>
<ControllerAction>
<AssignControllerAction>
<Controller name="HeroAgent">
<Properties>
<Property name="module" value="external_control"/>
</Properties>
</Controller>
</AssignControllerAction>
<OverrideControllerValueAction>
<Throttle value="0" active="false"/>
<Brake value="0" active="false"/>
<Clutch value="0" active="false"/>
<ParkingBrake value="0" active="false"/>
<SteeringWheel value="0" active="false"/>
<Gear number="0" active="false"/>
</OverrideControllerValueAction>
</ControllerAction>
</PrivateAction>
</Private>
<Private entityRef="adversary">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-9.4" y="-71.0" z="0.5" h="1.57079632679"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="standing">
<PrivateAction>
<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_16879">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-15.536229133605957" y="33.49331283569336" z="0.0030591965187340975"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_close_to_standing_16880">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-5.476015567779541" y="42.83447265625" z="0.0030821608379483223"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_w_transform_16881">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="4.439620018005371" y="29.94082260131836" z="0.5"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_close_to_standing_16882">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="5.194884777069092" y="31.637657165527344" z="0.00308647146448493"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_w_transform_16883">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="93.82223510742188" y="-86.15855407714844" z="0.5"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_w_transform_16884">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="51.7648811340332" y="61.04217529296875" z="0.5"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_w_transform_16885">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="81.03689575195312" y="67.03595733642578" z="0.5"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_close_to_hero_16886">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-12.787745475769043" y="-156.8722381591797" z="0.0015143966302275658"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_close_to_adversary_16887">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-2.019794464111328" y="-66.73426055908203" z="0.0337781123816967"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
</Actions>
</Init>
<Story name="MyStory">
<Act name="Behavior">
<ManeuverGroup maximumExecutionCount="1" name="ManeuverSequence">
<Actors selectTriggeringEntities="false">
<EntityRef entityRef="adversary"/>
</Actors>
<Maneuver name="LaneChangeSimpleManeuver">
<Event name="AdversaryAccelerates" priority="overwrite">
<Action name="AdversaryAccelerates">
<PrivateAction>
<LongitudinalAction>
<SpeedAction>
<SpeedActionDynamics dynamicsShape="step" value="50" dynamicsDimension="distance"/>
<SpeedActionTarget>
<AbsoluteTargetSpeed value="5.0"/>
</SpeedActionTarget>
</SpeedAction>
</LongitudinalAction>
</PrivateAction>
</Action>
<StartTrigger>
<ConditionGroup>
<Condition name="StartCondition" delay="0" conditionEdge="rising">
<ByEntityCondition>
<TriggeringEntities triggeringEntitiesRule="any">
<EntityRef entityRef="hero"/>
</TriggeringEntities>
<EntityCondition>
<RelativeDistanceCondition entityRef="adversary" relativeDistanceType="cartesianDistance" value="40.0" freespace="false" rule="lessThan"/>
</EntityCondition>
</ByEntityCondition>
</Condition>
</ConditionGroup>
</StartTrigger>
</Event>
<Event name="AdversaryChangesLane" priority="overwrite">
<Action name="AdversaryChangesLane">
<PrivateAction>
<LateralAction>
<LaneChangeAction>
<LaneChangeActionDynamics dynamicsShape="linear" value="25" dynamicsDimension="distance"/>
<LaneChangeTarget>
<RelativeTargetLane entityRef="adversary" value="-1"/>
</LaneChangeTarget>
</LaneChangeAction>
</LateralAction>
</PrivateAction>
</Action>
<StartTrigger>
<ConditionGroup>
<Condition name="AfterAdversaryAccelerates" delay="0" conditionEdge="rising">
<ByValueCondition>
<StoryboardElementStateCondition storyboardElementType="action" storyboardElementRef="AdversaryAccelerates" state="completeState"/>
</ByValueCondition>
</Condition>
</ConditionGroup>
</StartTrigger>
</Event>
</Maneuver>
</ManeuverGroup>
<StartTrigger>
<ConditionGroup>
<Condition name="OverallStartCondition" delay="0" conditionEdge="rising">
<ByEntityCondition>
<TriggeringEntities triggeringEntitiesRule="any">
<EntityRef entityRef="hero"/>
</TriggeringEntities>
<EntityCondition>
<TraveledDistanceCondition value="1.0"/>
</EntityCondition>
</ByEntityCondition>
</Condition>
<Condition name="StartTime" delay="0" conditionEdge="rising">
<ByValueCondition>
<SimulationTimeCondition value="0" rule="equalTo"/>
</ByValueCondition>
</Condition>
</ConditionGroup>
</StartTrigger>
<StopTrigger>
<ConditionGroup>
<Condition name="EndCondition" delay="0" conditionEdge="rising">
<ByEntityCondition>
<TriggeringEntities triggeringEntitiesRule="any">
<EntityRef entityRef="hero"/>
</TriggeringEntities>
<EntityCondition>
<TraveledDistanceCondition value="200.0"/>
</EntityCondition>
</ByEntityCondition>
</Condition>
</ConditionGroup>
</StopTrigger>
</Act>
</Story>
<StopTrigger>
<ConditionGroup>
<Condition name="criteria_RunningStopTest" delay="0" conditionEdge="rising">
<ByValueCondition>
<ParameterCondition parameterRef="" value="" rule="lessThan"/>
</ByValueCondition>
</Condition>
<Condition name="criteria_RunningRedLightTest" delay="0" conditionEdge="rising">
<ByValueCondition>
<ParameterCondition parameterRef="" value="" rule="lessThan"/>
</ByValueCondition>
</Condition>
<Condition name="criteria_WrongLaneTest" delay="0" conditionEdge="rising">
<ByValueCondition>
<ParameterCondition parameterRef="" value="" rule="lessThan"/>
</ByValueCondition>
</Condition>
<Condition name="criteria_OnSidewalkTest" delay="0" conditionEdge="rising">
<ByValueCondition>
<ParameterCondition parameterRef="" value="" rule="lessThan"/>
</ByValueCondition>
</Condition>
<Condition name="criteria_KeepLaneTest" delay="0" conditionEdge="rising">
<ByValueCondition>
<ParameterCondition parameterRef="" value="" rule="lessThan"/>
</ByValueCondition>
</Condition>
<Condition name="criteria_CollisionTest" delay="0" conditionEdge="rising">
<ByValueCondition>
<ParameterCondition parameterRef="" value="" rule="lessThan"/>
</ByValueCondition>
</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_16879">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_close_to_standing_16880">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_w_transform_16881">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_close_to_standing_16882">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_w_transform_16883">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_w_transform_16884">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_w_transform_16885">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_close_to_hero_16886">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_close_to_adversary_16887">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_w_transform_16888">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
</Entities>
<Storyboard>
<Init>
<Actions>
<GlobalAction>
<EnvironmentAction>
<Environment name="Environment1">
<TimeOfDay animation="false" dateTime="2019-06-25T12:00:00"/>
<Weather cloudState="free">
<Sun intensity="0.85" azimuth="0" elevation="1.31"/>
<Fog visualRange="100000.0"/>
<Precipitation precipitationType="dry" intensity="0.0"/>
</Weather>
<RoadCondition frictionScaleFactor="1.0"/>
</Environment>
</EnvironmentAction>
</GlobalAction>
<Private entityRef="hero">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-9.4" y="-152.8" z="0.5" h="1.57079632679"/>
</Position>
</TeleportAction>
</PrivateAction>
<PrivateAction>
<ControllerAction>
<AssignControllerAction>
<Controller name="HeroAgent">
<Properties>
<Property name="module" value="external_control"/>
</Properties>
</Controller>
</AssignControllerAction>
<OverrideControllerValueAction>
<Throttle value="0" active="false"/>
<Brake value="0" active="false"/>
<Clutch value="0" active="false"/>
<ParkingBrake value="0" active="false"/>
<SteeringWheel value="0" active="false"/>
<Gear number="0" active="false"/>
</OverrideControllerValueAction>
</ControllerAction>
</PrivateAction>
</Private>
<Private entityRef="adversary">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-9.4" y="-71.0" z="0.5" h="1.57079632679"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="standing">
<PrivateAction>
<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_16879">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-15.536229133605957" y="33.49331283569336" z="0.0030591965187340975"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_close_to_standing_16880">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-5.476015567779541" y="42.83447265625" z="0.0030821608379483223"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_w_transform_16881">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="4.439620018005371" y="29.94082260131836" z="0.5"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_close_to_standing_16882">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="5.194884777069092" y="31.637657165527344" z="0.00308647146448493"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_w_transform_16883">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="93.82223510742188" y="-86.15855407714844" z="0.5"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_w_transform_16884">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="51.7648811340332" y="61.04217529296875" z="0.5"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_w_transform_16885">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="81.03689575195312" y="67.03595733642578" z="0.5"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_close_to_hero_16886">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-12.787745475769043" y="-156.8722381591797" z="0.0015143966302275658"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_close_to_adversary_16887">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-2.019794464111328" y="-66.73426055908203" z="0.0337781123816967"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_w_transform_16888">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="47.072669982910156" y="-53.79997634887695" 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 (44.52, -9.31, 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_4325">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_close_to_standing_4326">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_w_transform_4327">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_w_transform_4328">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_close_to_hero_4329">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_close_to_standing_4330">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_close_to_standing_4331">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_close_to_standing_4332">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
</Entities>
<Storyboard>
<Init>
<Actions>
<GlobalAction>
<EnvironmentAction>
<Environment name="Environment1">
<TimeOfDay animation="false" dateTime="2019-06-25T12:00:00"/>
<Weather cloudState="free">
<Sun intensity="0.85" azimuth="0" elevation="1.31"/>
<Fog visualRange="100000.0"/>
<Precipitation precipitationType="dry" intensity="0.0"/>
</Weather>
<RoadCondition frictionScaleFactor="1.0"/>
</Environment>
</EnvironmentAction>
</GlobalAction>
<Private entityRef="hero">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-9.4" y="-152.8" z="0.5" h="1.57079632679"/>
</Position>
</TeleportAction>
</PrivateAction>
<PrivateAction>
<ControllerAction>
<AssignControllerAction>
<Controller name="HeroAgent">
<Properties>
<Property name="module" value="external_control"/>
</Properties>
</Controller>
</AssignControllerAction>
<OverrideControllerValueAction>
<Throttle value="0" active="false"/>
<Brake value="0" active="false"/>
<Clutch value="0" active="false"/>
<ParkingBrake value="0" active="false"/>
<SteeringWheel value="0" active="false"/>
<Gear number="0" active="false"/>
</OverrideControllerValueAction>
</ControllerAction>
</PrivateAction>
</Private>
<Private entityRef="adversary">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-9.4" y="-71.0" z="0.5" h="1.57079632679"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="standing">
<PrivateAction>
<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_4325">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-1.890660285949707" y="-61.45259475708008" z="0.03375747427344322"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_close_to_standing_4326">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="0.24254482984542847" y="44.931217193603516" z="0.0030190658289939165"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_w_transform_4327">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-51.93235397338867" y="6.972432613372803" z="0.5"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_w_transform_4328">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="25.545448303222656" y="57.40139389038086" z="0.5"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_close_to_hero_4329">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-4.961726665496826" y="-152.03314208984375" z="0.0013734435196965933"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_close_to_standing_4330">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="1.7310765981674194" y="23.183969497680664" z="0.003018684219568968"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_close_to_standing_4331">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-1.7497373819351196" y="28.353017807006836" z="0.003018684219568968"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_close_to_standing_4332">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="1.383804440498352" y="23.91034698486328" z="0.003018684219568968"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
</Actions>
</Init>
<Story name="MyStory">
<Act name="Behavior">
<ManeuverGroup maximumExecutionCount="1" name="ManeuverSequence">
<Actors selectTriggeringEntities="false">
<EntityRef entityRef="adversary"/>
</Actors>
<Maneuver name="LaneChangeSimpleManeuver">
<Event name="AdversaryAccelerates" priority="overwrite">
<Action name="AdversaryAccelerates">
<PrivateAction>
<LongitudinalAction>
<SpeedAction>
<SpeedActionDynamics dynamicsShape="step" value="50" dynamicsDimension="distance"/>
<SpeedActionTarget>
<AbsoluteTargetSpeed value="5.0"/>
</SpeedActionTarget>
</SpeedAction>
</LongitudinalAction>
</PrivateAction>
</Action>
<StartTrigger>
<ConditionGroup>
<Condition name="StartCondition" delay="0" conditionEdge="rising">
<ByEntityCondition>
<TriggeringEntities triggeringEntitiesRule="any">
<EntityRef entityRef="hero"/>
</TriggeringEntities>
<EntityCondition>
<RelativeDistanceCondition entityRef="adversary" relativeDistanceType="cartesianDistance" value="40.0" freespace="false" rule="lessThan"/>
</EntityCondition>
</ByEntityCondition>
</Condition>
</ConditionGroup>
</StartTrigger>
</Event>
<Event name="AdversaryChangesLane" priority="overwrite">
<Action name="AdversaryChangesLane">
<PrivateAction>
<LateralAction>
<LaneChangeAction>
<LaneChangeActionDynamics dynamicsShape="linear" value="25" dynamicsDimension="distance"/>
<LaneChangeTarget>
<RelativeTargetLane entityRef="adversary" value="-1"/>
</LaneChangeTarget>
</LaneChangeAction>
</LateralAction>
</PrivateAction>
</Action>
<StartTrigger>
<ConditionGroup>
<Condition name="AfterAdversaryAccelerates" delay="0" conditionEdge="rising">
<ByValueCondition>
<StoryboardElementStateCondition storyboardElementType="action" storyboardElementRef="AdversaryAccelerates" state="completeState"/>
</ByValueCondition>
</Condition>
</ConditionGroup>
</StartTrigger>
</Event>
</Maneuver>
</ManeuverGroup>
<StartTrigger>
<ConditionGroup>
<Condition name="OverallStartCondition" delay="0" conditionEdge="rising">
<ByEntityCondition>
<TriggeringEntities triggeringEntitiesRule="any">
<EntityRef entityRef="hero"/>
</TriggeringEntities>
<EntityCondition>
<TraveledDistanceCondition value="1.0"/>
</EntityCondition>
</ByEntityCondition>
</Condition>
<Condition name="StartTime" delay="0" conditionEdge="rising">
<ByValueCondition>
<SimulationTimeCondition value="0" rule="equalTo"/>
</ByValueCondition>
</Condition>
</ConditionGroup>
</StartTrigger>
<StopTrigger>
<ConditionGroup>
<Condition name="EndCondition" delay="0" conditionEdge="rising">
<ByEntityCondition>
<TriggeringEntities triggeringEntitiesRule="any">
<EntityRef entityRef="hero"/>
</TriggeringEntities>
<EntityCondition>
<TraveledDistanceCondition value="200.0"/>
</EntityCondition>
</ByEntityCondition>
</Condition>
</ConditionGroup>
</StopTrigger>
</Act>
</Story>
<StopTrigger>
<ConditionGroup>
<Condition name="criteria_RunningStopTest" delay="0" conditionEdge="rising">
<ByValueCondition>
<ParameterCondition parameterRef="" value="" rule="lessThan"/>
</ByValueCondition>
</Condition>
<Condition name="criteria_RunningRedLightTest" delay="0" conditionEdge="rising">
<ByValueCondition>
<ParameterCondition parameterRef="" value="" rule="lessThan"/>
</ByValueCondition>
</Condition>
<Condition name="criteria_WrongLaneTest" delay="0" conditionEdge="rising">
<ByValueCondition>
<ParameterCondition parameterRef="" value="" rule="lessThan"/>
</ByValueCondition>
</Condition>
<Condition name="criteria_OnSidewalkTest" delay="0" conditionEdge="rising">
<ByValueCondition>
<ParameterCondition parameterRef="" value="" rule="lessThan"/>
</ByValueCondition>
</Condition>
<Condition name="criteria_KeepLaneTest" delay="0" conditionEdge="rising">
<ByValueCondition>
<ParameterCondition parameterRef="" value="" rule="lessThan"/>
</ByValueCondition>
</Condition>
<Condition name="criteria_CollisionTest" delay="0" conditionEdge="rising">
<ByValueCondition>
<ParameterCondition parameterRef="" value="" rule="lessThan"/>
</ByValueCondition>
</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_4325">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_close_to_standing_4326">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_w_transform_4327">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_w_transform_4328">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_close_to_hero_4329">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_close_to_standing_4330">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_close_to_standing_4331">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_close_to_standing_4332">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_w_transform_4333">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
</Entities>
<Storyboard>
<Init>
<Actions>
<GlobalAction>
<EnvironmentAction>
<Environment name="Environment1">
<TimeOfDay animation="false" dateTime="2019-06-25T12:00:00"/>
<Weather cloudState="free">
<Sun intensity="0.85" azimuth="0" elevation="1.31"/>
<Fog visualRange="100000.0"/>
<Precipitation precipitationType="dry" intensity="0.0"/>
</Weather>
<RoadCondition frictionScaleFactor="1.0"/>
</Environment>
</EnvironmentAction>
</GlobalAction>
<Private entityRef="hero">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-9.4" y="-152.8" z="0.5" h="1.57079632679"/>
</Position>
</TeleportAction>
</PrivateAction>
<PrivateAction>
<ControllerAction>
<AssignControllerAction>
<Controller name="HeroAgent">
<Properties>
<Property name="module" value="external_control"/>
</Properties>
</Controller>
</AssignControllerAction>
<OverrideControllerValueAction>
<Throttle value="0" active="false"/>
<Brake value="0" active="false"/>
<Clutch value="0" active="false"/>
<ParkingBrake value="0" active="false"/>
<SteeringWheel value="0" active="false"/>
<Gear number="0" active="false"/>
</OverrideControllerValueAction>
</ControllerAction>
</PrivateAction>
</Private>
<Private entityRef="adversary">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-9.4" y="-71.0" z="0.5" h="1.57079632679"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="standing">
<PrivateAction>
<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_4325">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-1.890660285949707" y="-61.45259475708008" z="0.03375747427344322"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_close_to_standing_4326">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="0.24254482984542847" y="44.931217193603516" z="0.0030190658289939165"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_w_transform_4327">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-51.93235397338867" y="6.972432613372803" z="0.5"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_w_transform_4328">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="25.545448303222656" y="57.40139389038086" z="0.5"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_close_to_hero_4329">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-4.961726665496826" y="-152.03314208984375" z="0.0013734435196965933"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_close_to_standing_4330">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="1.7310765981674194" y="23.183969497680664" z="0.003018684219568968"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_close_to_standing_4331">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-1.7497373819351196" y="28.353017807006836" z="0.003018684219568968"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_close_to_standing_4332">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="1.383804440498352" y="23.91034698486328" z="0.003018684219568968"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_w_transform_4333">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="44.521331787109375" y="-9.308011054992676" z="0.5"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
</Actions>
</Init>
<Story name="MyStory">
<Act name="Behavior">
<ManeuverGroup maximumExecutionCount="1" name="ManeuverSequence">
<Actors selectTriggeringEntities="false">
<EntityRef entityRef="adversary"/>
</Actors>
<Maneuver name="LaneChangeSimpleManeuver">
<Event name="AdversaryAccelerates" priority="overwrite">
<Action name="AdversaryAccelerates">
<PrivateAction>
<LongitudinalAction>
<SpeedAction>
<SpeedActionDynamics dynamicsShape="step" value="50" dynamicsDimension="distance"/>
<SpeedActionTarget>
<AbsoluteTargetSpeed value="5.0"/>
</SpeedActionTarget>
</SpeedAction>
</LongitudinalAction>
</PrivateAction>
</Action>
<StartTrigger>
<ConditionGroup>
<Condition name="StartCondition" delay="0" conditionEdge="rising">
<ByEntityCondition>
<TriggeringEntities triggeringEntitiesRule="any">
<EntityRef entityRef="hero"/>
</TriggeringEntities>
<EntityCondition>
<RelativeDistanceCondition entityRef="adversary" relativeDistanceType="cartesianDistance" value="40.0" freespace="false" rule="lessThan"/>
</EntityCondition>
</ByEntityCondition>
</Condition>
</ConditionGroup>
</StartTrigger>
</Event>
<Event name="AdversaryChangesLane" priority="overwrite">
<Action name="AdversaryChangesLane">
<PrivateAction>
<LateralAction>
<LaneChangeAction>
<LaneChangeActionDynamics dynamicsShape="linear" value="25" dynamicsDimension="distance"/>
<LaneChangeTarget>
<RelativeTargetLane entityRef="adversary" value="-1"/>
</LaneChangeTarget>
</LaneChangeAction>
</LateralAction>
</PrivateAction>
</Action>
<StartTrigger>
<ConditionGroup>
<Condition name="AfterAdversaryAccelerates" delay="0" conditionEdge="rising">
<ByValueCondition>
<StoryboardElementStateCondition storyboardElementType="action" storyboardElementRef="AdversaryAccelerates" state="completeState"/>
</ByValueCondition>
</Condition>
</ConditionGroup>
</StartTrigger>
</Event>
</Maneuver>
</ManeuverGroup>
<StartTrigger>
<ConditionGroup>
<Condition name="OverallStartCondition" delay="0" conditionEdge="rising">
<ByEntityCondition>
<TriggeringEntities triggeringEntitiesRule="any">
<EntityRef entityRef="hero"/>
</TriggeringEntities>
<EntityCondition>
<TraveledDistanceCondition value="1.0"/>
</EntityCondition>
</ByEntityCondition>
</Condition>
<Condition name="StartTime" delay="0" conditionEdge="rising">
<ByValueCondition>
<SimulationTimeCondition value="0" rule="equalTo"/>
</ByValueCondition>
</Condition>
</ConditionGroup>
</StartTrigger>
<StopTrigger>
<ConditionGroup>
<Condition name="EndCondition" delay="0" conditionEdge="rising">
<ByEntityCondition>
<TriggeringEntities triggeringEntitiesRule="any">
<EntityRef entityRef="hero"/>
</TriggeringEntities>
<EntityCondition>
<TraveledDistanceCondition value="200.0"/>
</EntityCondition>
</ByEntityCondition>
</Condition>
</ConditionGroup>
</StopTrigger>
</Act>
</Story>
<StopTrigger>
<ConditionGroup>
<Condition name="criteria_RunningStopTest" delay="0" conditionEdge="rising">
<ByValueCondition>
<ParameterCondition parameterRef="" value="" rule="lessThan"/>
</ByValueCondition>
</Condition>
<Condition name="criteria_RunningRedLightTest" delay="0" conditionEdge="rising">
<ByValueCondition>
<ParameterCondition parameterRef="" value="" rule="lessThan"/>
</ByValueCondition>
</Condition>
<Condition name="criteria_WrongLaneTest" delay="0" conditionEdge="rising">
<ByValueCondition>
<ParameterCondition parameterRef="" value="" rule="lessThan"/>
</ByValueCondition>
</Condition>
<Condition name="criteria_OnSidewalkTest" delay="0" conditionEdge="rising">
<ByValueCondition>
<ParameterCondition parameterRef="" value="" rule="lessThan"/>
</ByValueCondition>
</Condition>
<Condition name="criteria_KeepLaneTest" delay="0" conditionEdge="rising">
<ByValueCondition>
<ParameterCondition parameterRef="" value="" rule="lessThan"/>
</ByValueCondition>
</Condition>
<Condition name="criteria_CollisionTest" delay="0" conditionEdge="rising">
<ByValueCondition>
<ParameterCondition parameterRef="" value="" rule="lessThan"/>
</ByValueCondition>
</Condition>
<Condition name="criteria_DrivenDistanceTest" delay="0" conditionEdge="rising">
<ByValueCondition>
<ParameterCondition parameterRef="distance_success" value="100" rule="lessThan"/>
</ByValueCondition>
</Condition>
</ConditionGroup>
</StopTrigger>
</Storyboard>
</OpenSCENARIO>
``` |
could you add pedestrian close to adversary?
```
<?xml version="1.0" ?>
<OpenSCENARIO>
<FileHeader revMajor="1" revMinor="0" date="2020-03-24T12:00:00" description="CARLA:LaneChangeSimple" author=""/>
<ParameterDeclarations/>
<CatalogLocations/>
<RoadNetwork>
<LogicFile filepath="Town04"/>
<SceneGraphFile filepath=""/>
</RoadNetwork>
<Entities>
<ScenarioObject name="hero">
<Vehicle name="vehicle.tesla.model3" vehicleCategory="car">
<ParameterDeclarations/>
<Performance maxSpeed="69.444" maxAcceleration="200" maxDeceleration="10.0"/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2.1" length="4.5" height="1.8"/>
</BoundingBox>
<Axles>
<FrontAxle maxSteering="0.5" wheelDiameter="0.6" trackWidth="1.8" positionX="3.1" positionZ="0.3"/>
<RearAxle maxSteering="0.0" wheelDiameter="0.6" trackWidth="1.8" positionX="0.0" positionZ="0.3"/>
</Axles>
<Properties>
<Property name="type" value="ego_vehicle"/>
</Properties>
</Vehicle>
</ScenarioObject>
<ScenarioObject name="adversary">
<Vehicle name="vehicle.lincoln.mkz_2017" vehicleCategory="car">
<ParameterDeclarations/>
<Performance maxSpeed="69.444" maxAcceleration="200" maxDeceleration="10.0"/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2.1" length="4.5" height="1.8"/>
</BoundingBox>
<Axles>
<FrontAxle maxSteering="0.5" wheelDiameter="0.6" trackWidth="1.8" positionX="3.1" positionZ="0.3"/>
<RearAxle maxSteering="0.0" wheelDiameter="0.6" trackWidth="1.8" positionX="0.0" positionZ="0.3"/>
</Axles>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Vehicle>
</ScenarioObject>
<ScenarioObject name="standing">
<Vehicle name="vehicle.volkswagen.t2" vehicleCategory="car">
<ParameterDeclarations/>
<Performance maxSpeed="69.444" maxAcceleration="200" maxDeceleration="10.0"/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2.1" length="4.5" height="1.8"/>
</BoundingBox>
<Axles>
<FrontAxle maxSteering="0.5" wheelDiameter="0.6" trackWidth="1.8" positionX="3.1" positionZ="0.3"/>
<RearAxle maxSteering="0.0" wheelDiameter="0.6" trackWidth="1.8" positionX="0.0" positionZ="0.3"/>
</Axles>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Vehicle>
</ScenarioObject>
<ScenarioObject name="pedestrian_close_to_standing_22013">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_close_to_standing_22014">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_w_transform_22015">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_close_to_hero_22016">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_close_to_adversary_22017">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_w_transform_22018">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_close_to_adversary_22019">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_w_transform_22020">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_w_transform_22021">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_close_to_adversary_22022">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_w_transform_22023">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_w_transform_22024">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_w_transform_22025">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_close_to_standing_22026">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_close_to_adversary_22028">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_close_to_adversary_22029">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_close_to_hero_22030">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_close_to_standing_22031">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_close_to_standing_22032">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_close_to_standing_22033">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_close_to_standing_22034">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
</Entities>
<Storyboard>
<Init>
<Actions>
<GlobalAction>
<EnvironmentAction>
<Environment name="Environment1">
<TimeOfDay animation="false" dateTime="2019-06-25T12:00:00"/>
<Weather cloudState="free">
<Sun intensity="0.85" azimuth="0" elevation="1.31"/>
<Fog visualRange="100000.0"/>
<Precipitation precipitationType="dry" intensity="0.0"/>
</Weather>
<RoadCondition frictionScaleFactor="1.0"/>
</Environment>
</EnvironmentAction>
</GlobalAction>
<Private entityRef="hero">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-9.4" y="-152.8" z="0.5" h="1.57079632679"/>
</Position>
</TeleportAction>
</PrivateAction>
<PrivateAction>
<ControllerAction>
<AssignControllerAction>
<Controller name="HeroAgent">
<Properties>
<Property name="module" value="external_control"/>
</Properties>
</Controller>
</AssignControllerAction>
<OverrideControllerValueAction>
<Throttle value="0" active="false"/>
<Brake value="0" active="false"/>
<Clutch value="0" active="false"/>
<ParkingBrake value="0" active="false"/>
<SteeringWheel value="0" active="false"/>
<Gear number="0" active="false"/>
</OverrideControllerValueAction>
</ControllerAction>
</PrivateAction>
</Private>
<Private entityRef="adversary">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-9.4" y="-71.0" z="0.5" h="1.57079632679"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="standing">
<PrivateAction>
<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_22013">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-3.5765154361724854" y="32.78547668457031" z="0.003069076454266906"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_close_to_standing_22014">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-9.083425521850586" y="23.469501495361328" z="0.003044204553589225"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_w_transform_22015">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-16.251182556152344" y="59.07695770263672" z="0.5"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_close_to_hero_22016">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-13.637539863586426" y="-154.16925048828125" z="0.0015143966302275658"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_close_to_adversary_22017">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-18.980993270874023" y="-63.604190826416016" z="0.03376590833067894"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_w_transform_22018">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-98.29105377197266" y="-11.731115341186523" z="0.5"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_close_to_adversary_22019">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-13.80528450012207" y="-64.12149810791016" z="0.03381103277206421"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_w_transform_22020">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="26.618282318115234" y="39.73603820800781" z="0.5"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_w_transform_22021">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="27.470279693603516" y="12.869829177856445" z="0.5"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_close_to_adversary_22022">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-6.832564830780029" y="-61.711219787597656" z="0.03375610336661339"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_w_transform_22023">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="51.24198532104492" y="0.778051495552063" z="0.5"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_w_transform_22024">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-13.972884178161621" y="-7.766294956207275" z="0.5"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_w_transform_22025">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-22.635700225830078" y="-42.597415924072266" z="0.5"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_close_to_standing_22026">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-1.087243676185608" y="22.424762725830078" z="0.003047943115234375"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_close_to_adversary_22028">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-16.87726402282715" y="-67.9180679321289" z="0.033785246312618256"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_close_to_adversary_22029">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-6.157857894897461" y="-75.92160034179688" z="0.03374858945608139"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_close_to_hero_22030">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-15.709025382995605" y="-143.3262481689453" z="0.0015143966302275658"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_close_to_standing_22031">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-15.750458717346191" y="29.086734771728516" z="0.0030516432598233223"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_close_to_standing_22032">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-15.722270011901855" y="30.912691116333008" z="0.003069114638492465"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_close_to_standing_22033">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="1.5847172737121582" y="31.56907844543457" z="0.00305423722602427"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_close_to_standing_22034">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-8.729599952697754" y="37.867401123046875" z="0.0030515289399772882"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
</Actions>
</Init>
<Story name="MyStory">
<Act name="Behavior">
<ManeuverGroup maximumExecutionCount="1" name="ManeuverSequence">
<Actors selectTriggeringEntities="false">
<EntityRef entityRef="adversary"/>
</Actors>
<Maneuver name="LaneChangeSimpleManeuver">
<Event name="AdversaryAccelerates" priority="overwrite">
<Action name="AdversaryAccelerates">
<PrivateAction>
<LongitudinalAction>
<SpeedAction>
<SpeedActionDynamics dynamicsShape="step" value="50" dynamicsDimension="distance"/>
<SpeedActionTarget>
<AbsoluteTargetSpeed value="5.0"/>
</SpeedActionTarget>
</SpeedAction>
</LongitudinalAction>
</PrivateAction>
</Action>
<StartTrigger>
<ConditionGroup>
<Condition name="StartCondition" delay="0" conditionEdge="rising">
<ByEntityCondition>
<TriggeringEntities triggeringEntitiesRule="any">
<EntityRef entityRef="hero"/>
</TriggeringEntities>
<EntityCondition>
<RelativeDistanceCondition entityRef="adversary" relativeDistanceType="cartesianDistance" value="40.0" freespace="false" rule="lessThan"/>
</EntityCondition>
</ByEntityCondition>
</Condition>
</ConditionGroup>
</StartTrigger>
</Event>
<Event name="AdversaryChangesLane" priority="overwrite">
<Action name="AdversaryChangesLane">
<PrivateAction>
<LateralAction>
<LaneChangeAction>
<LaneChangeActionDynamics dynamicsShape="linear" value="25" dynamicsDimension="distance"/>
<LaneChangeTarget>
<RelativeTargetLane entityRef="adversary" value="-1"/>
</LaneChangeTarget>
</LaneChangeAction>
</LateralAction>
</PrivateAction>
</Action>
<StartTrigger>
<ConditionGroup>
<Condition name="AfterAdversaryAccelerates" delay="0" conditionEdge="rising">
<ByValueCondition>
<StoryboardElementStateCondition storyboardElementType="action" storyboardElementRef="AdversaryAccelerates" state="completeState"/>
</ByValueCondition>
</Condition>
</ConditionGroup>
</StartTrigger>
</Event>
</Maneuver>
</ManeuverGroup>
<StartTrigger>
<ConditionGroup>
<Condition name="OverallStartCondition" delay="0" conditionEdge="rising">
<ByEntityCondition>
<TriggeringEntities triggeringEntitiesRule="any">
<EntityRef entityRef="hero"/>
</TriggeringEntities>
<EntityCondition>
<TraveledDistanceCondition value="1.0"/>
</EntityCondition>
</ByEntityCondition>
</Condition>
<Condition name="StartTime" delay="0" conditionEdge="rising">
<ByValueCondition>
<SimulationTimeCondition value="0" rule="equalTo"/>
</ByValueCondition>
</Condition>
</ConditionGroup>
</StartTrigger>
<StopTrigger>
<ConditionGroup>
<Condition name="EndCondition" delay="0" conditionEdge="rising">
<ByEntityCondition>
<TriggeringEntities triggeringEntitiesRule="any">
<EntityRef entityRef="hero"/>
</TriggeringEntities>
<EntityCondition>
<TraveledDistanceCondition value="200.0"/>
</EntityCondition>
</ByEntityCondition>
</Condition>
</ConditionGroup>
</StopTrigger>
</Act>
</Story>
<StopTrigger>
<ConditionGroup>
<Condition name="criteria_RunningStopTest" delay="0" conditionEdge="rising">
<ByValueCondition>
<ParameterCondition parameterRef="" value="" rule="lessThan"/>
</ByValueCondition>
</Condition>
<Condition name="criteria_RunningRedLightTest" delay="0" conditionEdge="rising">
<ByValueCondition>
<ParameterCondition parameterRef="" value="" rule="lessThan"/>
</ByValueCondition>
</Condition>
<Condition name="criteria_WrongLaneTest" delay="0" conditionEdge="rising">
<ByValueCondition>
<ParameterCondition parameterRef="" value="" rule="lessThan"/>
</ByValueCondition>
</Condition>
<Condition name="criteria_OnSidewalkTest" delay="0" conditionEdge="rising">
<ByValueCondition>
<ParameterCondition parameterRef="" value="" rule="lessThan"/>
</ByValueCondition>
</Condition>
<Condition name="criteria_KeepLaneTest" delay="0" conditionEdge="rising">
<ByValueCondition>
<ParameterCondition parameterRef="" value="" rule="lessThan"/>
</ByValueCondition>
</Condition>
<Condition name="criteria_CollisionTest" delay="0" conditionEdge="rising">
<ByValueCondition>
<ParameterCondition parameterRef="" value="" rule="lessThan"/>
</ByValueCondition>
</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_22013">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_close_to_standing_22014">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_w_transform_22015">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_close_to_hero_22016">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_close_to_adversary_22017">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_w_transform_22018">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_close_to_adversary_22019">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_w_transform_22020">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_w_transform_22021">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_close_to_adversary_22022">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_w_transform_22023">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_w_transform_22024">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_w_transform_22025">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_close_to_standing_22026">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_close_to_adversary_22028">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_close_to_adversary_22029">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_close_to_hero_22030">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_close_to_standing_22031">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_close_to_standing_22032">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_close_to_standing_22033">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_close_to_standing_22034">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_close_to_adversary_22035">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
</Entities>
<Storyboard>
<Init>
<Actions>
<GlobalAction>
<EnvironmentAction>
<Environment name="Environment1">
<TimeOfDay animation="false" dateTime="2019-06-25T12:00:00"/>
<Weather cloudState="free">
<Sun intensity="0.85" azimuth="0" elevation="1.31"/>
<Fog visualRange="100000.0"/>
<Precipitation precipitationType="dry" intensity="0.0"/>
</Weather>
<RoadCondition frictionScaleFactor="1.0"/>
</Environment>
</EnvironmentAction>
</GlobalAction>
<Private entityRef="hero">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-9.4" y="-152.8" z="0.5" h="1.57079632679"/>
</Position>
</TeleportAction>
</PrivateAction>
<PrivateAction>
<ControllerAction>
<AssignControllerAction>
<Controller name="HeroAgent">
<Properties>
<Property name="module" value="external_control"/>
</Properties>
</Controller>
</AssignControllerAction>
<OverrideControllerValueAction>
<Throttle value="0" active="false"/>
<Brake value="0" active="false"/>
<Clutch value="0" active="false"/>
<ParkingBrake value="0" active="false"/>
<SteeringWheel value="0" active="false"/>
<Gear number="0" active="false"/>
</OverrideControllerValueAction>
</ControllerAction>
</PrivateAction>
</Private>
<Private entityRef="adversary">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-9.4" y="-71.0" z="0.5" h="1.57079632679"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="standing">
<PrivateAction>
<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_22013">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-3.5765154361724854" y="32.78547668457031" z="0.003069076454266906"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_close_to_standing_22014">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-9.083425521850586" y="23.469501495361328" z="0.003044204553589225"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_w_transform_22015">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-16.251182556152344" y="59.07695770263672" z="0.5"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_close_to_hero_22016">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-13.637539863586426" y="-154.16925048828125" z="0.0015143966302275658"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_close_to_adversary_22017">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-18.980993270874023" y="-63.604190826416016" z="0.03376590833067894"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_w_transform_22018">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-98.29105377197266" y="-11.731115341186523" z="0.5"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_close_to_adversary_22019">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-13.80528450012207" y="-64.12149810791016" z="0.03381103277206421"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_w_transform_22020">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="26.618282318115234" y="39.73603820800781" z="0.5"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_w_transform_22021">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="27.470279693603516" y="12.869829177856445" z="0.5"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_close_to_adversary_22022">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-6.832564830780029" y="-61.711219787597656" z="0.03375610336661339"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_w_transform_22023">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="51.24198532104492" y="0.778051495552063" z="0.5"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_w_transform_22024">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-13.972884178161621" y="-7.766294956207275" z="0.5"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_w_transform_22025">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-22.635700225830078" y="-42.597415924072266" z="0.5"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_close_to_standing_22026">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-1.087243676185608" y="22.424762725830078" z="0.003047943115234375"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_close_to_adversary_22028">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-16.87726402282715" y="-67.9180679321289" z="0.033785246312618256"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_close_to_adversary_22029">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-6.157857894897461" y="-75.92160034179688" z="0.03374858945608139"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_close_to_hero_22030">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-15.709025382995605" y="-143.3262481689453" z="0.0015143966302275658"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_close_to_standing_22031">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-15.750458717346191" y="29.086734771728516" z="0.0030516432598233223"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_close_to_standing_22032">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-15.722270011901855" y="30.912691116333008" z="0.003069114638492465"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_close_to_standing_22033">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="1.5847172737121582" y="31.56907844543457" z="0.00305423722602427"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_close_to_standing_22034">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-8.729599952697754" y="37.867401123046875" z="0.0030515289399772882"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_close_to_adversary_22035">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-5.204415798187256" y="-74.36748504638672" z="0.03381584212183952"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
</Actions>
</Init>
<Story name="MyStory">
<Act name="Behavior">
<ManeuverGroup maximumExecutionCount="1" name="ManeuverSequence">
<Actors selectTriggeringEntities="false">
<EntityRef entityRef="adversary"/>
</Actors>
<Maneuver name="LaneChangeSimpleManeuver">
<Event name="AdversaryAccelerates" priority="overwrite">
<Action name="AdversaryAccelerates">
<PrivateAction>
<LongitudinalAction>
<SpeedAction>
<SpeedActionDynamics dynamicsShape="step" value="50" dynamicsDimension="distance"/>
<SpeedActionTarget>
<AbsoluteTargetSpeed value="5.0"/>
</SpeedActionTarget>
</SpeedAction>
</LongitudinalAction>
</PrivateAction>
</Action>
<StartTrigger>
<ConditionGroup>
<Condition name="StartCondition" delay="0" conditionEdge="rising">
<ByEntityCondition>
<TriggeringEntities triggeringEntitiesRule="any">
<EntityRef entityRef="hero"/>
</TriggeringEntities>
<EntityCondition>
<RelativeDistanceCondition entityRef="adversary" relativeDistanceType="cartesianDistance" value="40.0" freespace="false" rule="lessThan"/>
</EntityCondition>
</ByEntityCondition>
</Condition>
</ConditionGroup>
</StartTrigger>
</Event>
<Event name="AdversaryChangesLane" priority="overwrite">
<Action name="AdversaryChangesLane">
<PrivateAction>
<LateralAction>
<LaneChangeAction>
<LaneChangeActionDynamics dynamicsShape="linear" value="25" dynamicsDimension="distance"/>
<LaneChangeTarget>
<RelativeTargetLane entityRef="adversary" value="-1"/>
</LaneChangeTarget>
</LaneChangeAction>
</LateralAction>
</PrivateAction>
</Action>
<StartTrigger>
<ConditionGroup>
<Condition name="AfterAdversaryAccelerates" delay="0" conditionEdge="rising">
<ByValueCondition>
<StoryboardElementStateCondition storyboardElementType="action" storyboardElementRef="AdversaryAccelerates" state="completeState"/>
</ByValueCondition>
</Condition>
</ConditionGroup>
</StartTrigger>
</Event>
</Maneuver>
</ManeuverGroup>
<StartTrigger>
<ConditionGroup>
<Condition name="OverallStartCondition" delay="0" conditionEdge="rising">
<ByEntityCondition>
<TriggeringEntities triggeringEntitiesRule="any">
<EntityRef entityRef="hero"/>
</TriggeringEntities>
<EntityCondition>
<TraveledDistanceCondition value="1.0"/>
</EntityCondition>
</ByEntityCondition>
</Condition>
<Condition name="StartTime" delay="0" conditionEdge="rising">
<ByValueCondition>
<SimulationTimeCondition value="0" rule="equalTo"/>
</ByValueCondition>
</Condition>
</ConditionGroup>
</StartTrigger>
<StopTrigger>
<ConditionGroup>
<Condition name="EndCondition" delay="0" conditionEdge="rising">
<ByEntityCondition>
<TriggeringEntities triggeringEntitiesRule="any">
<EntityRef entityRef="hero"/>
</TriggeringEntities>
<EntityCondition>
<TraveledDistanceCondition value="200.0"/>
</EntityCondition>
</ByEntityCondition>
</Condition>
</ConditionGroup>
</StopTrigger>
</Act>
</Story>
<StopTrigger>
<ConditionGroup>
<Condition name="criteria_RunningStopTest" delay="0" conditionEdge="rising">
<ByValueCondition>
<ParameterCondition parameterRef="" value="" rule="lessThan"/>
</ByValueCondition>
</Condition>
<Condition name="criteria_RunningRedLightTest" delay="0" conditionEdge="rising">
<ByValueCondition>
<ParameterCondition parameterRef="" value="" rule="lessThan"/>
</ByValueCondition>
</Condition>
<Condition name="criteria_WrongLaneTest" delay="0" conditionEdge="rising">
<ByValueCondition>
<ParameterCondition parameterRef="" value="" rule="lessThan"/>
</ByValueCondition>
</Condition>
<Condition name="criteria_OnSidewalkTest" delay="0" conditionEdge="rising">
<ByValueCondition>
<ParameterCondition parameterRef="" value="" rule="lessThan"/>
</ByValueCondition>
</Condition>
<Condition name="criteria_KeepLaneTest" delay="0" conditionEdge="rising">
<ByValueCondition>
<ParameterCondition parameterRef="" value="" rule="lessThan"/>
</ByValueCondition>
</Condition>
<Condition name="criteria_CollisionTest" delay="0" conditionEdge="rising">
<ByValueCondition>
<ParameterCondition parameterRef="" value="" rule="lessThan"/>
</ByValueCondition>
</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 (0.64, 34.33, 0.5)?
```
<?xml version="1.0" ?>
<OpenSCENARIO>
<FileHeader revMajor="1" revMinor="0" date="2020-03-24T12:00:00" description="CARLA:LaneChangeSimple" author=""/>
<ParameterDeclarations/>
<CatalogLocations/>
<RoadNetwork>
<LogicFile filepath="Town04"/>
<SceneGraphFile filepath=""/>
</RoadNetwork>
<Entities>
<ScenarioObject name="hero">
<Vehicle name="vehicle.tesla.model3" vehicleCategory="car">
<ParameterDeclarations/>
<Performance maxSpeed="69.444" maxAcceleration="200" maxDeceleration="10.0"/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2.1" length="4.5" height="1.8"/>
</BoundingBox>
<Axles>
<FrontAxle maxSteering="0.5" wheelDiameter="0.6" trackWidth="1.8" positionX="3.1" positionZ="0.3"/>
<RearAxle maxSteering="0.0" wheelDiameter="0.6" trackWidth="1.8" positionX="0.0" positionZ="0.3"/>
</Axles>
<Properties>
<Property name="type" value="ego_vehicle"/>
</Properties>
</Vehicle>
</ScenarioObject>
<ScenarioObject name="adversary">
<Vehicle name="vehicle.lincoln.mkz_2017" vehicleCategory="car">
<ParameterDeclarations/>
<Performance maxSpeed="69.444" maxAcceleration="200" maxDeceleration="10.0"/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2.1" length="4.5" height="1.8"/>
</BoundingBox>
<Axles>
<FrontAxle maxSteering="0.5" wheelDiameter="0.6" trackWidth="1.8" positionX="3.1" positionZ="0.3"/>
<RearAxle maxSteering="0.0" wheelDiameter="0.6" trackWidth="1.8" positionX="0.0" positionZ="0.3"/>
</Axles>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Vehicle>
</ScenarioObject>
<ScenarioObject name="standing">
<Vehicle name="vehicle.volkswagen.t2" vehicleCategory="car">
<ParameterDeclarations/>
<Performance maxSpeed="69.444" maxAcceleration="200" maxDeceleration="10.0"/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2.1" length="4.5" height="1.8"/>
</BoundingBox>
<Axles>
<FrontAxle maxSteering="0.5" wheelDiameter="0.6" trackWidth="1.8" positionX="3.1" positionZ="0.3"/>
<RearAxle maxSteering="0.0" wheelDiameter="0.6" trackWidth="1.8" positionX="0.0" positionZ="0.3"/>
</Axles>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Vehicle>
</ScenarioObject>
<ScenarioObject name="pedestrian_close_to_hero_1547">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_w_transform_1548">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_close_to_adversary_1549">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_close_to_adversary_1550">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_w_transform_1551">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_close_to_standing_1552">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_w_transform_1553">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_close_to_adversary_1554">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_w_transform_1555">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_w_transform_1556">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_close_to_adversary_1557">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_close_to_standing_1558">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_w_transform_1559">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_close_to_adversary_1560">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_close_to_adversary_1561">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_w_transform_1562">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_close_to_adversary_1563">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_close_to_standing_1564">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_close_to_adversary_1565">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
</Entities>
<Storyboard>
<Init>
<Actions>
<GlobalAction>
<EnvironmentAction>
<Environment name="Environment1">
<TimeOfDay animation="false" dateTime="2019-06-25T12:00:00"/>
<Weather cloudState="free">
<Sun intensity="0.85" azimuth="0" elevation="1.31"/>
<Fog visualRange="100000.0"/>
<Precipitation precipitationType="dry" intensity="0.0"/>
</Weather>
<RoadCondition frictionScaleFactor="1.0"/>
</Environment>
</EnvironmentAction>
</GlobalAction>
<Private entityRef="hero">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-9.4" y="-152.8" z="0.5" h="1.57079632679"/>
</Position>
</TeleportAction>
</PrivateAction>
<PrivateAction>
<ControllerAction>
<AssignControllerAction>
<Controller name="HeroAgent">
<Properties>
<Property name="module" value="external_control"/>
</Properties>
</Controller>
</AssignControllerAction>
<OverrideControllerValueAction>
<Throttle value="0" active="false"/>
<Brake value="0" active="false"/>
<Clutch value="0" active="false"/>
<ParkingBrake value="0" active="false"/>
<SteeringWheel value="0" active="false"/>
<Gear number="0" active="false"/>
</OverrideControllerValueAction>
</ControllerAction>
</PrivateAction>
</Private>
<Private entityRef="adversary">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-9.4" y="-71.0" z="0.5" h="1.57079632679"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="standing">
<PrivateAction>
<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_1547">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-1.759878396987915" y="-150.65199279785156" z="0.0016471862327307463"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_w_transform_1548">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="3.0431830883026123" y="-24.302078247070312" z="0.5"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_close_to_adversary_1549">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-25.93092918395996" y="-65.91144561767578" z="0.03384227678179741"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_close_to_adversary_1550">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-2.432924747467041" y="-73.71821594238281" z="0.03379829227924347"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_w_transform_1551">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="45.166725158691406" y="94.73450469970703" z="0.5"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_close_to_standing_1552">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-16.15999412536621" y="36.3413200378418" z="0.003018989460542798"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_w_transform_1553">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="85.00859832763672" y="98.97972869873047" z="0.5"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_close_to_adversary_1554">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-7.423202991485596" y="-76.03532409667969" z="0.03379623219370842"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_w_transform_1555">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-6.521185874938965" y="-19.252832412719727" z="0.5"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_w_transform_1556">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-58.672019958496094" y="-43.31319046020508" z="0.5"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_close_to_adversary_1557">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-6.373859405517578" y="-75.60321044921875" z="0.033807411789894104"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_close_to_standing_1558">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-22.612133026123047" y="22.213869094848633" z="0.003037414513528347"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_w_transform_1559">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-14.689873695373535" y="-32.30478286743164" z="0.5"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_close_to_adversary_1560">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-15.238017082214355" y="-68.94893646240234" z="0.03383121266961098"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_close_to_adversary_1561">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-17.858814239501953" y="-62.813499450683594" z="0.03379302844405174"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_w_transform_1562">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-66.91181182861328" y="32.49864959716797" z="0.5"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_close_to_adversary_1563">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-11.453805923461914" y="-72.50906372070312" z="0.03377296403050423"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_close_to_standing_1564">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-8.615859985351562" y="22.72571563720703" z="0.003044204553589225"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_close_to_adversary_1565">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-13.458163261413574" y="-63.0710334777832" z="0.03377040848135948"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
</Actions>
</Init>
<Story name="MyStory">
<Act name="Behavior">
<ManeuverGroup maximumExecutionCount="1" name="ManeuverSequence">
<Actors selectTriggeringEntities="false">
<EntityRef entityRef="adversary"/>
</Actors>
<Maneuver name="LaneChangeSimpleManeuver">
<Event name="AdversaryAccelerates" priority="overwrite">
<Action name="AdversaryAccelerates">
<PrivateAction>
<LongitudinalAction>
<SpeedAction>
<SpeedActionDynamics dynamicsShape="step" value="50" dynamicsDimension="distance"/>
<SpeedActionTarget>
<AbsoluteTargetSpeed value="5.0"/>
</SpeedActionTarget>
</SpeedAction>
</LongitudinalAction>
</PrivateAction>
</Action>
<StartTrigger>
<ConditionGroup>
<Condition name="StartCondition" delay="0" conditionEdge="rising">
<ByEntityCondition>
<TriggeringEntities triggeringEntitiesRule="any">
<EntityRef entityRef="hero"/>
</TriggeringEntities>
<EntityCondition>
<RelativeDistanceCondition entityRef="adversary" relativeDistanceType="cartesianDistance" value="40.0" freespace="false" rule="lessThan"/>
</EntityCondition>
</ByEntityCondition>
</Condition>
</ConditionGroup>
</StartTrigger>
</Event>
<Event name="AdversaryChangesLane" priority="overwrite">
<Action name="AdversaryChangesLane">
<PrivateAction>
<LateralAction>
<LaneChangeAction>
<LaneChangeActionDynamics dynamicsShape="linear" value="25" dynamicsDimension="distance"/>
<LaneChangeTarget>
<RelativeTargetLane entityRef="adversary" value="-1"/>
</LaneChangeTarget>
</LaneChangeAction>
</LateralAction>
</PrivateAction>
</Action>
<StartTrigger>
<ConditionGroup>
<Condition name="AfterAdversaryAccelerates" delay="0" conditionEdge="rising">
<ByValueCondition>
<StoryboardElementStateCondition storyboardElementType="action" storyboardElementRef="AdversaryAccelerates" state="completeState"/>
</ByValueCondition>
</Condition>
</ConditionGroup>
</StartTrigger>
</Event>
</Maneuver>
</ManeuverGroup>
<StartTrigger>
<ConditionGroup>
<Condition name="OverallStartCondition" delay="0" conditionEdge="rising">
<ByEntityCondition>
<TriggeringEntities triggeringEntitiesRule="any">
<EntityRef entityRef="hero"/>
</TriggeringEntities>
<EntityCondition>
<TraveledDistanceCondition value="1.0"/>
</EntityCondition>
</ByEntityCondition>
</Condition>
<Condition name="StartTime" delay="0" conditionEdge="rising">
<ByValueCondition>
<SimulationTimeCondition value="0" rule="equalTo"/>
</ByValueCondition>
</Condition>
</ConditionGroup>
</StartTrigger>
<StopTrigger>
<ConditionGroup>
<Condition name="EndCondition" delay="0" conditionEdge="rising">
<ByEntityCondition>
<TriggeringEntities triggeringEntitiesRule="any">
<EntityRef entityRef="hero"/>
</TriggeringEntities>
<EntityCondition>
<TraveledDistanceCondition value="200.0"/>
</EntityCondition>
</ByEntityCondition>
</Condition>
</ConditionGroup>
</StopTrigger>
</Act>
</Story>
<StopTrigger>
<ConditionGroup>
<Condition name="criteria_RunningStopTest" delay="0" conditionEdge="rising">
<ByValueCondition>
<ParameterCondition parameterRef="" value="" rule="lessThan"/>
</ByValueCondition>
</Condition>
<Condition name="criteria_RunningRedLightTest" delay="0" conditionEdge="rising">
<ByValueCondition>
<ParameterCondition parameterRef="" value="" rule="lessThan"/>
</ByValueCondition>
</Condition>
<Condition name="criteria_WrongLaneTest" delay="0" conditionEdge="rising">
<ByValueCondition>
<ParameterCondition parameterRef="" value="" rule="lessThan"/>
</ByValueCondition>
</Condition>
<Condition name="criteria_OnSidewalkTest" delay="0" conditionEdge="rising">
<ByValueCondition>
<ParameterCondition parameterRef="" value="" rule="lessThan"/>
</ByValueCondition>
</Condition>
<Condition name="criteria_KeepLaneTest" delay="0" conditionEdge="rising">
<ByValueCondition>
<ParameterCondition parameterRef="" value="" rule="lessThan"/>
</ByValueCondition>
</Condition>
<Condition name="criteria_CollisionTest" delay="0" conditionEdge="rising">
<ByValueCondition>
<ParameterCondition parameterRef="" value="" rule="lessThan"/>
</ByValueCondition>
</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_1547">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_w_transform_1548">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_close_to_adversary_1549">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_close_to_adversary_1550">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_w_transform_1551">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_close_to_standing_1552">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_w_transform_1553">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_close_to_adversary_1554">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_w_transform_1555">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_w_transform_1556">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_close_to_adversary_1557">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_close_to_standing_1558">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_w_transform_1559">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_close_to_adversary_1560">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_close_to_adversary_1561">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_w_transform_1562">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_close_to_adversary_1563">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_close_to_standing_1564">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_close_to_adversary_1565">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_w_transform_1566">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
</Entities>
<Storyboard>
<Init>
<Actions>
<GlobalAction>
<EnvironmentAction>
<Environment name="Environment1">
<TimeOfDay animation="false" dateTime="2019-06-25T12:00:00"/>
<Weather cloudState="free">
<Sun intensity="0.85" azimuth="0" elevation="1.31"/>
<Fog visualRange="100000.0"/>
<Precipitation precipitationType="dry" intensity="0.0"/>
</Weather>
<RoadCondition frictionScaleFactor="1.0"/>
</Environment>
</EnvironmentAction>
</GlobalAction>
<Private entityRef="hero">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-9.4" y="-152.8" z="0.5" h="1.57079632679"/>
</Position>
</TeleportAction>
</PrivateAction>
<PrivateAction>
<ControllerAction>
<AssignControllerAction>
<Controller name="HeroAgent">
<Properties>
<Property name="module" value="external_control"/>
</Properties>
</Controller>
</AssignControllerAction>
<OverrideControllerValueAction>
<Throttle value="0" active="false"/>
<Brake value="0" active="false"/>
<Clutch value="0" active="false"/>
<ParkingBrake value="0" active="false"/>
<SteeringWheel value="0" active="false"/>
<Gear number="0" active="false"/>
</OverrideControllerValueAction>
</ControllerAction>
</PrivateAction>
</Private>
<Private entityRef="adversary">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-9.4" y="-71.0" z="0.5" h="1.57079632679"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="standing">
<PrivateAction>
<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_1547">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-1.759878396987915" y="-150.65199279785156" z="0.0016471862327307463"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_w_transform_1548">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="3.0431830883026123" y="-24.302078247070312" z="0.5"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_close_to_adversary_1549">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-25.93092918395996" y="-65.91144561767578" z="0.03384227678179741"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_close_to_adversary_1550">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-2.432924747467041" y="-73.71821594238281" z="0.03379829227924347"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_w_transform_1551">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="45.166725158691406" y="94.73450469970703" z="0.5"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_close_to_standing_1552">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-16.15999412536621" y="36.3413200378418" z="0.003018989460542798"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_w_transform_1553">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="85.00859832763672" y="98.97972869873047" z="0.5"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_close_to_adversary_1554">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-7.423202991485596" y="-76.03532409667969" z="0.03379623219370842"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_w_transform_1555">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-6.521185874938965" y="-19.252832412719727" z="0.5"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_w_transform_1556">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-58.672019958496094" y="-43.31319046020508" z="0.5"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_close_to_adversary_1557">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-6.373859405517578" y="-75.60321044921875" z="0.033807411789894104"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_close_to_standing_1558">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-22.612133026123047" y="22.213869094848633" z="0.003037414513528347"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_w_transform_1559">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-14.689873695373535" y="-32.30478286743164" z="0.5"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_close_to_adversary_1560">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-15.238017082214355" y="-68.94893646240234" z="0.03383121266961098"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_close_to_adversary_1561">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-17.858814239501953" y="-62.813499450683594" z="0.03379302844405174"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_w_transform_1562">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-66.91181182861328" y="32.49864959716797" z="0.5"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_close_to_adversary_1563">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-11.453805923461914" y="-72.50906372070312" z="0.03377296403050423"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_close_to_standing_1564">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-8.615859985351562" y="22.72571563720703" z="0.003044204553589225"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_close_to_adversary_1565">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-13.458163261413574" y="-63.0710334777832" z="0.03377040848135948"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_w_transform_1566">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="0.6427803635597229" y="34.32957458496094" 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 (-36.55, 45.73, 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_3663">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_close_to_hero_3664">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_close_to_hero_3665">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_close_to_adversary_3666">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_close_to_adversary_3667">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_close_to_adversary_3668">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
</Entities>
<Storyboard>
<Init>
<Actions>
<GlobalAction>
<EnvironmentAction>
<Environment name="Environment1">
<TimeOfDay animation="false" dateTime="2019-06-25T12:00:00"/>
<Weather cloudState="free">
<Sun intensity="0.85" azimuth="0" elevation="1.31"/>
<Fog visualRange="100000.0"/>
<Precipitation precipitationType="dry" intensity="0.0"/>
</Weather>
<RoadCondition frictionScaleFactor="1.0"/>
</Environment>
</EnvironmentAction>
</GlobalAction>
<Private entityRef="hero">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-9.4" y="-152.8" z="0.5" h="1.57079632679"/>
</Position>
</TeleportAction>
</PrivateAction>
<PrivateAction>
<ControllerAction>
<AssignControllerAction>
<Controller name="HeroAgent">
<Properties>
<Property name="module" value="external_control"/>
</Properties>
</Controller>
</AssignControllerAction>
<OverrideControllerValueAction>
<Throttle value="0" active="false"/>
<Brake value="0" active="false"/>
<Clutch value="0" active="false"/>
<ParkingBrake value="0" active="false"/>
<SteeringWheel value="0" active="false"/>
<Gear number="0" active="false"/>
</OverrideControllerValueAction>
</ControllerAction>
</PrivateAction>
</Private>
<Private entityRef="adversary">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-9.4" y="-71.0" z="0.5" h="1.57079632679"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="standing">
<PrivateAction>
<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_3663">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-1.5643209218978882" y="-62.950286865234375" z="0.03388965502381325"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_close_to_hero_3664">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-1.3244876861572266" y="-151.9639892578125" z="0.0015143966302275658"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_close_to_hero_3665">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-8.203348159790039" y="-171.53660583496094" z="0.0015143966302275658"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_close_to_adversary_3666">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-8.872069358825684" y="-67.28763580322266" z="0.03387695178389549"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_close_to_adversary_3667">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-6.250593662261963" y="-76.99327087402344" z="0.03388149291276932"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_close_to_adversary_3668">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-3.639176368713379" y="-79.81485748291016" z="0.033873479813337326"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
</Actions>
</Init>
<Story name="MyStory">
<Act name="Behavior">
<ManeuverGroup maximumExecutionCount="1" name="ManeuverSequence">
<Actors selectTriggeringEntities="false">
<EntityRef entityRef="adversary"/>
</Actors>
<Maneuver name="LaneChangeSimpleManeuver">
<Event name="AdversaryAccelerates" priority="overwrite">
<Action name="AdversaryAccelerates">
<PrivateAction>
<LongitudinalAction>
<SpeedAction>
<SpeedActionDynamics dynamicsShape="step" value="50" dynamicsDimension="distance"/>
<SpeedActionTarget>
<AbsoluteTargetSpeed value="5.0"/>
</SpeedActionTarget>
</SpeedAction>
</LongitudinalAction>
</PrivateAction>
</Action>
<StartTrigger>
<ConditionGroup>
<Condition name="StartCondition" delay="0" conditionEdge="rising">
<ByEntityCondition>
<TriggeringEntities triggeringEntitiesRule="any">
<EntityRef entityRef="hero"/>
</TriggeringEntities>
<EntityCondition>
<RelativeDistanceCondition entityRef="adversary" relativeDistanceType="cartesianDistance" value="40.0" freespace="false" rule="lessThan"/>
</EntityCondition>
</ByEntityCondition>
</Condition>
</ConditionGroup>
</StartTrigger>
</Event>
<Event name="AdversaryChangesLane" priority="overwrite">
<Action name="AdversaryChangesLane">
<PrivateAction>
<LateralAction>
<LaneChangeAction>
<LaneChangeActionDynamics dynamicsShape="linear" value="25" dynamicsDimension="distance"/>
<LaneChangeTarget>
<RelativeTargetLane entityRef="adversary" value="-1"/>
</LaneChangeTarget>
</LaneChangeAction>
</LateralAction>
</PrivateAction>
</Action>
<StartTrigger>
<ConditionGroup>
<Condition name="AfterAdversaryAccelerates" delay="0" conditionEdge="rising">
<ByValueCondition>
<StoryboardElementStateCondition storyboardElementType="action" storyboardElementRef="AdversaryAccelerates" state="completeState"/>
</ByValueCondition>
</Condition>
</ConditionGroup>
</StartTrigger>
</Event>
</Maneuver>
</ManeuverGroup>
<StartTrigger>
<ConditionGroup>
<Condition name="OverallStartCondition" delay="0" conditionEdge="rising">
<ByEntityCondition>
<TriggeringEntities triggeringEntitiesRule="any">
<EntityRef entityRef="hero"/>
</TriggeringEntities>
<EntityCondition>
<TraveledDistanceCondition value="1.0"/>
</EntityCondition>
</ByEntityCondition>
</Condition>
<Condition name="StartTime" delay="0" conditionEdge="rising">
<ByValueCondition>
<SimulationTimeCondition value="0" rule="equalTo"/>
</ByValueCondition>
</Condition>
</ConditionGroup>
</StartTrigger>
<StopTrigger>
<ConditionGroup>
<Condition name="EndCondition" delay="0" conditionEdge="rising">
<ByEntityCondition>
<TriggeringEntities triggeringEntitiesRule="any">
<EntityRef entityRef="hero"/>
</TriggeringEntities>
<EntityCondition>
<TraveledDistanceCondition value="200.0"/>
</EntityCondition>
</ByEntityCondition>
</Condition>
</ConditionGroup>
</StopTrigger>
</Act>
</Story>
<StopTrigger>
<ConditionGroup>
<Condition name="criteria_RunningStopTest" delay="0" conditionEdge="rising">
<ByValueCondition>
<ParameterCondition parameterRef="" value="" rule="lessThan"/>
</ByValueCondition>
</Condition>
<Condition name="criteria_RunningRedLightTest" delay="0" conditionEdge="rising">
<ByValueCondition>
<ParameterCondition parameterRef="" value="" rule="lessThan"/>
</ByValueCondition>
</Condition>
<Condition name="criteria_WrongLaneTest" delay="0" conditionEdge="rising">
<ByValueCondition>
<ParameterCondition parameterRef="" value="" rule="lessThan"/>
</ByValueCondition>
</Condition>
<Condition name="criteria_OnSidewalkTest" delay="0" conditionEdge="rising">
<ByValueCondition>
<ParameterCondition parameterRef="" value="" rule="lessThan"/>
</ByValueCondition>
</Condition>
<Condition name="criteria_KeepLaneTest" delay="0" conditionEdge="rising">
<ByValueCondition>
<ParameterCondition parameterRef="" value="" rule="lessThan"/>
</ByValueCondition>
</Condition>
<Condition name="criteria_CollisionTest" delay="0" conditionEdge="rising">
<ByValueCondition>
<ParameterCondition parameterRef="" value="" rule="lessThan"/>
</ByValueCondition>
</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_3663">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_close_to_hero_3664">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_close_to_hero_3665">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_close_to_adversary_3666">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_close_to_adversary_3667">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_close_to_adversary_3668">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_w_transform_3669">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
</Entities>
<Storyboard>
<Init>
<Actions>
<GlobalAction>
<EnvironmentAction>
<Environment name="Environment1">
<TimeOfDay animation="false" dateTime="2019-06-25T12:00:00"/>
<Weather cloudState="free">
<Sun intensity="0.85" azimuth="0" elevation="1.31"/>
<Fog visualRange="100000.0"/>
<Precipitation precipitationType="dry" intensity="0.0"/>
</Weather>
<RoadCondition frictionScaleFactor="1.0"/>
</Environment>
</EnvironmentAction>
</GlobalAction>
<Private entityRef="hero">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-9.4" y="-152.8" z="0.5" h="1.57079632679"/>
</Position>
</TeleportAction>
</PrivateAction>
<PrivateAction>
<ControllerAction>
<AssignControllerAction>
<Controller name="HeroAgent">
<Properties>
<Property name="module" value="external_control"/>
</Properties>
</Controller>
</AssignControllerAction>
<OverrideControllerValueAction>
<Throttle value="0" active="false"/>
<Brake value="0" active="false"/>
<Clutch value="0" active="false"/>
<ParkingBrake value="0" active="false"/>
<SteeringWheel value="0" active="false"/>
<Gear number="0" active="false"/>
</OverrideControllerValueAction>
</ControllerAction>
</PrivateAction>
</Private>
<Private entityRef="adversary">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-9.4" y="-71.0" z="0.5" h="1.57079632679"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="standing">
<PrivateAction>
<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_3663">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-1.5643209218978882" y="-62.950286865234375" z="0.03388965502381325"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_close_to_hero_3664">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-1.3244876861572266" y="-151.9639892578125" z="0.0015143966302275658"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_close_to_hero_3665">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-8.203348159790039" y="-171.53660583496094" z="0.0015143966302275658"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_close_to_adversary_3666">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-8.872069358825684" y="-67.28763580322266" z="0.03387695178389549"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_close_to_adversary_3667">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-6.250593662261963" y="-76.99327087402344" z="0.03388149291276932"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_close_to_adversary_3668">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-3.639176368713379" y="-79.81485748291016" z="0.033873479813337326"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_w_transform_3669">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-36.55281066894531" y="45.731380462646484" 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 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_6513">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
</Entities>
<Storyboard>
<Init>
<Actions>
<GlobalAction>
<EnvironmentAction>
<Environment name="Environment1">
<TimeOfDay animation="false" dateTime="2019-06-25T12:00:00"/>
<Weather cloudState="free">
<Sun intensity="0.85" azimuth="0" elevation="1.31"/>
<Fog visualRange="100000.0"/>
<Precipitation precipitationType="dry" intensity="0.0"/>
</Weather>
<RoadCondition frictionScaleFactor="1.0"/>
</Environment>
</EnvironmentAction>
</GlobalAction>
<Private entityRef="hero">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-9.4" y="-152.8" z="0.5" h="1.57079632679"/>
</Position>
</TeleportAction>
</PrivateAction>
<PrivateAction>
<ControllerAction>
<AssignControllerAction>
<Controller name="HeroAgent">
<Properties>
<Property name="module" value="external_control"/>
</Properties>
</Controller>
</AssignControllerAction>
<OverrideControllerValueAction>
<Throttle value="0" active="false"/>
<Brake value="0" active="false"/>
<Clutch value="0" active="false"/>
<ParkingBrake value="0" active="false"/>
<SteeringWheel value="0" active="false"/>
<Gear number="0" active="false"/>
</OverrideControllerValueAction>
</ControllerAction>
</PrivateAction>
</Private>
<Private entityRef="adversary">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-9.4" y="-71.0" z="0.5" h="1.57079632679"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="standing">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-8.2" y="29.2" z="0.5" h="1.57079632679"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_close_to_adversary_6513">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-8.019942283630371" y="-70.02403259277344" z="0.03381240740418434"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
</Actions>
</Init>
<Story name="MyStory">
<Act name="Behavior">
<ManeuverGroup maximumExecutionCount="1" name="ManeuverSequence">
<Actors selectTriggeringEntities="false">
<EntityRef entityRef="adversary"/>
</Actors>
<Maneuver name="LaneChangeSimpleManeuver">
<Event name="AdversaryAccelerates" priority="overwrite">
<Action name="AdversaryAccelerates">
<PrivateAction>
<LongitudinalAction>
<SpeedAction>
<SpeedActionDynamics dynamicsShape="step" value="50" dynamicsDimension="distance"/>
<SpeedActionTarget>
<AbsoluteTargetSpeed value="5.0"/>
</SpeedActionTarget>
</SpeedAction>
</LongitudinalAction>
</PrivateAction>
</Action>
<StartTrigger>
<ConditionGroup>
<Condition name="StartCondition" delay="0" conditionEdge="rising">
<ByEntityCondition>
<TriggeringEntities triggeringEntitiesRule="any">
<EntityRef entityRef="hero"/>
</TriggeringEntities>
<EntityCondition>
<RelativeDistanceCondition entityRef="adversary" relativeDistanceType="cartesianDistance" value="40.0" freespace="false" rule="lessThan"/>
</EntityCondition>
</ByEntityCondition>
</Condition>
</ConditionGroup>
</StartTrigger>
</Event>
<Event name="AdversaryChangesLane" priority="overwrite">
<Action name="AdversaryChangesLane">
<PrivateAction>
<LateralAction>
<LaneChangeAction>
<LaneChangeActionDynamics dynamicsShape="linear" value="25" dynamicsDimension="distance"/>
<LaneChangeTarget>
<RelativeTargetLane entityRef="adversary" value="-1"/>
</LaneChangeTarget>
</LaneChangeAction>
</LateralAction>
</PrivateAction>
</Action>
<StartTrigger>
<ConditionGroup>
<Condition name="AfterAdversaryAccelerates" delay="0" conditionEdge="rising">
<ByValueCondition>
<StoryboardElementStateCondition storyboardElementType="action" storyboardElementRef="AdversaryAccelerates" state="completeState"/>
</ByValueCondition>
</Condition>
</ConditionGroup>
</StartTrigger>
</Event>
</Maneuver>
</ManeuverGroup>
<StartTrigger>
<ConditionGroup>
<Condition name="OverallStartCondition" delay="0" conditionEdge="rising">
<ByEntityCondition>
<TriggeringEntities triggeringEntitiesRule="any">
<EntityRef entityRef="hero"/>
</TriggeringEntities>
<EntityCondition>
<TraveledDistanceCondition value="1.0"/>
</EntityCondition>
</ByEntityCondition>
</Condition>
<Condition name="StartTime" delay="0" conditionEdge="rising">
<ByValueCondition>
<SimulationTimeCondition value="0" rule="equalTo"/>
</ByValueCondition>
</Condition>
</ConditionGroup>
</StartTrigger>
<StopTrigger>
<ConditionGroup>
<Condition name="EndCondition" delay="0" conditionEdge="rising">
<ByEntityCondition>
<TriggeringEntities triggeringEntitiesRule="any">
<EntityRef entityRef="hero"/>
</TriggeringEntities>
<EntityCondition>
<TraveledDistanceCondition value="200.0"/>
</EntityCondition>
</ByEntityCondition>
</Condition>
</ConditionGroup>
</StopTrigger>
</Act>
</Story>
<StopTrigger>
<ConditionGroup>
<Condition name="criteria_RunningStopTest" delay="0" conditionEdge="rising">
<ByValueCondition>
<ParameterCondition parameterRef="" value="" rule="lessThan"/>
</ByValueCondition>
</Condition>
<Condition name="criteria_RunningRedLightTest" delay="0" conditionEdge="rising">
<ByValueCondition>
<ParameterCondition parameterRef="" value="" rule="lessThan"/>
</ByValueCondition>
</Condition>
<Condition name="criteria_WrongLaneTest" delay="0" conditionEdge="rising">
<ByValueCondition>
<ParameterCondition parameterRef="" value="" rule="lessThan"/>
</ByValueCondition>
</Condition>
<Condition name="criteria_OnSidewalkTest" delay="0" conditionEdge="rising">
<ByValueCondition>
<ParameterCondition parameterRef="" value="" rule="lessThan"/>
</ByValueCondition>
</Condition>
<Condition name="criteria_KeepLaneTest" delay="0" conditionEdge="rising">
<ByValueCondition>
<ParameterCondition parameterRef="" value="" rule="lessThan"/>
</ByValueCondition>
</Condition>
<Condition name="criteria_CollisionTest" delay="0" conditionEdge="rising">
<ByValueCondition>
<ParameterCondition parameterRef="" value="" rule="lessThan"/>
</ByValueCondition>
</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 (69.0, 19.36, 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_27076">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_close_to_adversary_27077">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_close_to_standing_27078">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_close_to_hero_27079">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_w_transform_27080">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_close_to_hero_27081">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_w_transform_27082">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_w_transform_27084">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_w_transform_27085">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_w_transform_27086">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_close_to_hero_27087">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_w_transform_27088">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_close_to_hero_27089">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_close_to_adversary_27090">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_close_to_standing_27091">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_w_transform_27092">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_close_to_standing_27093">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
</Entities>
<Storyboard>
<Init>
<Actions>
<GlobalAction>
<EnvironmentAction>
<Environment name="Environment1">
<TimeOfDay animation="false" dateTime="2019-06-25T12:00:00"/>
<Weather cloudState="free">
<Sun intensity="0.85" azimuth="0" elevation="1.31"/>
<Fog visualRange="100000.0"/>
<Precipitation precipitationType="dry" intensity="0.0"/>
</Weather>
<RoadCondition frictionScaleFactor="1.0"/>
</Environment>
</EnvironmentAction>
</GlobalAction>
<Private entityRef="hero">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-9.4" y="-152.8" z="0.5" h="1.57079632679"/>
</Position>
</TeleportAction>
</PrivateAction>
<PrivateAction>
<ControllerAction>
<AssignControllerAction>
<Controller name="HeroAgent">
<Properties>
<Property name="module" value="external_control"/>
</Properties>
</Controller>
</AssignControllerAction>
<OverrideControllerValueAction>
<Throttle value="0" active="false"/>
<Brake value="0" active="false"/>
<Clutch value="0" active="false"/>
<ParkingBrake value="0" active="false"/>
<SteeringWheel value="0" active="false"/>
<Gear number="0" active="false"/>
</OverrideControllerValueAction>
</ControllerAction>
</PrivateAction>
</Private>
<Private entityRef="adversary">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-9.4" y="-71.0" z="0.5" h="1.57079632679"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="standing">
<PrivateAction>
<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_27076">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-5.434441089630127" y="-162.79034423828125" z="0.0014652633108198643"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_close_to_adversary_27077">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="1.0730540752410889" y="-77.183837890625" z="0.03387130796909332"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_close_to_standing_27078">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="1.2288782596588135" y="22.417640686035156" z="0.0030510330107063055"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_close_to_hero_27079">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-16.237987518310547" y="-151.2530517578125" z="0.0014652633108198643"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_w_transform_27080">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="54.99263000488281" y="-41.55801010131836" z="0.5"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_close_to_hero_27081">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-5.514611721038818" y="-156.16989135742188" z="0.0014652633108198643"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_w_transform_27082">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-29.849475860595703" y="-15.107471466064453" z="0.5"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_w_transform_27084">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-55.6376953125" y="-79.42603302001953" z="0.5"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_w_transform_27085">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-19.055278778076172" y="60.46150207519531" z="0.5"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_w_transform_27086">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="95.40996551513672" y="28.78699493408203" z="0.5"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_close_to_hero_27087">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-8.919624328613281" y="-145.5320587158203" z="0.0014652633108198643"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_w_transform_27088">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-37.95674514770508" y="25.97806167602539" z="0.5"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_close_to_hero_27089">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-2.6842825412750244" y="-163.83621215820312" z="0.0014652633108198643"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_close_to_adversary_27090">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-15.364810943603516" y="-78.04949951171875" z="0.03382091596722603"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_close_to_standing_27091">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-12.88297176361084" y="24.658838272094727" z="0.0030666731763631105"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_w_transform_27092">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-33.02541732788086" y="-33.0744743347168" z="0.5"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_close_to_standing_27093">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-6.317546367645264" y="29.208831787109375" z="0.003094978164881468"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
</Actions>
</Init>
<Story name="MyStory">
<Act name="Behavior">
<ManeuverGroup maximumExecutionCount="1" name="ManeuverSequence">
<Actors selectTriggeringEntities="false">
<EntityRef entityRef="adversary"/>
</Actors>
<Maneuver name="LaneChangeSimpleManeuver">
<Event name="AdversaryAccelerates" priority="overwrite">
<Action name="AdversaryAccelerates">
<PrivateAction>
<LongitudinalAction>
<SpeedAction>
<SpeedActionDynamics dynamicsShape="step" value="50" dynamicsDimension="distance"/>
<SpeedActionTarget>
<AbsoluteTargetSpeed value="5.0"/>
</SpeedActionTarget>
</SpeedAction>
</LongitudinalAction>
</PrivateAction>
</Action>
<StartTrigger>
<ConditionGroup>
<Condition name="StartCondition" delay="0" conditionEdge="rising">
<ByEntityCondition>
<TriggeringEntities triggeringEntitiesRule="any">
<EntityRef entityRef="hero"/>
</TriggeringEntities>
<EntityCondition>
<RelativeDistanceCondition entityRef="adversary" relativeDistanceType="cartesianDistance" value="40.0" freespace="false" rule="lessThan"/>
</EntityCondition>
</ByEntityCondition>
</Condition>
</ConditionGroup>
</StartTrigger>
</Event>
<Event name="AdversaryChangesLane" priority="overwrite">
<Action name="AdversaryChangesLane">
<PrivateAction>
<LateralAction>
<LaneChangeAction>
<LaneChangeActionDynamics dynamicsShape="linear" value="25" dynamicsDimension="distance"/>
<LaneChangeTarget>
<RelativeTargetLane entityRef="adversary" value="-1"/>
</LaneChangeTarget>
</LaneChangeAction>
</LateralAction>
</PrivateAction>
</Action>
<StartTrigger>
<ConditionGroup>
<Condition name="AfterAdversaryAccelerates" delay="0" conditionEdge="rising">
<ByValueCondition>
<StoryboardElementStateCondition storyboardElementType="action" storyboardElementRef="AdversaryAccelerates" state="completeState"/>
</ByValueCondition>
</Condition>
</ConditionGroup>
</StartTrigger>
</Event>
</Maneuver>
</ManeuverGroup>
<StartTrigger>
<ConditionGroup>
<Condition name="OverallStartCondition" delay="0" conditionEdge="rising">
<ByEntityCondition>
<TriggeringEntities triggeringEntitiesRule="any">
<EntityRef entityRef="hero"/>
</TriggeringEntities>
<EntityCondition>
<TraveledDistanceCondition value="1.0"/>
</EntityCondition>
</ByEntityCondition>
</Condition>
<Condition name="StartTime" delay="0" conditionEdge="rising">
<ByValueCondition>
<SimulationTimeCondition value="0" rule="equalTo"/>
</ByValueCondition>
</Condition>
</ConditionGroup>
</StartTrigger>
<StopTrigger>
<ConditionGroup>
<Condition name="EndCondition" delay="0" conditionEdge="rising">
<ByEntityCondition>
<TriggeringEntities triggeringEntitiesRule="any">
<EntityRef entityRef="hero"/>
</TriggeringEntities>
<EntityCondition>
<TraveledDistanceCondition value="200.0"/>
</EntityCondition>
</ByEntityCondition>
</Condition>
</ConditionGroup>
</StopTrigger>
</Act>
</Story>
<StopTrigger>
<ConditionGroup>
<Condition name="criteria_RunningStopTest" delay="0" conditionEdge="rising">
<ByValueCondition>
<ParameterCondition parameterRef="" value="" rule="lessThan"/>
</ByValueCondition>
</Condition>
<Condition name="criteria_RunningRedLightTest" delay="0" conditionEdge="rising">
<ByValueCondition>
<ParameterCondition parameterRef="" value="" rule="lessThan"/>
</ByValueCondition>
</Condition>
<Condition name="criteria_WrongLaneTest" delay="0" conditionEdge="rising">
<ByValueCondition>
<ParameterCondition parameterRef="" value="" rule="lessThan"/>
</ByValueCondition>
</Condition>
<Condition name="criteria_OnSidewalkTest" delay="0" conditionEdge="rising">
<ByValueCondition>
<ParameterCondition parameterRef="" value="" rule="lessThan"/>
</ByValueCondition>
</Condition>
<Condition name="criteria_KeepLaneTest" delay="0" conditionEdge="rising">
<ByValueCondition>
<ParameterCondition parameterRef="" value="" rule="lessThan"/>
</ByValueCondition>
</Condition>
<Condition name="criteria_CollisionTest" delay="0" conditionEdge="rising">
<ByValueCondition>
<ParameterCondition parameterRef="" value="" rule="lessThan"/>
</ByValueCondition>
</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_27076">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_close_to_adversary_27077">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_close_to_standing_27078">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_close_to_hero_27079">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_w_transform_27080">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_close_to_hero_27081">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_w_transform_27082">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_w_transform_27084">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_w_transform_27085">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_w_transform_27086">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_close_to_hero_27087">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_w_transform_27088">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_close_to_hero_27089">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_close_to_adversary_27090">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_close_to_standing_27091">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_w_transform_27092">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_close_to_standing_27093">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_w_transform_27094">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
</Entities>
<Storyboard>
<Init>
<Actions>
<GlobalAction>
<EnvironmentAction>
<Environment name="Environment1">
<TimeOfDay animation="false" dateTime="2019-06-25T12:00:00"/>
<Weather cloudState="free">
<Sun intensity="0.85" azimuth="0" elevation="1.31"/>
<Fog visualRange="100000.0"/>
<Precipitation precipitationType="dry" intensity="0.0"/>
</Weather>
<RoadCondition frictionScaleFactor="1.0"/>
</Environment>
</EnvironmentAction>
</GlobalAction>
<Private entityRef="hero">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-9.4" y="-152.8" z="0.5" h="1.57079632679"/>
</Position>
</TeleportAction>
</PrivateAction>
<PrivateAction>
<ControllerAction>
<AssignControllerAction>
<Controller name="HeroAgent">
<Properties>
<Property name="module" value="external_control"/>
</Properties>
</Controller>
</AssignControllerAction>
<OverrideControllerValueAction>
<Throttle value="0" active="false"/>
<Brake value="0" active="false"/>
<Clutch value="0" active="false"/>
<ParkingBrake value="0" active="false"/>
<SteeringWheel value="0" active="false"/>
<Gear number="0" active="false"/>
</OverrideControllerValueAction>
</ControllerAction>
</PrivateAction>
</Private>
<Private entityRef="adversary">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-9.4" y="-71.0" z="0.5" h="1.57079632679"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="standing">
<PrivateAction>
<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_27076">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-5.434441089630127" y="-162.79034423828125" z="0.0014652633108198643"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_close_to_adversary_27077">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="1.0730540752410889" y="-77.183837890625" z="0.03387130796909332"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_close_to_standing_27078">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="1.2288782596588135" y="22.417640686035156" z="0.0030510330107063055"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_close_to_hero_27079">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-16.237987518310547" y="-151.2530517578125" z="0.0014652633108198643"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_w_transform_27080">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="54.99263000488281" y="-41.55801010131836" z="0.5"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_close_to_hero_27081">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-5.514611721038818" y="-156.16989135742188" z="0.0014652633108198643"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_w_transform_27082">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-29.849475860595703" y="-15.107471466064453" z="0.5"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_w_transform_27084">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-55.6376953125" y="-79.42603302001953" z="0.5"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_w_transform_27085">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-19.055278778076172" y="60.46150207519531" z="0.5"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_w_transform_27086">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="95.40996551513672" y="28.78699493408203" z="0.5"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_close_to_hero_27087">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-8.919624328613281" y="-145.5320587158203" z="0.0014652633108198643"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_w_transform_27088">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-37.95674514770508" y="25.97806167602539" z="0.5"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_close_to_hero_27089">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-2.6842825412750244" y="-163.83621215820312" z="0.0014652633108198643"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_close_to_adversary_27090">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-15.364810943603516" y="-78.04949951171875" z="0.03382091596722603"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_close_to_standing_27091">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-12.88297176361084" y="24.658838272094727" z="0.0030666731763631105"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_w_transform_27092">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-33.02541732788086" y="-33.0744743347168" z="0.5"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_close_to_standing_27093">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-6.317546367645264" y="29.208831787109375" z="0.003094978164881468"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_w_transform_27094">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="69.00006866455078" y="19.363744735717773" z="0.5"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
</Actions>
</Init>
<Story name="MyStory">
<Act name="Behavior">
<ManeuverGroup maximumExecutionCount="1" name="ManeuverSequence">
<Actors selectTriggeringEntities="false">
<EntityRef entityRef="adversary"/>
</Actors>
<Maneuver name="LaneChangeSimpleManeuver">
<Event name="AdversaryAccelerates" priority="overwrite">
<Action name="AdversaryAccelerates">
<PrivateAction>
<LongitudinalAction>
<SpeedAction>
<SpeedActionDynamics dynamicsShape="step" value="50" dynamicsDimension="distance"/>
<SpeedActionTarget>
<AbsoluteTargetSpeed value="5.0"/>
</SpeedActionTarget>
</SpeedAction>
</LongitudinalAction>
</PrivateAction>
</Action>
<StartTrigger>
<ConditionGroup>
<Condition name="StartCondition" delay="0" conditionEdge="rising">
<ByEntityCondition>
<TriggeringEntities triggeringEntitiesRule="any">
<EntityRef entityRef="hero"/>
</TriggeringEntities>
<EntityCondition>
<RelativeDistanceCondition entityRef="adversary" relativeDistanceType="cartesianDistance" value="40.0" freespace="false" rule="lessThan"/>
</EntityCondition>
</ByEntityCondition>
</Condition>
</ConditionGroup>
</StartTrigger>
</Event>
<Event name="AdversaryChangesLane" priority="overwrite">
<Action name="AdversaryChangesLane">
<PrivateAction>
<LateralAction>
<LaneChangeAction>
<LaneChangeActionDynamics dynamicsShape="linear" value="25" dynamicsDimension="distance"/>
<LaneChangeTarget>
<RelativeTargetLane entityRef="adversary" value="-1"/>
</LaneChangeTarget>
</LaneChangeAction>
</LateralAction>
</PrivateAction>
</Action>
<StartTrigger>
<ConditionGroup>
<Condition name="AfterAdversaryAccelerates" delay="0" conditionEdge="rising">
<ByValueCondition>
<StoryboardElementStateCondition storyboardElementType="action" storyboardElementRef="AdversaryAccelerates" state="completeState"/>
</ByValueCondition>
</Condition>
</ConditionGroup>
</StartTrigger>
</Event>
</Maneuver>
</ManeuverGroup>
<StartTrigger>
<ConditionGroup>
<Condition name="OverallStartCondition" delay="0" conditionEdge="rising">
<ByEntityCondition>
<TriggeringEntities triggeringEntitiesRule="any">
<EntityRef entityRef="hero"/>
</TriggeringEntities>
<EntityCondition>
<TraveledDistanceCondition value="1.0"/>
</EntityCondition>
</ByEntityCondition>
</Condition>
<Condition name="StartTime" delay="0" conditionEdge="rising">
<ByValueCondition>
<SimulationTimeCondition value="0" rule="equalTo"/>
</ByValueCondition>
</Condition>
</ConditionGroup>
</StartTrigger>
<StopTrigger>
<ConditionGroup>
<Condition name="EndCondition" delay="0" conditionEdge="rising">
<ByEntityCondition>
<TriggeringEntities triggeringEntitiesRule="any">
<EntityRef entityRef="hero"/>
</TriggeringEntities>
<EntityCondition>
<TraveledDistanceCondition value="200.0"/>
</EntityCondition>
</ByEntityCondition>
</Condition>
</ConditionGroup>
</StopTrigger>
</Act>
</Story>
<StopTrigger>
<ConditionGroup>
<Condition name="criteria_RunningStopTest" delay="0" conditionEdge="rising">
<ByValueCondition>
<ParameterCondition parameterRef="" value="" rule="lessThan"/>
</ByValueCondition>
</Condition>
<Condition name="criteria_RunningRedLightTest" delay="0" conditionEdge="rising">
<ByValueCondition>
<ParameterCondition parameterRef="" value="" rule="lessThan"/>
</ByValueCondition>
</Condition>
<Condition name="criteria_WrongLaneTest" delay="0" conditionEdge="rising">
<ByValueCondition>
<ParameterCondition parameterRef="" value="" rule="lessThan"/>
</ByValueCondition>
</Condition>
<Condition name="criteria_OnSidewalkTest" delay="0" conditionEdge="rising">
<ByValueCondition>
<ParameterCondition parameterRef="" value="" rule="lessThan"/>
</ByValueCondition>
</Condition>
<Condition name="criteria_KeepLaneTest" delay="0" conditionEdge="rising">
<ByValueCondition>
<ParameterCondition parameterRef="" value="" rule="lessThan"/>
</ByValueCondition>
</Condition>
<Condition name="criteria_CollisionTest" delay="0" conditionEdge="rising">
<ByValueCondition>
<ParameterCondition parameterRef="" value="" rule="lessThan"/>
</ByValueCondition>
</Condition>
<Condition name="criteria_DrivenDistanceTest" delay="0" conditionEdge="rising">
<ByValueCondition>
<ParameterCondition parameterRef="distance_success" value="100" rule="lessThan"/>
</ByValueCondition>
</Condition>
</ConditionGroup>
</StopTrigger>
</Storyboard>
</OpenSCENARIO>
``` |
i want you to add pedestrian at location (86.22, 49.4, 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_hero_18055">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_w_transform_18056">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_close_to_standing_18057">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_close_to_standing_18058">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_close_to_adversary_18059">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_close_to_standing_18060">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_close_to_hero_18061">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_close_to_hero_18062">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_w_transform_18063">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_w_transform_18064">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_w_transform_18065">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_close_to_hero_18066">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_close_to_standing_18067">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_w_transform_18068">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_close_to_adversary_18069">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_w_transform_18070">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_w_transform_18071">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_w_transform_18072">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_close_to_adversary_18073">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_w_transform_18074">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
</Entities>
<Storyboard>
<Init>
<Actions>
<GlobalAction>
<EnvironmentAction>
<Environment name="Environment1">
<TimeOfDay animation="false" dateTime="2019-06-25T12:00:00"/>
<Weather cloudState="free">
<Sun intensity="0.85" azimuth="0" elevation="1.31"/>
<Fog visualRange="100000.0"/>
<Precipitation precipitationType="dry" intensity="0.0"/>
</Weather>
<RoadCondition frictionScaleFactor="1.0"/>
</Environment>
</EnvironmentAction>
</GlobalAction>
<Private entityRef="hero">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-9.4" y="-152.8" z="0.5" h="1.57079632679"/>
</Position>
</TeleportAction>
</PrivateAction>
<PrivateAction>
<ControllerAction>
<AssignControllerAction>
<Controller name="HeroAgent">
<Properties>
<Property name="module" value="external_control"/>
</Properties>
</Controller>
</AssignControllerAction>
<OverrideControllerValueAction>
<Throttle value="0" active="false"/>
<Brake value="0" active="false"/>
<Clutch value="0" active="false"/>
<ParkingBrake value="0" active="false"/>
<SteeringWheel value="0" active="false"/>
<Gear number="0" active="false"/>
</OverrideControllerValueAction>
</ControllerAction>
</PrivateAction>
</Private>
<Private entityRef="adversary">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-9.4" y="-71.0" z="0.5" h="1.57079632679"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="standing">
<PrivateAction>
<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_18055">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-8.682788848876953" y="-143.3362579345703" z="0.0015143966302275658"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_w_transform_18056">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-42.46979904174805" y="96.17351531982422" z="0.5"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_close_to_standing_18057">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-6.579042434692383" y="22.882234573364258" z="0.0031171415466815233"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_close_to_standing_18058">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-9.711968421936035" y="20.521644592285156" z="0.0031060026958584785"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_close_to_adversary_18059">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-18.213502883911133" y="-64.88058471679688" z="0.03385284170508385"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_close_to_standing_18060">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="5.460978031158447" y="32.31257247924805" z="0.00310688023455441"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_close_to_hero_18061">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-19.386207580566406" y="-157.3527374267578" z="0.0015143966302275658"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_close_to_hero_18062">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-2.582292079925537" y="-157.03736877441406" z="0.0015143966302275658"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_w_transform_18063">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="5.232941150665283" y="6.93942928314209" z="0.5"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_w_transform_18064">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="45.12377166748047" y="47.798118591308594" z="0.5"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_w_transform_18065">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="40.063148498535156" y="16.90583610534668" z="0.5"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_close_to_hero_18066">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-9.133350372314453" y="-160.4124755859375" z="0.0015143966302275658"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_close_to_standing_18067">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-21.11623764038086" y="38.20060348510742" z="0.003032264532521367"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_w_transform_18068">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-74.02131652832031" y="44.86420822143555" z="0.5"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_close_to_adversary_18069">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-3.014310121536255" y="-69.408935546875" z="0.03376491367816925"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_w_transform_18070">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="83.14321899414062" y="63.522281646728516" z="0.5"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_w_transform_18071">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-3.075291633605957" y="17.325437545776367" z="0.5"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_w_transform_18072">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-12.326982498168945" y="25.991886138916016" z="0.5"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_close_to_adversary_18073">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-4.082187652587891" y="-72.96988677978516" z="0.0337601862847805"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_w_transform_18074">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="16.653032302856445" y="-36.8865852355957" 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_18055">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_w_transform_18056">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_close_to_standing_18057">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_close_to_standing_18058">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_close_to_adversary_18059">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_close_to_standing_18060">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_close_to_hero_18061">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_close_to_hero_18062">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_w_transform_18063">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_w_transform_18064">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_w_transform_18065">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_close_to_hero_18066">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_close_to_standing_18067">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_w_transform_18068">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_close_to_adversary_18069">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_w_transform_18070">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_w_transform_18071">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_w_transform_18072">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_close_to_adversary_18073">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_w_transform_18074">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_w_transform_18075">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
</Entities>
<Storyboard>
<Init>
<Actions>
<GlobalAction>
<EnvironmentAction>
<Environment name="Environment1">
<TimeOfDay animation="false" dateTime="2019-06-25T12:00:00"/>
<Weather cloudState="free">
<Sun intensity="0.85" azimuth="0" elevation="1.31"/>
<Fog visualRange="100000.0"/>
<Precipitation precipitationType="dry" intensity="0.0"/>
</Weather>
<RoadCondition frictionScaleFactor="1.0"/>
</Environment>
</EnvironmentAction>
</GlobalAction>
<Private entityRef="hero">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-9.4" y="-152.8" z="0.5" h="1.57079632679"/>
</Position>
</TeleportAction>
</PrivateAction>
<PrivateAction>
<ControllerAction>
<AssignControllerAction>
<Controller name="HeroAgent">
<Properties>
<Property name="module" value="external_control"/>
</Properties>
</Controller>
</AssignControllerAction>
<OverrideControllerValueAction>
<Throttle value="0" active="false"/>
<Brake value="0" active="false"/>
<Clutch value="0" active="false"/>
<ParkingBrake value="0" active="false"/>
<SteeringWheel value="0" active="false"/>
<Gear number="0" active="false"/>
</OverrideControllerValueAction>
</ControllerAction>
</PrivateAction>
</Private>
<Private entityRef="adversary">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-9.4" y="-71.0" z="0.5" h="1.57079632679"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="standing">
<PrivateAction>
<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_18055">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-8.682788848876953" y="-143.3362579345703" z="0.0015143966302275658"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_w_transform_18056">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-42.46979904174805" y="96.17351531982422" z="0.5"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_close_to_standing_18057">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-6.579042434692383" y="22.882234573364258" z="0.0031171415466815233"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_close_to_standing_18058">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-9.711968421936035" y="20.521644592285156" z="0.0031060026958584785"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_close_to_adversary_18059">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-18.213502883911133" y="-64.88058471679688" z="0.03385284170508385"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_close_to_standing_18060">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="5.460978031158447" y="32.31257247924805" z="0.00310688023455441"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_close_to_hero_18061">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-19.386207580566406" y="-157.3527374267578" z="0.0015143966302275658"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_close_to_hero_18062">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-2.582292079925537" y="-157.03736877441406" z="0.0015143966302275658"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_w_transform_18063">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="5.232941150665283" y="6.93942928314209" z="0.5"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_w_transform_18064">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="45.12377166748047" y="47.798118591308594" z="0.5"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_w_transform_18065">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="40.063148498535156" y="16.90583610534668" z="0.5"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_close_to_hero_18066">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-9.133350372314453" y="-160.4124755859375" z="0.0015143966302275658"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_close_to_standing_18067">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-21.11623764038086" y="38.20060348510742" z="0.003032264532521367"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_w_transform_18068">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-74.02131652832031" y="44.86420822143555" z="0.5"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_close_to_adversary_18069">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-3.014310121536255" y="-69.408935546875" z="0.03376491367816925"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_w_transform_18070">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="83.14321899414062" y="63.522281646728516" z="0.5"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_w_transform_18071">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-3.075291633605957" y="17.325437545776367" z="0.5"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_w_transform_18072">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-12.326982498168945" y="25.991886138916016" z="0.5"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_close_to_adversary_18073">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-4.082187652587891" y="-72.96988677978516" z="0.0337601862847805"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_w_transform_18074">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="16.653032302856445" y="-36.8865852355957" z="0.5"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_w_transform_18075">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="86.21907806396484" y="49.40481948852539" 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_4494">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_close_to_hero_4495">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_w_transform_4496">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_close_to_standing_4497">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_w_transform_4498">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_w_transform_4499">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_close_to_hero_4500">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_close_to_adversary_4501">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_close_to_standing_4502">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_close_to_adversary_4503">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_close_to_standing_4504">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_close_to_hero_4505">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
</Entities>
<Storyboard>
<Init>
<Actions>
<GlobalAction>
<EnvironmentAction>
<Environment name="Environment1">
<TimeOfDay animation="false" dateTime="2019-06-25T12:00:00"/>
<Weather cloudState="free">
<Sun intensity="0.85" azimuth="0" elevation="1.31"/>
<Fog visualRange="100000.0"/>
<Precipitation precipitationType="dry" intensity="0.0"/>
</Weather>
<RoadCondition frictionScaleFactor="1.0"/>
</Environment>
</EnvironmentAction>
</GlobalAction>
<Private entityRef="hero">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-9.4" y="-152.8" z="0.5" h="1.57079632679"/>
</Position>
</TeleportAction>
</PrivateAction>
<PrivateAction>
<ControllerAction>
<AssignControllerAction>
<Controller name="HeroAgent">
<Properties>
<Property name="module" value="external_control"/>
</Properties>
</Controller>
</AssignControllerAction>
<OverrideControllerValueAction>
<Throttle value="0" active="false"/>
<Brake value="0" active="false"/>
<Clutch value="0" active="false"/>
<ParkingBrake value="0" active="false"/>
<SteeringWheel value="0" active="false"/>
<Gear number="0" active="false"/>
</OverrideControllerValueAction>
</ControllerAction>
</PrivateAction>
</Private>
<Private entityRef="adversary">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-9.4" y="-71.0" z="0.5" h="1.57079632679"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="standing">
<PrivateAction>
<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_4494">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-13.01596450805664" y="35.70796585083008" z="0.003045692341402173"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_close_to_hero_4495">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-12.790777206420898" y="-146.70611572265625" z="0.0014525604201480746"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_w_transform_4496">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="48.98497772216797" y="-33.32060623168945" z="0.5"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_close_to_standing_4497">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-2.5596468448638916" y="22.142969131469727" z="0.0030251310672611"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_w_transform_4498">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="55.003326416015625" y="57.508697509765625" z="0.5"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_w_transform_4499">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="27.77804183959961" y="67.12710571289062" z="0.5"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_close_to_hero_4500">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-5.585480690002441" y="-160.33444213867188" z="0.0014525604201480746"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_close_to_adversary_4501">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-17.10402488708496" y="-72.63531494140625" z="0.03379463031888008"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_close_to_standing_4502">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-14.943462371826172" y="25.738304138183594" z="0.003051338018849492"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_close_to_adversary_4503">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-11.491399765014648" y="-64.49412536621094" z="0.03378158435225487"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_close_to_standing_4504">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-5.34166955947876" y="28.280323028564453" z="0.003071861108765006"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_close_to_hero_4505">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-17.620969772338867" y="-133.65965270996094" 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>
``` | 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_4494">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_close_to_hero_4495">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_w_transform_4496">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_close_to_standing_4497">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_w_transform_4498">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_w_transform_4499">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_close_to_hero_4500">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_close_to_adversary_4501">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_close_to_standing_4502">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_close_to_adversary_4503">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_close_to_standing_4504">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_close_to_hero_4505">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_close_to_adversary_4506">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
</Entities>
<Storyboard>
<Init>
<Actions>
<GlobalAction>
<EnvironmentAction>
<Environment name="Environment1">
<TimeOfDay animation="false" dateTime="2019-06-25T12:00:00"/>
<Weather cloudState="free">
<Sun intensity="0.85" azimuth="0" elevation="1.31"/>
<Fog visualRange="100000.0"/>
<Precipitation precipitationType="dry" intensity="0.0"/>
</Weather>
<RoadCondition frictionScaleFactor="1.0"/>
</Environment>
</EnvironmentAction>
</GlobalAction>
<Private entityRef="hero">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-9.4" y="-152.8" z="0.5" h="1.57079632679"/>
</Position>
</TeleportAction>
</PrivateAction>
<PrivateAction>
<ControllerAction>
<AssignControllerAction>
<Controller name="HeroAgent">
<Properties>
<Property name="module" value="external_control"/>
</Properties>
</Controller>
</AssignControllerAction>
<OverrideControllerValueAction>
<Throttle value="0" active="false"/>
<Brake value="0" active="false"/>
<Clutch value="0" active="false"/>
<ParkingBrake value="0" active="false"/>
<SteeringWheel value="0" active="false"/>
<Gear number="0" active="false"/>
</OverrideControllerValueAction>
</ControllerAction>
</PrivateAction>
</Private>
<Private entityRef="adversary">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-9.4" y="-71.0" z="0.5" h="1.57079632679"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="standing">
<PrivateAction>
<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_4494">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-13.01596450805664" y="35.70796585083008" z="0.003045692341402173"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_close_to_hero_4495">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-12.790777206420898" y="-146.70611572265625" z="0.0014525604201480746"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_w_transform_4496">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="48.98497772216797" y="-33.32060623168945" z="0.5"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_close_to_standing_4497">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-2.5596468448638916" y="22.142969131469727" z="0.0030251310672611"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_w_transform_4498">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="55.003326416015625" y="57.508697509765625" z="0.5"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_w_transform_4499">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="27.77804183959961" y="67.12710571289062" z="0.5"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_close_to_hero_4500">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-5.585480690002441" y="-160.33444213867188" z="0.0014525604201480746"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_close_to_adversary_4501">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-17.10402488708496" y="-72.63531494140625" z="0.03379463031888008"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_close_to_standing_4502">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-14.943462371826172" y="25.738304138183594" z="0.003051338018849492"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_close_to_adversary_4503">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-11.491399765014648" y="-64.49412536621094" z="0.03378158435225487"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_close_to_standing_4504">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-5.34166955947876" y="28.280323028564453" z="0.003071861108765006"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_close_to_hero_4505">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-17.620969772338867" y="-133.65965270996094" z="0.0014525604201480746"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_close_to_adversary_4506">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-6.730319976806641" y="-77.79732513427734" z="0.03379329666495323"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
</Actions>
</Init>
<Story name="MyStory">
<Act name="Behavior">
<ManeuverGroup maximumExecutionCount="1" name="ManeuverSequence">
<Actors selectTriggeringEntities="false">
<EntityRef entityRef="adversary"/>
</Actors>
<Maneuver name="LaneChangeSimpleManeuver">
<Event name="AdversaryAccelerates" priority="overwrite">
<Action name="AdversaryAccelerates">
<PrivateAction>
<LongitudinalAction>
<SpeedAction>
<SpeedActionDynamics dynamicsShape="step" value="50" dynamicsDimension="distance"/>
<SpeedActionTarget>
<AbsoluteTargetSpeed value="5.0"/>
</SpeedActionTarget>
</SpeedAction>
</LongitudinalAction>
</PrivateAction>
</Action>
<StartTrigger>
<ConditionGroup>
<Condition name="StartCondition" delay="0" conditionEdge="rising">
<ByEntityCondition>
<TriggeringEntities triggeringEntitiesRule="any">
<EntityRef entityRef="hero"/>
</TriggeringEntities>
<EntityCondition>
<RelativeDistanceCondition entityRef="adversary" relativeDistanceType="cartesianDistance" value="40.0" freespace="false" rule="lessThan"/>
</EntityCondition>
</ByEntityCondition>
</Condition>
</ConditionGroup>
</StartTrigger>
</Event>
<Event name="AdversaryChangesLane" priority="overwrite">
<Action name="AdversaryChangesLane">
<PrivateAction>
<LateralAction>
<LaneChangeAction>
<LaneChangeActionDynamics dynamicsShape="linear" value="25" dynamicsDimension="distance"/>
<LaneChangeTarget>
<RelativeTargetLane entityRef="adversary" value="-1"/>
</LaneChangeTarget>
</LaneChangeAction>
</LateralAction>
</PrivateAction>
</Action>
<StartTrigger>
<ConditionGroup>
<Condition name="AfterAdversaryAccelerates" delay="0" conditionEdge="rising">
<ByValueCondition>
<StoryboardElementStateCondition storyboardElementType="action" storyboardElementRef="AdversaryAccelerates" state="completeState"/>
</ByValueCondition>
</Condition>
</ConditionGroup>
</StartTrigger>
</Event>
</Maneuver>
</ManeuverGroup>
<StartTrigger>
<ConditionGroup>
<Condition name="OverallStartCondition" delay="0" conditionEdge="rising">
<ByEntityCondition>
<TriggeringEntities triggeringEntitiesRule="any">
<EntityRef entityRef="hero"/>
</TriggeringEntities>
<EntityCondition>
<TraveledDistanceCondition value="1.0"/>
</EntityCondition>
</ByEntityCondition>
</Condition>
<Condition name="StartTime" delay="0" conditionEdge="rising">
<ByValueCondition>
<SimulationTimeCondition value="0" rule="equalTo"/>
</ByValueCondition>
</Condition>
</ConditionGroup>
</StartTrigger>
<StopTrigger>
<ConditionGroup>
<Condition name="EndCondition" delay="0" conditionEdge="rising">
<ByEntityCondition>
<TriggeringEntities triggeringEntitiesRule="any">
<EntityRef entityRef="hero"/>
</TriggeringEntities>
<EntityCondition>
<TraveledDistanceCondition value="200.0"/>
</EntityCondition>
</ByEntityCondition>
</Condition>
</ConditionGroup>
</StopTrigger>
</Act>
</Story>
<StopTrigger>
<ConditionGroup>
<Condition name="criteria_RunningStopTest" delay="0" conditionEdge="rising">
<ByValueCondition>
<ParameterCondition parameterRef="" value="" rule="lessThan"/>
</ByValueCondition>
</Condition>
<Condition name="criteria_RunningRedLightTest" delay="0" conditionEdge="rising">
<ByValueCondition>
<ParameterCondition parameterRef="" value="" rule="lessThan"/>
</ByValueCondition>
</Condition>
<Condition name="criteria_WrongLaneTest" delay="0" conditionEdge="rising">
<ByValueCondition>
<ParameterCondition parameterRef="" value="" rule="lessThan"/>
</ByValueCondition>
</Condition>
<Condition name="criteria_OnSidewalkTest" delay="0" conditionEdge="rising">
<ByValueCondition>
<ParameterCondition parameterRef="" value="" rule="lessThan"/>
</ByValueCondition>
</Condition>
<Condition name="criteria_KeepLaneTest" delay="0" conditionEdge="rising">
<ByValueCondition>
<ParameterCondition parameterRef="" value="" rule="lessThan"/>
</ByValueCondition>
</Condition>
<Condition name="criteria_CollisionTest" delay="0" conditionEdge="rising">
<ByValueCondition>
<ParameterCondition parameterRef="" value="" rule="lessThan"/>
</ByValueCondition>
</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 (-64.8, 52.03, 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_24711">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_w_transform_24712">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_close_to_standing_24713">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_close_to_standing_24714">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_w_transform_24715">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_close_to_adversary_24716">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_close_to_adversary_24717">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_w_transform_24718">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_w_transform_24719">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_w_transform_24720">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_w_transform_24721">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_close_to_hero_24722">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_close_to_hero_24723">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_close_to_adversary_24724">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_close_to_adversary_24725">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
</Entities>
<Storyboard>
<Init>
<Actions>
<GlobalAction>
<EnvironmentAction>
<Environment name="Environment1">
<TimeOfDay animation="false" dateTime="2019-06-25T12:00:00"/>
<Weather cloudState="free">
<Sun intensity="0.85" azimuth="0" elevation="1.31"/>
<Fog visualRange="100000.0"/>
<Precipitation precipitationType="dry" intensity="0.0"/>
</Weather>
<RoadCondition frictionScaleFactor="1.0"/>
</Environment>
</EnvironmentAction>
</GlobalAction>
<Private entityRef="hero">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-9.4" y="-152.8" z="0.5" h="1.57079632679"/>
</Position>
</TeleportAction>
</PrivateAction>
<PrivateAction>
<ControllerAction>
<AssignControllerAction>
<Controller name="HeroAgent">
<Properties>
<Property name="module" value="external_control"/>
</Properties>
</Controller>
</AssignControllerAction>
<OverrideControllerValueAction>
<Throttle value="0" active="false"/>
<Brake value="0" active="false"/>
<Clutch value="0" active="false"/>
<ParkingBrake value="0" active="false"/>
<SteeringWheel value="0" active="false"/>
<Gear number="0" active="false"/>
</OverrideControllerValueAction>
</ControllerAction>
</PrivateAction>
</Private>
<Private entityRef="adversary">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-9.4" y="-71.0" z="0.5" h="1.57079632679"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="standing">
<PrivateAction>
<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_24711">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-16.999507904052734" y="-148.9963836669922" z="0.001423797570168972"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_w_transform_24712">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="2.721304416656494" y="35.1292724609375" z="0.5"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_close_to_standing_24713">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="1.2275303602218628" y="38.678348541259766" z="0.0030825803987681866"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_close_to_standing_24714">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-8.752906799316406" y="33.33260726928711" z="0.003061485243961215"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_w_transform_24715">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="58.836395263671875" y="-40.86343002319336" z="0.5"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_close_to_adversary_24716">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-2.327852249145508" y="-71.13590240478516" z="0.033804092556238174"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_close_to_adversary_24717">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="1.0394586324691772" y="-70.11883544921875" z="0.03377090394496918"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_w_transform_24718">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="12.5424222946167" y="67.0930404663086" z="0.5"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_w_transform_24719">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-61.881919860839844" y="-4.529376983642578" z="0.5"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_w_transform_24720">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="87.94010925292969" y="0.16051673889160156" z="0.5"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_w_transform_24721">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="75.74268341064453" y="55.89384460449219" z="0.5"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_close_to_hero_24722">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-6.943423271179199" y="-154.9923553466797" z="0.001423797570168972"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_close_to_hero_24723">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-16.240713119506836" y="-156.16445922851562" z="0.001423797570168972"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_close_to_adversary_24724">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-12.883993148803711" y="-76.66326141357422" z="0.033801574259996414"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_close_to_adversary_24725">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-14.998299598693848" y="-75.51445770263672" z="0.03380035236477852"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
</Actions>
</Init>
<Story name="MyStory">
<Act name="Behavior">
<ManeuverGroup maximumExecutionCount="1" name="ManeuverSequence">
<Actors selectTriggeringEntities="false">
<EntityRef entityRef="adversary"/>
</Actors>
<Maneuver name="LaneChangeSimpleManeuver">
<Event name="AdversaryAccelerates" priority="overwrite">
<Action name="AdversaryAccelerates">
<PrivateAction>
<LongitudinalAction>
<SpeedAction>
<SpeedActionDynamics dynamicsShape="step" value="50" dynamicsDimension="distance"/>
<SpeedActionTarget>
<AbsoluteTargetSpeed value="5.0"/>
</SpeedActionTarget>
</SpeedAction>
</LongitudinalAction>
</PrivateAction>
</Action>
<StartTrigger>
<ConditionGroup>
<Condition name="StartCondition" delay="0" conditionEdge="rising">
<ByEntityCondition>
<TriggeringEntities triggeringEntitiesRule="any">
<EntityRef entityRef="hero"/>
</TriggeringEntities>
<EntityCondition>
<RelativeDistanceCondition entityRef="adversary" relativeDistanceType="cartesianDistance" value="40.0" freespace="false" rule="lessThan"/>
</EntityCondition>
</ByEntityCondition>
</Condition>
</ConditionGroup>
</StartTrigger>
</Event>
<Event name="AdversaryChangesLane" priority="overwrite">
<Action name="AdversaryChangesLane">
<PrivateAction>
<LateralAction>
<LaneChangeAction>
<LaneChangeActionDynamics dynamicsShape="linear" value="25" dynamicsDimension="distance"/>
<LaneChangeTarget>
<RelativeTargetLane entityRef="adversary" value="-1"/>
</LaneChangeTarget>
</LaneChangeAction>
</LateralAction>
</PrivateAction>
</Action>
<StartTrigger>
<ConditionGroup>
<Condition name="AfterAdversaryAccelerates" delay="0" conditionEdge="rising">
<ByValueCondition>
<StoryboardElementStateCondition storyboardElementType="action" storyboardElementRef="AdversaryAccelerates" state="completeState"/>
</ByValueCondition>
</Condition>
</ConditionGroup>
</StartTrigger>
</Event>
</Maneuver>
</ManeuverGroup>
<StartTrigger>
<ConditionGroup>
<Condition name="OverallStartCondition" delay="0" conditionEdge="rising">
<ByEntityCondition>
<TriggeringEntities triggeringEntitiesRule="any">
<EntityRef entityRef="hero"/>
</TriggeringEntities>
<EntityCondition>
<TraveledDistanceCondition value="1.0"/>
</EntityCondition>
</ByEntityCondition>
</Condition>
<Condition name="StartTime" delay="0" conditionEdge="rising">
<ByValueCondition>
<SimulationTimeCondition value="0" rule="equalTo"/>
</ByValueCondition>
</Condition>
</ConditionGroup>
</StartTrigger>
<StopTrigger>
<ConditionGroup>
<Condition name="EndCondition" delay="0" conditionEdge="rising">
<ByEntityCondition>
<TriggeringEntities triggeringEntitiesRule="any">
<EntityRef entityRef="hero"/>
</TriggeringEntities>
<EntityCondition>
<TraveledDistanceCondition value="200.0"/>
</EntityCondition>
</ByEntityCondition>
</Condition>
</ConditionGroup>
</StopTrigger>
</Act>
</Story>
<StopTrigger>
<ConditionGroup>
<Condition name="criteria_RunningStopTest" delay="0" conditionEdge="rising">
<ByValueCondition>
<ParameterCondition parameterRef="" value="" rule="lessThan"/>
</ByValueCondition>
</Condition>
<Condition name="criteria_RunningRedLightTest" delay="0" conditionEdge="rising">
<ByValueCondition>
<ParameterCondition parameterRef="" value="" rule="lessThan"/>
</ByValueCondition>
</Condition>
<Condition name="criteria_WrongLaneTest" delay="0" conditionEdge="rising">
<ByValueCondition>
<ParameterCondition parameterRef="" value="" rule="lessThan"/>
</ByValueCondition>
</Condition>
<Condition name="criteria_OnSidewalkTest" delay="0" conditionEdge="rising">
<ByValueCondition>
<ParameterCondition parameterRef="" value="" rule="lessThan"/>
</ByValueCondition>
</Condition>
<Condition name="criteria_KeepLaneTest" delay="0" conditionEdge="rising">
<ByValueCondition>
<ParameterCondition parameterRef="" value="" rule="lessThan"/>
</ByValueCondition>
</Condition>
<Condition name="criteria_CollisionTest" delay="0" conditionEdge="rising">
<ByValueCondition>
<ParameterCondition parameterRef="" value="" rule="lessThan"/>
</ByValueCondition>
</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_24711">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_w_transform_24712">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_close_to_standing_24713">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_close_to_standing_24714">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_w_transform_24715">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_close_to_adversary_24716">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_close_to_adversary_24717">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_w_transform_24718">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_w_transform_24719">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_w_transform_24720">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_w_transform_24721">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_close_to_hero_24722">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_close_to_hero_24723">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_close_to_adversary_24724">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_close_to_adversary_24725">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_w_transform_24726">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
</Entities>
<Storyboard>
<Init>
<Actions>
<GlobalAction>
<EnvironmentAction>
<Environment name="Environment1">
<TimeOfDay animation="false" dateTime="2019-06-25T12:00:00"/>
<Weather cloudState="free">
<Sun intensity="0.85" azimuth="0" elevation="1.31"/>
<Fog visualRange="100000.0"/>
<Precipitation precipitationType="dry" intensity="0.0"/>
</Weather>
<RoadCondition frictionScaleFactor="1.0"/>
</Environment>
</EnvironmentAction>
</GlobalAction>
<Private entityRef="hero">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-9.4" y="-152.8" z="0.5" h="1.57079632679"/>
</Position>
</TeleportAction>
</PrivateAction>
<PrivateAction>
<ControllerAction>
<AssignControllerAction>
<Controller name="HeroAgent">
<Properties>
<Property name="module" value="external_control"/>
</Properties>
</Controller>
</AssignControllerAction>
<OverrideControllerValueAction>
<Throttle value="0" active="false"/>
<Brake value="0" active="false"/>
<Clutch value="0" active="false"/>
<ParkingBrake value="0" active="false"/>
<SteeringWheel value="0" active="false"/>
<Gear number="0" active="false"/>
</OverrideControllerValueAction>
</ControllerAction>
</PrivateAction>
</Private>
<Private entityRef="adversary">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-9.4" y="-71.0" z="0.5" h="1.57079632679"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="standing">
<PrivateAction>
<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_24711">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-16.999507904052734" y="-148.9963836669922" z="0.001423797570168972"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_w_transform_24712">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="2.721304416656494" y="35.1292724609375" z="0.5"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_close_to_standing_24713">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="1.2275303602218628" y="38.678348541259766" z="0.0030825803987681866"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_close_to_standing_24714">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-8.752906799316406" y="33.33260726928711" z="0.003061485243961215"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_w_transform_24715">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="58.836395263671875" y="-40.86343002319336" z="0.5"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_close_to_adversary_24716">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-2.327852249145508" y="-71.13590240478516" z="0.033804092556238174"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_close_to_adversary_24717">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="1.0394586324691772" y="-70.11883544921875" z="0.03377090394496918"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_w_transform_24718">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="12.5424222946167" y="67.0930404663086" z="0.5"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_w_transform_24719">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-61.881919860839844" y="-4.529376983642578" z="0.5"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_w_transform_24720">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="87.94010925292969" y="0.16051673889160156" z="0.5"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_w_transform_24721">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="75.74268341064453" y="55.89384460449219" z="0.5"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_close_to_hero_24722">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-6.943423271179199" y="-154.9923553466797" z="0.001423797570168972"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_close_to_hero_24723">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-16.240713119506836" y="-156.16445922851562" z="0.001423797570168972"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_close_to_adversary_24724">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-12.883993148803711" y="-76.66326141357422" z="0.033801574259996414"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_close_to_adversary_24725">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-14.998299598693848" y="-75.51445770263672" z="0.03380035236477852"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_w_transform_24726">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-64.79850769042969" y="52.03264617919922" 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_adversary_5187">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_w_transform_5188">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_w_transform_5189">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_close_to_adversary_5190">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_close_to_hero_5191">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_close_to_standing_5192">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_close_to_standing_5193">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_close_to_hero_5194">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_w_transform_5195">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_close_to_adversary_5196">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_w_transform_5197">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
</Entities>
<Storyboard>
<Init>
<Actions>
<GlobalAction>
<EnvironmentAction>
<Environment name="Environment1">
<TimeOfDay animation="false" dateTime="2019-06-25T12:00:00"/>
<Weather cloudState="free">
<Sun intensity="0.85" azimuth="0" elevation="1.31"/>
<Fog visualRange="100000.0"/>
<Precipitation precipitationType="dry" intensity="0.0"/>
</Weather>
<RoadCondition frictionScaleFactor="1.0"/>
</Environment>
</EnvironmentAction>
</GlobalAction>
<Private entityRef="hero">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-9.4" y="-152.8" z="0.5" h="1.57079632679"/>
</Position>
</TeleportAction>
</PrivateAction>
<PrivateAction>
<ControllerAction>
<AssignControllerAction>
<Controller name="HeroAgent">
<Properties>
<Property name="module" value="external_control"/>
</Properties>
</Controller>
</AssignControllerAction>
<OverrideControllerValueAction>
<Throttle value="0" active="false"/>
<Brake value="0" active="false"/>
<Clutch value="0" active="false"/>
<ParkingBrake value="0" active="false"/>
<SteeringWheel value="0" active="false"/>
<Gear number="0" active="false"/>
</OverrideControllerValueAction>
</ControllerAction>
</PrivateAction>
</Private>
<Private entityRef="adversary">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-9.4" y="-71.0" z="0.5" h="1.57079632679"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="standing">
<PrivateAction>
<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_5187">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-16.53133773803711" y="-68.82632446289062" z="0.03381187468767166"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_w_transform_5188">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="84.82340240478516" y="15.342384338378906" z="0.5"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_w_transform_5189">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-82.20467376708984" y="71.04660034179688" z="0.5"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_close_to_adversary_5190">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-25.668140411376953" y="-76.87989807128906" z="0.0337732695043087"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_close_to_hero_5191">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-6.265071392059326" y="-153.878662109375" z="0.0015143966302275658"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_close_to_standing_5192">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-16.112564086914062" y="22.601272583007812" z="0.0030677414033561945"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_close_to_standing_5193">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-25.504573822021484" y="45.045074462890625" z="0.0030447004828602076"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_close_to_hero_5194">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-11.942237854003906" y="-164.9072723388672" z="0.0015143966302275658"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_w_transform_5195">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="43.2158088684082" y="32.658504486083984" z="0.5"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_close_to_adversary_5196">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="5.2866644859313965" y="-69.71991729736328" z="0.033759765326976776"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_w_transform_5197">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-1.2996790409088135" y="-63.42036437988281" 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_5187">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_w_transform_5188">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_w_transform_5189">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_close_to_adversary_5190">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_close_to_hero_5191">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_close_to_standing_5192">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_close_to_standing_5193">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_close_to_hero_5194">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_w_transform_5195">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_close_to_adversary_5196">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_w_transform_5197">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_close_to_standing_5198">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
</Entities>
<Storyboard>
<Init>
<Actions>
<GlobalAction>
<EnvironmentAction>
<Environment name="Environment1">
<TimeOfDay animation="false" dateTime="2019-06-25T12:00:00"/>
<Weather cloudState="free">
<Sun intensity="0.85" azimuth="0" elevation="1.31"/>
<Fog visualRange="100000.0"/>
<Precipitation precipitationType="dry" intensity="0.0"/>
</Weather>
<RoadCondition frictionScaleFactor="1.0"/>
</Environment>
</EnvironmentAction>
</GlobalAction>
<Private entityRef="hero">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-9.4" y="-152.8" z="0.5" h="1.57079632679"/>
</Position>
</TeleportAction>
</PrivateAction>
<PrivateAction>
<ControllerAction>
<AssignControllerAction>
<Controller name="HeroAgent">
<Properties>
<Property name="module" value="external_control"/>
</Properties>
</Controller>
</AssignControllerAction>
<OverrideControllerValueAction>
<Throttle value="0" active="false"/>
<Brake value="0" active="false"/>
<Clutch value="0" active="false"/>
<ParkingBrake value="0" active="false"/>
<SteeringWheel value="0" active="false"/>
<Gear number="0" active="false"/>
</OverrideControllerValueAction>
</ControllerAction>
</PrivateAction>
</Private>
<Private entityRef="adversary">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-9.4" y="-71.0" z="0.5" h="1.57079632679"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="standing">
<PrivateAction>
<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_5187">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-16.53133773803711" y="-68.82632446289062" z="0.03381187468767166"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_w_transform_5188">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="84.82340240478516" y="15.342384338378906" z="0.5"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_w_transform_5189">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-82.20467376708984" y="71.04660034179688" z="0.5"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_close_to_adversary_5190">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-25.668140411376953" y="-76.87989807128906" z="0.0337732695043087"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_close_to_hero_5191">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-6.265071392059326" y="-153.878662109375" z="0.0015143966302275658"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_close_to_standing_5192">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-16.112564086914062" y="22.601272583007812" z="0.0030677414033561945"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_close_to_standing_5193">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-25.504573822021484" y="45.045074462890625" z="0.0030447004828602076"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_close_to_hero_5194">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-11.942237854003906" y="-164.9072723388672" z="0.0015143966302275658"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_w_transform_5195">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="43.2158088684082" y="32.658504486083984" z="0.5"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_close_to_adversary_5196">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="5.2866644859313965" y="-69.71991729736328" z="0.033759765326976776"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_w_transform_5197">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-1.2996790409088135" y="-63.42036437988281" z="0.5"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_close_to_standing_5198">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-3.290227174758911" y="35.700313568115234" z="0.003075942862778902"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
</Actions>
</Init>
<Story name="MyStory">
<Act name="Behavior">
<ManeuverGroup maximumExecutionCount="1" name="ManeuverSequence">
<Actors selectTriggeringEntities="false">
<EntityRef entityRef="adversary"/>
</Actors>
<Maneuver name="LaneChangeSimpleManeuver">
<Event name="AdversaryAccelerates" priority="overwrite">
<Action name="AdversaryAccelerates">
<PrivateAction>
<LongitudinalAction>
<SpeedAction>
<SpeedActionDynamics dynamicsShape="step" value="50" dynamicsDimension="distance"/>
<SpeedActionTarget>
<AbsoluteTargetSpeed value="5.0"/>
</SpeedActionTarget>
</SpeedAction>
</LongitudinalAction>
</PrivateAction>
</Action>
<StartTrigger>
<ConditionGroup>
<Condition name="StartCondition" delay="0" conditionEdge="rising">
<ByEntityCondition>
<TriggeringEntities triggeringEntitiesRule="any">
<EntityRef entityRef="hero"/>
</TriggeringEntities>
<EntityCondition>
<RelativeDistanceCondition entityRef="adversary" relativeDistanceType="cartesianDistance" value="40.0" freespace="false" rule="lessThan"/>
</EntityCondition>
</ByEntityCondition>
</Condition>
</ConditionGroup>
</StartTrigger>
</Event>
<Event name="AdversaryChangesLane" priority="overwrite">
<Action name="AdversaryChangesLane">
<PrivateAction>
<LateralAction>
<LaneChangeAction>
<LaneChangeActionDynamics dynamicsShape="linear" value="25" dynamicsDimension="distance"/>
<LaneChangeTarget>
<RelativeTargetLane entityRef="adversary" value="-1"/>
</LaneChangeTarget>
</LaneChangeAction>
</LateralAction>
</PrivateAction>
</Action>
<StartTrigger>
<ConditionGroup>
<Condition name="AfterAdversaryAccelerates" delay="0" conditionEdge="rising">
<ByValueCondition>
<StoryboardElementStateCondition storyboardElementType="action" storyboardElementRef="AdversaryAccelerates" state="completeState"/>
</ByValueCondition>
</Condition>
</ConditionGroup>
</StartTrigger>
</Event>
</Maneuver>
</ManeuverGroup>
<StartTrigger>
<ConditionGroup>
<Condition name="OverallStartCondition" delay="0" conditionEdge="rising">
<ByEntityCondition>
<TriggeringEntities triggeringEntitiesRule="any">
<EntityRef entityRef="hero"/>
</TriggeringEntities>
<EntityCondition>
<TraveledDistanceCondition value="1.0"/>
</EntityCondition>
</ByEntityCondition>
</Condition>
<Condition name="StartTime" delay="0" conditionEdge="rising">
<ByValueCondition>
<SimulationTimeCondition value="0" rule="equalTo"/>
</ByValueCondition>
</Condition>
</ConditionGroup>
</StartTrigger>
<StopTrigger>
<ConditionGroup>
<Condition name="EndCondition" delay="0" conditionEdge="rising">
<ByEntityCondition>
<TriggeringEntities triggeringEntitiesRule="any">
<EntityRef entityRef="hero"/>
</TriggeringEntities>
<EntityCondition>
<TraveledDistanceCondition value="200.0"/>
</EntityCondition>
</ByEntityCondition>
</Condition>
</ConditionGroup>
</StopTrigger>
</Act>
</Story>
<StopTrigger>
<ConditionGroup>
<Condition name="criteria_RunningStopTest" delay="0" conditionEdge="rising">
<ByValueCondition>
<ParameterCondition parameterRef="" value="" rule="lessThan"/>
</ByValueCondition>
</Condition>
<Condition name="criteria_RunningRedLightTest" delay="0" conditionEdge="rising">
<ByValueCondition>
<ParameterCondition parameterRef="" value="" rule="lessThan"/>
</ByValueCondition>
</Condition>
<Condition name="criteria_WrongLaneTest" delay="0" conditionEdge="rising">
<ByValueCondition>
<ParameterCondition parameterRef="" value="" rule="lessThan"/>
</ByValueCondition>
</Condition>
<Condition name="criteria_OnSidewalkTest" delay="0" conditionEdge="rising">
<ByValueCondition>
<ParameterCondition parameterRef="" value="" rule="lessThan"/>
</ByValueCondition>
</Condition>
<Condition name="criteria_KeepLaneTest" delay="0" conditionEdge="rising">
<ByValueCondition>
<ParameterCondition parameterRef="" value="" rule="lessThan"/>
</ByValueCondition>
</Condition>
<Condition name="criteria_CollisionTest" delay="0" conditionEdge="rising">
<ByValueCondition>
<ParameterCondition parameterRef="" value="" rule="lessThan"/>
</ByValueCondition>
</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 actor named pedestrian_w_transform_5373?
```
<?xml version="1.0" ?>
<OpenSCENARIO>
<FileHeader revMajor="1" revMinor="0" date="2020-03-24T12:00:00" description="CARLA:LaneChangeSimple" author=""/>
<ParameterDeclarations/>
<CatalogLocations/>
<RoadNetwork>
<LogicFile filepath="Town04"/>
<SceneGraphFile filepath=""/>
</RoadNetwork>
<Entities>
<ScenarioObject name="hero">
<Vehicle name="vehicle.tesla.model3" vehicleCategory="car">
<ParameterDeclarations/>
<Performance maxSpeed="69.444" maxAcceleration="200" maxDeceleration="10.0"/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2.1" length="4.5" height="1.8"/>
</BoundingBox>
<Axles>
<FrontAxle maxSteering="0.5" wheelDiameter="0.6" trackWidth="1.8" positionX="3.1" positionZ="0.3"/>
<RearAxle maxSteering="0.0" wheelDiameter="0.6" trackWidth="1.8" positionX="0.0" positionZ="0.3"/>
</Axles>
<Properties>
<Property name="type" value="ego_vehicle"/>
</Properties>
</Vehicle>
</ScenarioObject>
<ScenarioObject name="adversary">
<Vehicle name="vehicle.lincoln.mkz_2017" vehicleCategory="car">
<ParameterDeclarations/>
<Performance maxSpeed="69.444" maxAcceleration="200" maxDeceleration="10.0"/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2.1" length="4.5" height="1.8"/>
</BoundingBox>
<Axles>
<FrontAxle maxSteering="0.5" wheelDiameter="0.6" trackWidth="1.8" positionX="3.1" positionZ="0.3"/>
<RearAxle maxSteering="0.0" wheelDiameter="0.6" trackWidth="1.8" positionX="0.0" positionZ="0.3"/>
</Axles>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Vehicle>
</ScenarioObject>
<ScenarioObject name="standing">
<Vehicle name="vehicle.volkswagen.t2" vehicleCategory="car">
<ParameterDeclarations/>
<Performance maxSpeed="69.444" maxAcceleration="200" maxDeceleration="10.0"/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2.1" length="4.5" height="1.8"/>
</BoundingBox>
<Axles>
<FrontAxle maxSteering="0.5" wheelDiameter="0.6" trackWidth="1.8" positionX="3.1" positionZ="0.3"/>
<RearAxle maxSteering="0.0" wheelDiameter="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_5366">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_w_transform_5371">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_close_to_standing_5372">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_w_transform_5373">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_w_transform_5375">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_w_transform_5376">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_w_transform_5378">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_w_transform_5384">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_w_transform_5387">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_close_to_hero_5391">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_w_transform_5393">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_close_to_standing_5394">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
</Entities>
<Storyboard>
<Init>
<Actions>
<GlobalAction>
<EnvironmentAction>
<Environment name="Environment1">
<TimeOfDay animation="false" dateTime="2019-06-25T12:00:00"/>
<Weather cloudState="free">
<Sun intensity="0.85" azimuth="0" elevation="1.31"/>
<Fog visualRange="100000.0"/>
<Precipitation precipitationType="dry" intensity="0.0"/>
</Weather>
<RoadCondition frictionScaleFactor="1.0"/>
</Environment>
</EnvironmentAction>
</GlobalAction>
<Private entityRef="hero">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-9.4" y="-152.8" z="0.5" h="1.57079632679"/>
</Position>
</TeleportAction>
</PrivateAction>
<PrivateAction>
<ControllerAction>
<AssignControllerAction>
<Controller name="HeroAgent">
<Properties>
<Property name="module" value="external_control"/>
</Properties>
</Controller>
</AssignControllerAction>
<OverrideControllerValueAction>
<Throttle value="0" active="false"/>
<Brake value="0" active="false"/>
<Clutch value="0" active="false"/>
<ParkingBrake value="0" active="false"/>
<SteeringWheel value="0" active="false"/>
<Gear number="0" active="false"/>
</OverrideControllerValueAction>
</ControllerAction>
</PrivateAction>
</Private>
<Private entityRef="adversary">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-9.4" y="-71.0" z="0.5" h="1.57079632679"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="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_5366">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="50.832733154296875" y="-93.45166778564453" z="0.5"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_w_transform_5371">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="17.092615127563477" y="-12.43200397491455" z="0.5"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_close_to_standing_5372">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-5.798059940338135" y="35.614105224609375" z="0.003036079229786992"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_w_transform_5373">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-29.6728515625" y="40.564537048339844" z="0.5"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_w_transform_5375">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-88.11328887939453" y="14.410981178283691" z="0.5"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_w_transform_5376">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-54.80127716064453" y="-23.57028579711914" z="0.5"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_w_transform_5378">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="73.34452819824219" y="-74.26034545898438" z="0.5"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_w_transform_5384">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-24.60858917236328" y="-54.68019104003906" z="0.5"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_w_transform_5387">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="88.33560180664062" y="-76.17176055908203" z="0.5"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_close_to_hero_5391">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-9.433687210083008" y="-159.45852661132812" z="0.0013734435196965933"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_w_transform_5393">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="16.957820892333984" y="-85.37710571289062" z="0.5"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_close_to_standing_5394">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-14.340466499328613" y="28.207679748535156" z="0.0030184935312718153"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
</Actions>
</Init>
<Story name="MyStory">
<Act name="Behavior">
<ManeuverGroup maximumExecutionCount="1" name="ManeuverSequence">
<Actors selectTriggeringEntities="false">
<EntityRef entityRef="adversary"/>
</Actors>
<Maneuver name="LaneChangeSimpleManeuver">
<Event name="AdversaryAccelerates" priority="overwrite">
<Action name="AdversaryAccelerates">
<PrivateAction>
<LongitudinalAction>
<SpeedAction>
<SpeedActionDynamics dynamicsShape="step" value="50" dynamicsDimension="distance"/>
<SpeedActionTarget>
<AbsoluteTargetSpeed value="5.0"/>
</SpeedActionTarget>
</SpeedAction>
</LongitudinalAction>
</PrivateAction>
</Action>
<StartTrigger>
<ConditionGroup>
<Condition name="StartCondition" delay="0" conditionEdge="rising">
<ByEntityCondition>
<TriggeringEntities triggeringEntitiesRule="any">
<EntityRef entityRef="hero"/>
</TriggeringEntities>
<EntityCondition>
<RelativeDistanceCondition entityRef="adversary" relativeDistanceType="cartesianDistance" value="40.0" freespace="false" rule="lessThan"/>
</EntityCondition>
</ByEntityCondition>
</Condition>
</ConditionGroup>
</StartTrigger>
</Event>
<Event name="AdversaryChangesLane" priority="overwrite">
<Action name="AdversaryChangesLane">
<PrivateAction>
<LateralAction>
<LaneChangeAction>
<LaneChangeActionDynamics dynamicsShape="linear" value="25" dynamicsDimension="distance"/>
<LaneChangeTarget>
<RelativeTargetLane entityRef="adversary" value="-1"/>
</LaneChangeTarget>
</LaneChangeAction>
</LateralAction>
</PrivateAction>
</Action>
<StartTrigger>
<ConditionGroup>
<Condition name="AfterAdversaryAccelerates" delay="0" conditionEdge="rising">
<ByValueCondition>
<StoryboardElementStateCondition storyboardElementType="action" storyboardElementRef="AdversaryAccelerates" state="completeState"/>
</ByValueCondition>
</Condition>
</ConditionGroup>
</StartTrigger>
</Event>
</Maneuver>
</ManeuverGroup>
<StartTrigger>
<ConditionGroup>
<Condition name="OverallStartCondition" delay="0" conditionEdge="rising">
<ByEntityCondition>
<TriggeringEntities triggeringEntitiesRule="any">
<EntityRef entityRef="hero"/>
</TriggeringEntities>
<EntityCondition>
<TraveledDistanceCondition value="1.0"/>
</EntityCondition>
</ByEntityCondition>
</Condition>
<Condition name="StartTime" delay="0" conditionEdge="rising">
<ByValueCondition>
<SimulationTimeCondition value="0" rule="equalTo"/>
</ByValueCondition>
</Condition>
</ConditionGroup>
</StartTrigger>
<StopTrigger>
<ConditionGroup>
<Condition name="EndCondition" delay="0" conditionEdge="rising">
<ByEntityCondition>
<TriggeringEntities triggeringEntitiesRule="any">
<EntityRef entityRef="hero"/>
</TriggeringEntities>
<EntityCondition>
<TraveledDistanceCondition value="200.0"/>
</EntityCondition>
</ByEntityCondition>
</Condition>
</ConditionGroup>
</StopTrigger>
</Act>
</Story>
<StopTrigger>
<ConditionGroup>
<Condition name="criteria_RunningStopTest" delay="0" conditionEdge="rising">
<ByValueCondition>
<ParameterCondition parameterRef="" value="" rule="lessThan"/>
</ByValueCondition>
</Condition>
<Condition name="criteria_RunningRedLightTest" delay="0" conditionEdge="rising">
<ByValueCondition>
<ParameterCondition parameterRef="" value="" rule="lessThan"/>
</ByValueCondition>
</Condition>
<Condition name="criteria_WrongLaneTest" delay="0" conditionEdge="rising">
<ByValueCondition>
<ParameterCondition parameterRef="" value="" rule="lessThan"/>
</ByValueCondition>
</Condition>
<Condition name="criteria_OnSidewalkTest" delay="0" conditionEdge="rising">
<ByValueCondition>
<ParameterCondition parameterRef="" value="" rule="lessThan"/>
</ByValueCondition>
</Condition>
<Condition name="criteria_KeepLaneTest" delay="0" conditionEdge="rising">
<ByValueCondition>
<ParameterCondition parameterRef="" value="" rule="lessThan"/>
</ByValueCondition>
</Condition>
<Condition name="criteria_CollisionTest" delay="0" conditionEdge="rising">
<ByValueCondition>
<ParameterCondition parameterRef="" value="" rule="lessThan"/>
</ByValueCondition>
</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_5366">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_w_transform_5371">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_close_to_standing_5372">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_w_transform_5375">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_w_transform_5376">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_w_transform_5378">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_w_transform_5384">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_w_transform_5387">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_close_to_hero_5391">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_w_transform_5393">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_close_to_standing_5394">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
</Entities>
<Storyboard>
<Init>
<Actions>
<GlobalAction>
<EnvironmentAction>
<Environment name="Environment1">
<TimeOfDay animation="false" dateTime="2019-06-25T12:00:00"/>
<Weather cloudState="free">
<Sun intensity="0.85" azimuth="0" elevation="1.31"/>
<Fog visualRange="100000.0"/>
<Precipitation precipitationType="dry" intensity="0.0"/>
</Weather>
<RoadCondition frictionScaleFactor="1.0"/>
</Environment>
</EnvironmentAction>
</GlobalAction>
<Private entityRef="hero">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-9.4" y="-152.8" z="0.5" h="1.57079632679"/>
</Position>
</TeleportAction>
</PrivateAction>
<PrivateAction>
<ControllerAction>
<AssignControllerAction>
<Controller name="HeroAgent">
<Properties>
<Property name="module" value="external_control"/>
</Properties>
</Controller>
</AssignControllerAction>
<OverrideControllerValueAction>
<Throttle value="0" active="false"/>
<Brake value="0" active="false"/>
<Clutch value="0" active="false"/>
<ParkingBrake value="0" active="false"/>
<SteeringWheel value="0" active="false"/>
<Gear number="0" active="false"/>
</OverrideControllerValueAction>
</ControllerAction>
</PrivateAction>
</Private>
<Private entityRef="adversary">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-9.4" y="-71.0" z="0.5" h="1.57079632679"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="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_5366">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="50.832733154296875" y="-93.45166778564453" z="0.5"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_w_transform_5371">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="17.092615127563477" y="-12.43200397491455" z="0.5"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_close_to_standing_5372">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-5.798059940338135" y="35.614105224609375" z="0.003036079229786992"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_w_transform_5375">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-88.11328887939453" y="14.410981178283691" z="0.5"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_w_transform_5376">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-54.80127716064453" y="-23.57028579711914" z="0.5"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_w_transform_5378">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="73.34452819824219" y="-74.26034545898438" z="0.5"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_w_transform_5384">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-24.60858917236328" y="-54.68019104003906" z="0.5"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_w_transform_5387">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="88.33560180664062" y="-76.17176055908203" z="0.5"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_close_to_hero_5391">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-9.433687210083008" y="-159.45852661132812" z="0.0013734435196965933"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_w_transform_5393">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="16.957820892333984" y="-85.37710571289062" z="0.5"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_close_to_standing_5394">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-14.340466499328613" y="28.207679748535156" z="0.0030184935312718153"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
</Actions>
</Init>
<Story name="MyStory">
<Act name="Behavior">
<ManeuverGroup maximumExecutionCount="1" name="ManeuverSequence">
<Actors selectTriggeringEntities="false">
<EntityRef entityRef="adversary"/>
</Actors>
<Maneuver name="LaneChangeSimpleManeuver">
<Event name="AdversaryAccelerates" priority="overwrite">
<Action name="AdversaryAccelerates">
<PrivateAction>
<LongitudinalAction>
<SpeedAction>
<SpeedActionDynamics dynamicsShape="step" value="50" dynamicsDimension="distance"/>
<SpeedActionTarget>
<AbsoluteTargetSpeed value="5.0"/>
</SpeedActionTarget>
</SpeedAction>
</LongitudinalAction>
</PrivateAction>
</Action>
<StartTrigger>
<ConditionGroup>
<Condition name="StartCondition" delay="0" conditionEdge="rising">
<ByEntityCondition>
<TriggeringEntities triggeringEntitiesRule="any">
<EntityRef entityRef="hero"/>
</TriggeringEntities>
<EntityCondition>
<RelativeDistanceCondition entityRef="adversary" relativeDistanceType="cartesianDistance" value="40.0" freespace="false" rule="lessThan"/>
</EntityCondition>
</ByEntityCondition>
</Condition>
</ConditionGroup>
</StartTrigger>
</Event>
<Event name="AdversaryChangesLane" priority="overwrite">
<Action name="AdversaryChangesLane">
<PrivateAction>
<LateralAction>
<LaneChangeAction>
<LaneChangeActionDynamics dynamicsShape="linear" value="25" dynamicsDimension="distance"/>
<LaneChangeTarget>
<RelativeTargetLane entityRef="adversary" value="-1"/>
</LaneChangeTarget>
</LaneChangeAction>
</LateralAction>
</PrivateAction>
</Action>
<StartTrigger>
<ConditionGroup>
<Condition name="AfterAdversaryAccelerates" delay="0" conditionEdge="rising">
<ByValueCondition>
<StoryboardElementStateCondition storyboardElementType="action" storyboardElementRef="AdversaryAccelerates" state="completeState"/>
</ByValueCondition>
</Condition>
</ConditionGroup>
</StartTrigger>
</Event>
</Maneuver>
</ManeuverGroup>
<StartTrigger>
<ConditionGroup>
<Condition name="OverallStartCondition" delay="0" conditionEdge="rising">
<ByEntityCondition>
<TriggeringEntities triggeringEntitiesRule="any">
<EntityRef entityRef="hero"/>
</TriggeringEntities>
<EntityCondition>
<TraveledDistanceCondition value="1.0"/>
</EntityCondition>
</ByEntityCondition>
</Condition>
<Condition name="StartTime" delay="0" conditionEdge="rising">
<ByValueCondition>
<SimulationTimeCondition value="0" rule="equalTo"/>
</ByValueCondition>
</Condition>
</ConditionGroup>
</StartTrigger>
<StopTrigger>
<ConditionGroup>
<Condition name="EndCondition" delay="0" conditionEdge="rising">
<ByEntityCondition>
<TriggeringEntities triggeringEntitiesRule="any">
<EntityRef entityRef="hero"/>
</TriggeringEntities>
<EntityCondition>
<TraveledDistanceCondition value="200.0"/>
</EntityCondition>
</ByEntityCondition>
</Condition>
</ConditionGroup>
</StopTrigger>
</Act>
</Story>
<StopTrigger>
<ConditionGroup>
<Condition name="criteria_RunningStopTest" delay="0" conditionEdge="rising">
<ByValueCondition>
<ParameterCondition parameterRef="" value="" rule="lessThan"/>
</ByValueCondition>
</Condition>
<Condition name="criteria_RunningRedLightTest" delay="0" conditionEdge="rising">
<ByValueCondition>
<ParameterCondition parameterRef="" value="" rule="lessThan"/>
</ByValueCondition>
</Condition>
<Condition name="criteria_WrongLaneTest" delay="0" conditionEdge="rising">
<ByValueCondition>
<ParameterCondition parameterRef="" value="" rule="lessThan"/>
</ByValueCondition>
</Condition>
<Condition name="criteria_OnSidewalkTest" delay="0" conditionEdge="rising">
<ByValueCondition>
<ParameterCondition parameterRef="" value="" rule="lessThan"/>
</ByValueCondition>
</Condition>
<Condition name="criteria_KeepLaneTest" delay="0" conditionEdge="rising">
<ByValueCondition>
<ParameterCondition parameterRef="" value="" rule="lessThan"/>
</ByValueCondition>
</Condition>
<Condition name="criteria_CollisionTest" delay="0" conditionEdge="rising">
<ByValueCondition>
<ParameterCondition parameterRef="" value="" rule="lessThan"/>
</ByValueCondition>
</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_standing_22156">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_close_to_standing_22157">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_close_to_adversary_22158">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
</Entities>
<Storyboard>
<Init>
<Actions>
<GlobalAction>
<EnvironmentAction>
<Environment name="Environment1">
<TimeOfDay animation="false" dateTime="2019-06-25T12:00:00"/>
<Weather cloudState="free">
<Sun intensity="0.85" azimuth="0" elevation="1.31"/>
<Fog visualRange="100000.0"/>
<Precipitation precipitationType="dry" intensity="0.0"/>
</Weather>
<RoadCondition frictionScaleFactor="1.0"/>
</Environment>
</EnvironmentAction>
</GlobalAction>
<Private entityRef="hero">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-9.4" y="-152.8" z="0.5" h="1.57079632679"/>
</Position>
</TeleportAction>
</PrivateAction>
<PrivateAction>
<ControllerAction>
<AssignControllerAction>
<Controller name="HeroAgent">
<Properties>
<Property name="module" value="external_control"/>
</Properties>
</Controller>
</AssignControllerAction>
<OverrideControllerValueAction>
<Throttle value="0" active="false"/>
<Brake value="0" active="false"/>
<Clutch value="0" active="false"/>
<ParkingBrake value="0" active="false"/>
<SteeringWheel value="0" active="false"/>
<Gear number="0" active="false"/>
</OverrideControllerValueAction>
</ControllerAction>
</PrivateAction>
</Private>
<Private entityRef="adversary">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-9.4" y="-71.0" z="0.5" h="1.57079632679"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="standing">
<PrivateAction>
<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_22156">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-4.678170680999756" y="29.756946563720703" z="0.0030186462681740522"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_close_to_standing_22157">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-14.235696792602539" y="22.037765502929688" z="0.0030186462681740522"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_close_to_adversary_22158">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-5.517984867095947" y="-74.24049377441406" z="0.03375862166285515"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
</Actions>
</Init>
<Story name="MyStory">
<Act name="Behavior">
<ManeuverGroup maximumExecutionCount="1" name="ManeuverSequence">
<Actors selectTriggeringEntities="false">
<EntityRef entityRef="adversary"/>
</Actors>
<Maneuver name="LaneChangeSimpleManeuver">
<Event name="AdversaryAccelerates" priority="overwrite">
<Action name="AdversaryAccelerates">
<PrivateAction>
<LongitudinalAction>
<SpeedAction>
<SpeedActionDynamics dynamicsShape="step" value="50" dynamicsDimension="distance"/>
<SpeedActionTarget>
<AbsoluteTargetSpeed value="5.0"/>
</SpeedActionTarget>
</SpeedAction>
</LongitudinalAction>
</PrivateAction>
</Action>
<StartTrigger>
<ConditionGroup>
<Condition name="StartCondition" delay="0" conditionEdge="rising">
<ByEntityCondition>
<TriggeringEntities triggeringEntitiesRule="any">
<EntityRef entityRef="hero"/>
</TriggeringEntities>
<EntityCondition>
<RelativeDistanceCondition entityRef="adversary" relativeDistanceType="cartesianDistance" value="40.0" freespace="false" rule="lessThan"/>
</EntityCondition>
</ByEntityCondition>
</Condition>
</ConditionGroup>
</StartTrigger>
</Event>
<Event name="AdversaryChangesLane" priority="overwrite">
<Action name="AdversaryChangesLane">
<PrivateAction>
<LateralAction>
<LaneChangeAction>
<LaneChangeActionDynamics dynamicsShape="linear" value="25" dynamicsDimension="distance"/>
<LaneChangeTarget>
<RelativeTargetLane entityRef="adversary" value="-1"/>
</LaneChangeTarget>
</LaneChangeAction>
</LateralAction>
</PrivateAction>
</Action>
<StartTrigger>
<ConditionGroup>
<Condition name="AfterAdversaryAccelerates" delay="0" conditionEdge="rising">
<ByValueCondition>
<StoryboardElementStateCondition storyboardElementType="action" storyboardElementRef="AdversaryAccelerates" state="completeState"/>
</ByValueCondition>
</Condition>
</ConditionGroup>
</StartTrigger>
</Event>
</Maneuver>
</ManeuverGroup>
<StartTrigger>
<ConditionGroup>
<Condition name="OverallStartCondition" delay="0" conditionEdge="rising">
<ByEntityCondition>
<TriggeringEntities triggeringEntitiesRule="any">
<EntityRef entityRef="hero"/>
</TriggeringEntities>
<EntityCondition>
<TraveledDistanceCondition value="1.0"/>
</EntityCondition>
</ByEntityCondition>
</Condition>
<Condition name="StartTime" delay="0" conditionEdge="rising">
<ByValueCondition>
<SimulationTimeCondition value="0" rule="equalTo"/>
</ByValueCondition>
</Condition>
</ConditionGroup>
</StartTrigger>
<StopTrigger>
<ConditionGroup>
<Condition name="EndCondition" delay="0" conditionEdge="rising">
<ByEntityCondition>
<TriggeringEntities triggeringEntitiesRule="any">
<EntityRef entityRef="hero"/>
</TriggeringEntities>
<EntityCondition>
<TraveledDistanceCondition value="200.0"/>
</EntityCondition>
</ByEntityCondition>
</Condition>
</ConditionGroup>
</StopTrigger>
</Act>
</Story>
<StopTrigger>
<ConditionGroup>
<Condition name="criteria_RunningStopTest" delay="0" conditionEdge="rising">
<ByValueCondition>
<ParameterCondition parameterRef="" value="" rule="lessThan"/>
</ByValueCondition>
</Condition>
<Condition name="criteria_RunningRedLightTest" delay="0" conditionEdge="rising">
<ByValueCondition>
<ParameterCondition parameterRef="" value="" rule="lessThan"/>
</ByValueCondition>
</Condition>
<Condition name="criteria_WrongLaneTest" delay="0" conditionEdge="rising">
<ByValueCondition>
<ParameterCondition parameterRef="" value="" rule="lessThan"/>
</ByValueCondition>
</Condition>
<Condition name="criteria_OnSidewalkTest" delay="0" conditionEdge="rising">
<ByValueCondition>
<ParameterCondition parameterRef="" value="" rule="lessThan"/>
</ByValueCondition>
</Condition>
<Condition name="criteria_KeepLaneTest" delay="0" conditionEdge="rising">
<ByValueCondition>
<ParameterCondition parameterRef="" value="" rule="lessThan"/>
</ByValueCondition>
</Condition>
<Condition name="criteria_CollisionTest" delay="0" conditionEdge="rising">
<ByValueCondition>
<ParameterCondition parameterRef="" value="" rule="lessThan"/>
</ByValueCondition>
</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_22156">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_close_to_standing_22157">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_close_to_adversary_22158">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_close_to_hero_22159">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
</Entities>
<Storyboard>
<Init>
<Actions>
<GlobalAction>
<EnvironmentAction>
<Environment name="Environment1">
<TimeOfDay animation="false" dateTime="2019-06-25T12:00:00"/>
<Weather cloudState="free">
<Sun intensity="0.85" azimuth="0" elevation="1.31"/>
<Fog visualRange="100000.0"/>
<Precipitation precipitationType="dry" intensity="0.0"/>
</Weather>
<RoadCondition frictionScaleFactor="1.0"/>
</Environment>
</EnvironmentAction>
</GlobalAction>
<Private entityRef="hero">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-9.4" y="-152.8" z="0.5" h="1.57079632679"/>
</Position>
</TeleportAction>
</PrivateAction>
<PrivateAction>
<ControllerAction>
<AssignControllerAction>
<Controller name="HeroAgent">
<Properties>
<Property name="module" value="external_control"/>
</Properties>
</Controller>
</AssignControllerAction>
<OverrideControllerValueAction>
<Throttle value="0" active="false"/>
<Brake value="0" active="false"/>
<Clutch value="0" active="false"/>
<ParkingBrake value="0" active="false"/>
<SteeringWheel value="0" active="false"/>
<Gear number="0" active="false"/>
</OverrideControllerValueAction>
</ControllerAction>
</PrivateAction>
</Private>
<Private entityRef="adversary">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-9.4" y="-71.0" z="0.5" h="1.57079632679"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="standing">
<PrivateAction>
<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_22156">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-4.678170680999756" y="29.756946563720703" z="0.0030186462681740522"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_close_to_standing_22157">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-14.235696792602539" y="22.037765502929688" z="0.0030186462681740522"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_close_to_adversary_22158">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-5.517984867095947" y="-74.24049377441406" z="0.03375862166285515"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_close_to_hero_22159">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-16.37029457092285" y="-147.19320678710938" z="0.0013734435196965933"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
</Actions>
</Init>
<Story name="MyStory">
<Act name="Behavior">
<ManeuverGroup maximumExecutionCount="1" name="ManeuverSequence">
<Actors selectTriggeringEntities="false">
<EntityRef entityRef="adversary"/>
</Actors>
<Maneuver name="LaneChangeSimpleManeuver">
<Event name="AdversaryAccelerates" priority="overwrite">
<Action name="AdversaryAccelerates">
<PrivateAction>
<LongitudinalAction>
<SpeedAction>
<SpeedActionDynamics dynamicsShape="step" value="50" dynamicsDimension="distance"/>
<SpeedActionTarget>
<AbsoluteTargetSpeed value="5.0"/>
</SpeedActionTarget>
</SpeedAction>
</LongitudinalAction>
</PrivateAction>
</Action>
<StartTrigger>
<ConditionGroup>
<Condition name="StartCondition" delay="0" conditionEdge="rising">
<ByEntityCondition>
<TriggeringEntities triggeringEntitiesRule="any">
<EntityRef entityRef="hero"/>
</TriggeringEntities>
<EntityCondition>
<RelativeDistanceCondition entityRef="adversary" relativeDistanceType="cartesianDistance" value="40.0" freespace="false" rule="lessThan"/>
</EntityCondition>
</ByEntityCondition>
</Condition>
</ConditionGroup>
</StartTrigger>
</Event>
<Event name="AdversaryChangesLane" priority="overwrite">
<Action name="AdversaryChangesLane">
<PrivateAction>
<LateralAction>
<LaneChangeAction>
<LaneChangeActionDynamics dynamicsShape="linear" value="25" dynamicsDimension="distance"/>
<LaneChangeTarget>
<RelativeTargetLane entityRef="adversary" value="-1"/>
</LaneChangeTarget>
</LaneChangeAction>
</LateralAction>
</PrivateAction>
</Action>
<StartTrigger>
<ConditionGroup>
<Condition name="AfterAdversaryAccelerates" delay="0" conditionEdge="rising">
<ByValueCondition>
<StoryboardElementStateCondition storyboardElementType="action" storyboardElementRef="AdversaryAccelerates" state="completeState"/>
</ByValueCondition>
</Condition>
</ConditionGroup>
</StartTrigger>
</Event>
</Maneuver>
</ManeuverGroup>
<StartTrigger>
<ConditionGroup>
<Condition name="OverallStartCondition" delay="0" conditionEdge="rising">
<ByEntityCondition>
<TriggeringEntities triggeringEntitiesRule="any">
<EntityRef entityRef="hero"/>
</TriggeringEntities>
<EntityCondition>
<TraveledDistanceCondition value="1.0"/>
</EntityCondition>
</ByEntityCondition>
</Condition>
<Condition name="StartTime" delay="0" conditionEdge="rising">
<ByValueCondition>
<SimulationTimeCondition value="0" rule="equalTo"/>
</ByValueCondition>
</Condition>
</ConditionGroup>
</StartTrigger>
<StopTrigger>
<ConditionGroup>
<Condition name="EndCondition" delay="0" conditionEdge="rising">
<ByEntityCondition>
<TriggeringEntities triggeringEntitiesRule="any">
<EntityRef entityRef="hero"/>
</TriggeringEntities>
<EntityCondition>
<TraveledDistanceCondition value="200.0"/>
</EntityCondition>
</ByEntityCondition>
</Condition>
</ConditionGroup>
</StopTrigger>
</Act>
</Story>
<StopTrigger>
<ConditionGroup>
<Condition name="criteria_RunningStopTest" delay="0" conditionEdge="rising">
<ByValueCondition>
<ParameterCondition parameterRef="" value="" rule="lessThan"/>
</ByValueCondition>
</Condition>
<Condition name="criteria_RunningRedLightTest" delay="0" conditionEdge="rising">
<ByValueCondition>
<ParameterCondition parameterRef="" value="" rule="lessThan"/>
</ByValueCondition>
</Condition>
<Condition name="criteria_WrongLaneTest" delay="0" conditionEdge="rising">
<ByValueCondition>
<ParameterCondition parameterRef="" value="" rule="lessThan"/>
</ByValueCondition>
</Condition>
<Condition name="criteria_OnSidewalkTest" delay="0" conditionEdge="rising">
<ByValueCondition>
<ParameterCondition parameterRef="" value="" rule="lessThan"/>
</ByValueCondition>
</Condition>
<Condition name="criteria_KeepLaneTest" delay="0" conditionEdge="rising">
<ByValueCondition>
<ParameterCondition parameterRef="" value="" rule="lessThan"/>
</ByValueCondition>
</Condition>
<Condition name="criteria_CollisionTest" delay="0" conditionEdge="rising">
<ByValueCondition>
<ParameterCondition parameterRef="" value="" rule="lessThan"/>
</ByValueCondition>
</Condition>
<Condition name="criteria_DrivenDistanceTest" delay="0" conditionEdge="rising">
<ByValueCondition>
<ParameterCondition parameterRef="distance_success" value="100" rule="lessThan"/>
</ByValueCondition>
</Condition>
</ConditionGroup>
</StopTrigger>
</Storyboard>
</OpenSCENARIO>
``` |
i would like to guide you to add pedestrian close to 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_14025">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_close_to_adversary_14026">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_close_to_adversary_14027">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_close_to_standing_14028">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_w_transform_14029">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_w_transform_14030">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_w_transform_14031">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_w_transform_14032">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_w_transform_14033">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_close_to_adversary_14035">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_close_to_hero_14036">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_close_to_hero_14037">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
</Entities>
<Storyboard>
<Init>
<Actions>
<GlobalAction>
<EnvironmentAction>
<Environment name="Environment1">
<TimeOfDay animation="false" dateTime="2019-06-25T12:00:00"/>
<Weather cloudState="free">
<Sun intensity="0.85" azimuth="0" elevation="1.31"/>
<Fog visualRange="100000.0"/>
<Precipitation precipitationType="dry" intensity="0.0"/>
</Weather>
<RoadCondition frictionScaleFactor="1.0"/>
</Environment>
</EnvironmentAction>
</GlobalAction>
<Private entityRef="hero">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-9.4" y="-152.8" z="0.5" h="1.57079632679"/>
</Position>
</TeleportAction>
</PrivateAction>
<PrivateAction>
<ControllerAction>
<AssignControllerAction>
<Controller name="HeroAgent">
<Properties>
<Property name="module" value="external_control"/>
</Properties>
</Controller>
</AssignControllerAction>
<OverrideControllerValueAction>
<Throttle value="0" active="false"/>
<Brake value="0" active="false"/>
<Clutch value="0" active="false"/>
<ParkingBrake value="0" active="false"/>
<SteeringWheel value="0" active="false"/>
<Gear number="0" active="false"/>
</OverrideControllerValueAction>
</ControllerAction>
</PrivateAction>
</Private>
<Private entityRef="adversary">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-9.4" y="-71.0" z="0.5" h="1.57079632679"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="standing">
<PrivateAction>
<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_14025">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-11.410872459411621" y="36.90074920654297" z="0.0030219268519431353"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_close_to_adversary_14026">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-13.713346481323242" y="-79.57178497314453" z="0.033805962651968"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_close_to_adversary_14027">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-9.315614700317383" y="-74.34941101074219" z="0.033782958984375"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_close_to_standing_14028">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-8.830355644226074" y="22.799373626708984" z="0.0030246733222156763"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_w_transform_14029">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-11.117376327514648" y="-35.089752197265625" z="0.5"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_w_transform_14030">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="54.714881896972656" y="-68.89392852783203" z="0.5"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_w_transform_14031">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-41.35687255859375" y="-31.512073516845703" z="0.5"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_w_transform_14032">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="8.548043251037598" y="-52.231910705566406" z="0.5"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_w_transform_14033">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-79.49935150146484" y="94.20023345947266" z="0.5"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_close_to_adversary_14035">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-6.835174083709717" y="-77.93038177490234" z="0.033833008259534836"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_close_to_hero_14036">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-7.492995262145996" y="-144.39559936523438" z="0.0020974730141460896"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_close_to_hero_14037">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-11.404746055603027" y="-145.63125610351562" z="0.0020974730141460896"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
</Actions>
</Init>
<Story name="MyStory">
<Act name="Behavior">
<ManeuverGroup maximumExecutionCount="1" name="ManeuverSequence">
<Actors selectTriggeringEntities="false">
<EntityRef entityRef="adversary"/>
</Actors>
<Maneuver name="LaneChangeSimpleManeuver">
<Event name="AdversaryAccelerates" priority="overwrite">
<Action name="AdversaryAccelerates">
<PrivateAction>
<LongitudinalAction>
<SpeedAction>
<SpeedActionDynamics dynamicsShape="step" value="50" dynamicsDimension="distance"/>
<SpeedActionTarget>
<AbsoluteTargetSpeed value="5.0"/>
</SpeedActionTarget>
</SpeedAction>
</LongitudinalAction>
</PrivateAction>
</Action>
<StartTrigger>
<ConditionGroup>
<Condition name="StartCondition" delay="0" conditionEdge="rising">
<ByEntityCondition>
<TriggeringEntities triggeringEntitiesRule="any">
<EntityRef entityRef="hero"/>
</TriggeringEntities>
<EntityCondition>
<RelativeDistanceCondition entityRef="adversary" relativeDistanceType="cartesianDistance" value="40.0" freespace="false" rule="lessThan"/>
</EntityCondition>
</ByEntityCondition>
</Condition>
</ConditionGroup>
</StartTrigger>
</Event>
<Event name="AdversaryChangesLane" priority="overwrite">
<Action name="AdversaryChangesLane">
<PrivateAction>
<LateralAction>
<LaneChangeAction>
<LaneChangeActionDynamics dynamicsShape="linear" value="25" dynamicsDimension="distance"/>
<LaneChangeTarget>
<RelativeTargetLane entityRef="adversary" value="-1"/>
</LaneChangeTarget>
</LaneChangeAction>
</LateralAction>
</PrivateAction>
</Action>
<StartTrigger>
<ConditionGroup>
<Condition name="AfterAdversaryAccelerates" delay="0" conditionEdge="rising">
<ByValueCondition>
<StoryboardElementStateCondition storyboardElementType="action" storyboardElementRef="AdversaryAccelerates" state="completeState"/>
</ByValueCondition>
</Condition>
</ConditionGroup>
</StartTrigger>
</Event>
</Maneuver>
</ManeuverGroup>
<StartTrigger>
<ConditionGroup>
<Condition name="OverallStartCondition" delay="0" conditionEdge="rising">
<ByEntityCondition>
<TriggeringEntities triggeringEntitiesRule="any">
<EntityRef entityRef="hero"/>
</TriggeringEntities>
<EntityCondition>
<TraveledDistanceCondition value="1.0"/>
</EntityCondition>
</ByEntityCondition>
</Condition>
<Condition name="StartTime" delay="0" conditionEdge="rising">
<ByValueCondition>
<SimulationTimeCondition value="0" rule="equalTo"/>
</ByValueCondition>
</Condition>
</ConditionGroup>
</StartTrigger>
<StopTrigger>
<ConditionGroup>
<Condition name="EndCondition" delay="0" conditionEdge="rising">
<ByEntityCondition>
<TriggeringEntities triggeringEntitiesRule="any">
<EntityRef entityRef="hero"/>
</TriggeringEntities>
<EntityCondition>
<TraveledDistanceCondition value="200.0"/>
</EntityCondition>
</ByEntityCondition>
</Condition>
</ConditionGroup>
</StopTrigger>
</Act>
</Story>
<StopTrigger>
<ConditionGroup>
<Condition name="criteria_RunningStopTest" delay="0" conditionEdge="rising">
<ByValueCondition>
<ParameterCondition parameterRef="" value="" rule="lessThan"/>
</ByValueCondition>
</Condition>
<Condition name="criteria_RunningRedLightTest" delay="0" conditionEdge="rising">
<ByValueCondition>
<ParameterCondition parameterRef="" value="" rule="lessThan"/>
</ByValueCondition>
</Condition>
<Condition name="criteria_WrongLaneTest" delay="0" conditionEdge="rising">
<ByValueCondition>
<ParameterCondition parameterRef="" value="" rule="lessThan"/>
</ByValueCondition>
</Condition>
<Condition name="criteria_OnSidewalkTest" delay="0" conditionEdge="rising">
<ByValueCondition>
<ParameterCondition parameterRef="" value="" rule="lessThan"/>
</ByValueCondition>
</Condition>
<Condition name="criteria_KeepLaneTest" delay="0" conditionEdge="rising">
<ByValueCondition>
<ParameterCondition parameterRef="" value="" rule="lessThan"/>
</ByValueCondition>
</Condition>
<Condition name="criteria_CollisionTest" delay="0" conditionEdge="rising">
<ByValueCondition>
<ParameterCondition parameterRef="" value="" rule="lessThan"/>
</ByValueCondition>
</Condition>
<Condition name="criteria_DrivenDistanceTest" delay="0" conditionEdge="rising">
<ByValueCondition>
<ParameterCondition parameterRef="distance_success" value="100" rule="lessThan"/>
</ByValueCondition>
</Condition>
</ConditionGroup>
</StopTrigger>
</Storyboard>
</OpenSCENARIO>
``` | Here is the result:
```
<?xml version="1.0" ?>
<OpenSCENARIO>
<FileHeader revMajor="1" revMinor="0" date="2020-03-24T12:00:00" description="CARLA:LaneChangeSimple" author=""/>
<ParameterDeclarations/>
<CatalogLocations/>
<RoadNetwork>
<LogicFile filepath="Town04"/>
<SceneGraphFile filepath=""/>
</RoadNetwork>
<Entities>
<ScenarioObject name="hero">
<Vehicle name="vehicle.tesla.model3" vehicleCategory="car">
<ParameterDeclarations/>
<Performance maxSpeed="69.444" maxAcceleration="200" maxDeceleration="10.0"/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2.1" length="4.5" height="1.8"/>
</BoundingBox>
<Axles>
<FrontAxle maxSteering="0.5" wheelDiameter="0.6" trackWidth="1.8" positionX="3.1" positionZ="0.3"/>
<RearAxle maxSteering="0.0" wheelDiameter="0.6" trackWidth="1.8" positionX="0.0" positionZ="0.3"/>
</Axles>
<Properties>
<Property name="type" value="ego_vehicle"/>
</Properties>
</Vehicle>
</ScenarioObject>
<ScenarioObject name="adversary">
<Vehicle name="vehicle.lincoln.mkz_2017" vehicleCategory="car">
<ParameterDeclarations/>
<Performance maxSpeed="69.444" maxAcceleration="200" maxDeceleration="10.0"/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2.1" length="4.5" height="1.8"/>
</BoundingBox>
<Axles>
<FrontAxle maxSteering="0.5" wheelDiameter="0.6" trackWidth="1.8" positionX="3.1" positionZ="0.3"/>
<RearAxle maxSteering="0.0" wheelDiameter="0.6" trackWidth="1.8" positionX="0.0" positionZ="0.3"/>
</Axles>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Vehicle>
</ScenarioObject>
<ScenarioObject name="standing">
<Vehicle name="vehicle.volkswagen.t2" vehicleCategory="car">
<ParameterDeclarations/>
<Performance maxSpeed="69.444" maxAcceleration="200" maxDeceleration="10.0"/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2.1" length="4.5" height="1.8"/>
</BoundingBox>
<Axles>
<FrontAxle maxSteering="0.5" wheelDiameter="0.6" trackWidth="1.8" positionX="3.1" positionZ="0.3"/>
<RearAxle maxSteering="0.0" wheelDiameter="0.6" trackWidth="1.8" positionX="0.0" positionZ="0.3"/>
</Axles>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Vehicle>
</ScenarioObject>
<ScenarioObject name="pedestrian_close_to_standing_14025">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_close_to_adversary_14026">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_close_to_adversary_14027">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_close_to_standing_14028">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_w_transform_14029">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_w_transform_14030">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_w_transform_14031">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_w_transform_14032">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_w_transform_14033">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_close_to_adversary_14035">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_close_to_hero_14036">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_close_to_hero_14037">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_close_to_hero_14038">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
</Entities>
<Storyboard>
<Init>
<Actions>
<GlobalAction>
<EnvironmentAction>
<Environment name="Environment1">
<TimeOfDay animation="false" dateTime="2019-06-25T12:00:00"/>
<Weather cloudState="free">
<Sun intensity="0.85" azimuth="0" elevation="1.31"/>
<Fog visualRange="100000.0"/>
<Precipitation precipitationType="dry" intensity="0.0"/>
</Weather>
<RoadCondition frictionScaleFactor="1.0"/>
</Environment>
</EnvironmentAction>
</GlobalAction>
<Private entityRef="hero">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-9.4" y="-152.8" z="0.5" h="1.57079632679"/>
</Position>
</TeleportAction>
</PrivateAction>
<PrivateAction>
<ControllerAction>
<AssignControllerAction>
<Controller name="HeroAgent">
<Properties>
<Property name="module" value="external_control"/>
</Properties>
</Controller>
</AssignControllerAction>
<OverrideControllerValueAction>
<Throttle value="0" active="false"/>
<Brake value="0" active="false"/>
<Clutch value="0" active="false"/>
<ParkingBrake value="0" active="false"/>
<SteeringWheel value="0" active="false"/>
<Gear number="0" active="false"/>
</OverrideControllerValueAction>
</ControllerAction>
</PrivateAction>
</Private>
<Private entityRef="adversary">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-9.4" y="-71.0" z="0.5" h="1.57079632679"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="standing">
<PrivateAction>
<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_14025">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-11.410872459411621" y="36.90074920654297" z="0.0030219268519431353"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_close_to_adversary_14026">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-13.713346481323242" y="-79.57178497314453" z="0.033805962651968"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_close_to_adversary_14027">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-9.315614700317383" y="-74.34941101074219" z="0.033782958984375"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_close_to_standing_14028">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-8.830355644226074" y="22.799373626708984" z="0.0030246733222156763"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_w_transform_14029">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-11.117376327514648" y="-35.089752197265625" z="0.5"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_w_transform_14030">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="54.714881896972656" y="-68.89392852783203" z="0.5"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_w_transform_14031">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-41.35687255859375" y="-31.512073516845703" z="0.5"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_w_transform_14032">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="8.548043251037598" y="-52.231910705566406" z="0.5"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_w_transform_14033">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-79.49935150146484" y="94.20023345947266" z="0.5"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_close_to_adversary_14035">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-6.835174083709717" y="-77.93038177490234" z="0.033833008259534836"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_close_to_hero_14036">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-7.492995262145996" y="-144.39559936523438" z="0.0020974730141460896"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_close_to_hero_14037">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-11.404746055603027" y="-145.63125610351562" z="0.0020974730141460896"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_close_to_hero_14038">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-12.628958702087402" y="-148.07859802246094" 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 you to add pedestrian close to adversary?
```
<?xml version="1.0" ?>
<OpenSCENARIO>
<FileHeader revMajor="1" revMinor="0" date="2020-03-24T12:00:00" description="CARLA:LaneChangeSimple" author=""/>
<ParameterDeclarations/>
<CatalogLocations/>
<RoadNetwork>
<LogicFile filepath="Town04"/>
<SceneGraphFile filepath=""/>
</RoadNetwork>
<Entities>
<ScenarioObject name="hero">
<Vehicle name="vehicle.tesla.model3" vehicleCategory="car">
<ParameterDeclarations/>
<Performance maxSpeed="69.444" maxAcceleration="200" maxDeceleration="10.0"/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2.1" length="4.5" height="1.8"/>
</BoundingBox>
<Axles>
<FrontAxle maxSteering="0.5" wheelDiameter="0.6" trackWidth="1.8" positionX="3.1" positionZ="0.3"/>
<RearAxle maxSteering="0.0" wheelDiameter="0.6" trackWidth="1.8" positionX="0.0" positionZ="0.3"/>
</Axles>
<Properties>
<Property name="type" value="ego_vehicle"/>
</Properties>
</Vehicle>
</ScenarioObject>
<ScenarioObject name="adversary">
<Vehicle name="vehicle.lincoln.mkz_2017" vehicleCategory="car">
<ParameterDeclarations/>
<Performance maxSpeed="69.444" maxAcceleration="200" maxDeceleration="10.0"/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2.1" length="4.5" height="1.8"/>
</BoundingBox>
<Axles>
<FrontAxle maxSteering="0.5" wheelDiameter="0.6" trackWidth="1.8" positionX="3.1" positionZ="0.3"/>
<RearAxle maxSteering="0.0" wheelDiameter="0.6" trackWidth="1.8" positionX="0.0" positionZ="0.3"/>
</Axles>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Vehicle>
</ScenarioObject>
<ScenarioObject name="standing">
<Vehicle name="vehicle.volkswagen.t2" vehicleCategory="car">
<ParameterDeclarations/>
<Performance maxSpeed="69.444" maxAcceleration="200" maxDeceleration="10.0"/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2.1" length="4.5" height="1.8"/>
</BoundingBox>
<Axles>
<FrontAxle maxSteering="0.5" wheelDiameter="0.6" trackWidth="1.8" positionX="3.1" positionZ="0.3"/>
<RearAxle maxSteering="0.0" wheelDiameter="0.6" trackWidth="1.8" positionX="0.0" positionZ="0.3"/>
</Axles>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Vehicle>
</ScenarioObject>
</Entities>
<Storyboard>
<Init>
<Actions>
<GlobalAction>
<EnvironmentAction>
<Environment name="Environment1">
<TimeOfDay animation="false" dateTime="2019-06-25T12:00:00"/>
<Weather cloudState="free">
<Sun intensity="0.85" azimuth="0" elevation="1.31"/>
<Fog visualRange="100000.0"/>
<Precipitation precipitationType="dry" intensity="0.0"/>
</Weather>
<RoadCondition frictionScaleFactor="1.0"/>
</Environment>
</EnvironmentAction>
</GlobalAction>
<Private entityRef="hero">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-9.4" y="-152.8" z="0.5" h="1.57079632679"/>
</Position>
</TeleportAction>
</PrivateAction>
<PrivateAction>
<ControllerAction>
<AssignControllerAction>
<Controller name="HeroAgent">
<Properties>
<Property name="module" value="external_control"/>
</Properties>
</Controller>
</AssignControllerAction>
<OverrideControllerValueAction>
<Throttle value="0" active="false"/>
<Brake value="0" active="false"/>
<Clutch value="0" active="false"/>
<ParkingBrake value="0" active="false"/>
<SteeringWheel value="0" active="false"/>
<Gear number="0" active="false"/>
</OverrideControllerValueAction>
</ControllerAction>
</PrivateAction>
</Private>
<Private entityRef="adversary">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-9.4" y="-71.0" z="0.5" h="1.57079632679"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="standing">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-8.2" y="29.2" z="0.5" h="1.57079632679"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
</Actions>
</Init>
<Story name="MyStory">
<Act name="Behavior">
<ManeuverGroup maximumExecutionCount="1" name="ManeuverSequence">
<Actors selectTriggeringEntities="false">
<EntityRef entityRef="adversary"/>
</Actors>
<Maneuver name="LaneChangeSimpleManeuver">
<Event name="AdversaryAccelerates" priority="overwrite">
<Action name="AdversaryAccelerates">
<PrivateAction>
<LongitudinalAction>
<SpeedAction>
<SpeedActionDynamics dynamicsShape="step" value="50" dynamicsDimension="distance"/>
<SpeedActionTarget>
<AbsoluteTargetSpeed value="5.0"/>
</SpeedActionTarget>
</SpeedAction>
</LongitudinalAction>
</PrivateAction>
</Action>
<StartTrigger>
<ConditionGroup>
<Condition name="StartCondition" delay="0" conditionEdge="rising">
<ByEntityCondition>
<TriggeringEntities triggeringEntitiesRule="any">
<EntityRef entityRef="hero"/>
</TriggeringEntities>
<EntityCondition>
<RelativeDistanceCondition entityRef="adversary" relativeDistanceType="cartesianDistance" value="40.0" freespace="false" rule="lessThan"/>
</EntityCondition>
</ByEntityCondition>
</Condition>
</ConditionGroup>
</StartTrigger>
</Event>
<Event name="AdversaryChangesLane" priority="overwrite">
<Action name="AdversaryChangesLane">
<PrivateAction>
<LateralAction>
<LaneChangeAction>
<LaneChangeActionDynamics dynamicsShape="linear" value="25" dynamicsDimension="distance"/>
<LaneChangeTarget>
<RelativeTargetLane entityRef="adversary" value="-1"/>
</LaneChangeTarget>
</LaneChangeAction>
</LateralAction>
</PrivateAction>
</Action>
<StartTrigger>
<ConditionGroup>
<Condition name="AfterAdversaryAccelerates" delay="0" conditionEdge="rising">
<ByValueCondition>
<StoryboardElementStateCondition storyboardElementType="action" storyboardElementRef="AdversaryAccelerates" state="completeState"/>
</ByValueCondition>
</Condition>
</ConditionGroup>
</StartTrigger>
</Event>
</Maneuver>
</ManeuverGroup>
<StartTrigger>
<ConditionGroup>
<Condition name="OverallStartCondition" delay="0" conditionEdge="rising">
<ByEntityCondition>
<TriggeringEntities triggeringEntitiesRule="any">
<EntityRef entityRef="hero"/>
</TriggeringEntities>
<EntityCondition>
<TraveledDistanceCondition value="1.0"/>
</EntityCondition>
</ByEntityCondition>
</Condition>
<Condition name="StartTime" delay="0" conditionEdge="rising">
<ByValueCondition>
<SimulationTimeCondition value="0" rule="equalTo"/>
</ByValueCondition>
</Condition>
</ConditionGroup>
</StartTrigger>
<StopTrigger>
<ConditionGroup>
<Condition name="EndCondition" delay="0" conditionEdge="rising">
<ByEntityCondition>
<TriggeringEntities triggeringEntitiesRule="any">
<EntityRef entityRef="hero"/>
</TriggeringEntities>
<EntityCondition>
<TraveledDistanceCondition value="200.0"/>
</EntityCondition>
</ByEntityCondition>
</Condition>
</ConditionGroup>
</StopTrigger>
</Act>
</Story>
<StopTrigger>
<ConditionGroup>
<Condition name="criteria_RunningStopTest" delay="0" conditionEdge="rising">
<ByValueCondition>
<ParameterCondition parameterRef="" value="" rule="lessThan"/>
</ByValueCondition>
</Condition>
<Condition name="criteria_RunningRedLightTest" delay="0" conditionEdge="rising">
<ByValueCondition>
<ParameterCondition parameterRef="" value="" rule="lessThan"/>
</ByValueCondition>
</Condition>
<Condition name="criteria_WrongLaneTest" delay="0" conditionEdge="rising">
<ByValueCondition>
<ParameterCondition parameterRef="" value="" rule="lessThan"/>
</ByValueCondition>
</Condition>
<Condition name="criteria_OnSidewalkTest" delay="0" conditionEdge="rising">
<ByValueCondition>
<ParameterCondition parameterRef="" value="" rule="lessThan"/>
</ByValueCondition>
</Condition>
<Condition name="criteria_KeepLaneTest" delay="0" conditionEdge="rising">
<ByValueCondition>
<ParameterCondition parameterRef="" value="" rule="lessThan"/>
</ByValueCondition>
</Condition>
<Condition name="criteria_CollisionTest" delay="0" conditionEdge="rising">
<ByValueCondition>
<ParameterCondition parameterRef="" value="" rule="lessThan"/>
</ByValueCondition>
</Condition>
<Condition name="criteria_DrivenDistanceTest" delay="0" conditionEdge="rising">
<ByValueCondition>
<ParameterCondition parameterRef="distance_success" value="100" rule="lessThan"/>
</ByValueCondition>
</Condition>
</ConditionGroup>
</StopTrigger>
</Storyboard>
</OpenSCENARIO>
``` | Here is the result:
```
<?xml version="1.0" ?>
<OpenSCENARIO>
<FileHeader revMajor="1" revMinor="0" date="2020-03-24T12:00:00" description="CARLA:LaneChangeSimple" author=""/>
<ParameterDeclarations/>
<CatalogLocations/>
<RoadNetwork>
<LogicFile filepath="Town04"/>
<SceneGraphFile filepath=""/>
</RoadNetwork>
<Entities>
<ScenarioObject name="hero">
<Vehicle name="vehicle.tesla.model3" vehicleCategory="car">
<ParameterDeclarations/>
<Performance maxSpeed="69.444" maxAcceleration="200" maxDeceleration="10.0"/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2.1" length="4.5" height="1.8"/>
</BoundingBox>
<Axles>
<FrontAxle maxSteering="0.5" wheelDiameter="0.6" trackWidth="1.8" positionX="3.1" positionZ="0.3"/>
<RearAxle maxSteering="0.0" wheelDiameter="0.6" trackWidth="1.8" positionX="0.0" positionZ="0.3"/>
</Axles>
<Properties>
<Property name="type" value="ego_vehicle"/>
</Properties>
</Vehicle>
</ScenarioObject>
<ScenarioObject name="adversary">
<Vehicle name="vehicle.lincoln.mkz_2017" vehicleCategory="car">
<ParameterDeclarations/>
<Performance maxSpeed="69.444" maxAcceleration="200" maxDeceleration="10.0"/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2.1" length="4.5" height="1.8"/>
</BoundingBox>
<Axles>
<FrontAxle maxSteering="0.5" wheelDiameter="0.6" trackWidth="1.8" positionX="3.1" positionZ="0.3"/>
<RearAxle maxSteering="0.0" wheelDiameter="0.6" trackWidth="1.8" positionX="0.0" positionZ="0.3"/>
</Axles>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Vehicle>
</ScenarioObject>
<ScenarioObject name="standing">
<Vehicle name="vehicle.volkswagen.t2" vehicleCategory="car">
<ParameterDeclarations/>
<Performance maxSpeed="69.444" maxAcceleration="200" maxDeceleration="10.0"/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2.1" length="4.5" height="1.8"/>
</BoundingBox>
<Axles>
<FrontAxle maxSteering="0.5" wheelDiameter="0.6" trackWidth="1.8" positionX="3.1" positionZ="0.3"/>
<RearAxle maxSteering="0.0" wheelDiameter="0.6" trackWidth="1.8" positionX="0.0" positionZ="0.3"/>
</Axles>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Vehicle>
</ScenarioObject>
<ScenarioObject name="pedestrian_close_to_adversary_26664">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
</Entities>
<Storyboard>
<Init>
<Actions>
<GlobalAction>
<EnvironmentAction>
<Environment name="Environment1">
<TimeOfDay animation="false" dateTime="2019-06-25T12:00:00"/>
<Weather cloudState="free">
<Sun intensity="0.85" azimuth="0" elevation="1.31"/>
<Fog visualRange="100000.0"/>
<Precipitation precipitationType="dry" intensity="0.0"/>
</Weather>
<RoadCondition frictionScaleFactor="1.0"/>
</Environment>
</EnvironmentAction>
</GlobalAction>
<Private entityRef="hero">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-9.4" y="-152.8" z="0.5" h="1.57079632679"/>
</Position>
</TeleportAction>
</PrivateAction>
<PrivateAction>
<ControllerAction>
<AssignControllerAction>
<Controller name="HeroAgent">
<Properties>
<Property name="module" value="external_control"/>
</Properties>
</Controller>
</AssignControllerAction>
<OverrideControllerValueAction>
<Throttle value="0" active="false"/>
<Brake value="0" active="false"/>
<Clutch value="0" active="false"/>
<ParkingBrake value="0" active="false"/>
<SteeringWheel value="0" active="false"/>
<Gear number="0" active="false"/>
</OverrideControllerValueAction>
</ControllerAction>
</PrivateAction>
</Private>
<Private entityRef="adversary">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-9.4" y="-71.0" z="0.5" h="1.57079632679"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="standing">
<PrivateAction>
<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_26664">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-17.235063552856445" y="-64.23880767822266" z="0.03376377001404762"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
</Actions>
</Init>
<Story name="MyStory">
<Act name="Behavior">
<ManeuverGroup maximumExecutionCount="1" name="ManeuverSequence">
<Actors selectTriggeringEntities="false">
<EntityRef entityRef="adversary"/>
</Actors>
<Maneuver name="LaneChangeSimpleManeuver">
<Event name="AdversaryAccelerates" priority="overwrite">
<Action name="AdversaryAccelerates">
<PrivateAction>
<LongitudinalAction>
<SpeedAction>
<SpeedActionDynamics dynamicsShape="step" value="50" dynamicsDimension="distance"/>
<SpeedActionTarget>
<AbsoluteTargetSpeed value="5.0"/>
</SpeedActionTarget>
</SpeedAction>
</LongitudinalAction>
</PrivateAction>
</Action>
<StartTrigger>
<ConditionGroup>
<Condition name="StartCondition" delay="0" conditionEdge="rising">
<ByEntityCondition>
<TriggeringEntities triggeringEntitiesRule="any">
<EntityRef entityRef="hero"/>
</TriggeringEntities>
<EntityCondition>
<RelativeDistanceCondition entityRef="adversary" relativeDistanceType="cartesianDistance" value="40.0" freespace="false" rule="lessThan"/>
</EntityCondition>
</ByEntityCondition>
</Condition>
</ConditionGroup>
</StartTrigger>
</Event>
<Event name="AdversaryChangesLane" priority="overwrite">
<Action name="AdversaryChangesLane">
<PrivateAction>
<LateralAction>
<LaneChangeAction>
<LaneChangeActionDynamics dynamicsShape="linear" value="25" dynamicsDimension="distance"/>
<LaneChangeTarget>
<RelativeTargetLane entityRef="adversary" value="-1"/>
</LaneChangeTarget>
</LaneChangeAction>
</LateralAction>
</PrivateAction>
</Action>
<StartTrigger>
<ConditionGroup>
<Condition name="AfterAdversaryAccelerates" delay="0" conditionEdge="rising">
<ByValueCondition>
<StoryboardElementStateCondition storyboardElementType="action" storyboardElementRef="AdversaryAccelerates" state="completeState"/>
</ByValueCondition>
</Condition>
</ConditionGroup>
</StartTrigger>
</Event>
</Maneuver>
</ManeuverGroup>
<StartTrigger>
<ConditionGroup>
<Condition name="OverallStartCondition" delay="0" conditionEdge="rising">
<ByEntityCondition>
<TriggeringEntities triggeringEntitiesRule="any">
<EntityRef entityRef="hero"/>
</TriggeringEntities>
<EntityCondition>
<TraveledDistanceCondition value="1.0"/>
</EntityCondition>
</ByEntityCondition>
</Condition>
<Condition name="StartTime" delay="0" conditionEdge="rising">
<ByValueCondition>
<SimulationTimeCondition value="0" rule="equalTo"/>
</ByValueCondition>
</Condition>
</ConditionGroup>
</StartTrigger>
<StopTrigger>
<ConditionGroup>
<Condition name="EndCondition" delay="0" conditionEdge="rising">
<ByEntityCondition>
<TriggeringEntities triggeringEntitiesRule="any">
<EntityRef entityRef="hero"/>
</TriggeringEntities>
<EntityCondition>
<TraveledDistanceCondition value="200.0"/>
</EntityCondition>
</ByEntityCondition>
</Condition>
</ConditionGroup>
</StopTrigger>
</Act>
</Story>
<StopTrigger>
<ConditionGroup>
<Condition name="criteria_RunningStopTest" delay="0" conditionEdge="rising">
<ByValueCondition>
<ParameterCondition parameterRef="" value="" rule="lessThan"/>
</ByValueCondition>
</Condition>
<Condition name="criteria_RunningRedLightTest" delay="0" conditionEdge="rising">
<ByValueCondition>
<ParameterCondition parameterRef="" value="" rule="lessThan"/>
</ByValueCondition>
</Condition>
<Condition name="criteria_WrongLaneTest" delay="0" conditionEdge="rising">
<ByValueCondition>
<ParameterCondition parameterRef="" value="" rule="lessThan"/>
</ByValueCondition>
</Condition>
<Condition name="criteria_OnSidewalkTest" delay="0" conditionEdge="rising">
<ByValueCondition>
<ParameterCondition parameterRef="" value="" rule="lessThan"/>
</ByValueCondition>
</Condition>
<Condition name="criteria_KeepLaneTest" delay="0" conditionEdge="rising">
<ByValueCondition>
<ParameterCondition parameterRef="" value="" rule="lessThan"/>
</ByValueCondition>
</Condition>
<Condition name="criteria_CollisionTest" delay="0" conditionEdge="rising">
<ByValueCondition>
<ParameterCondition parameterRef="" value="" rule="lessThan"/>
</ByValueCondition>
</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_standing_28216">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_close_to_hero_28217">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_close_to_hero_28218">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_w_transform_28219">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_close_to_hero_28220">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
</Entities>
<Storyboard>
<Init>
<Actions>
<GlobalAction>
<EnvironmentAction>
<Environment name="Environment1">
<TimeOfDay animation="false" dateTime="2019-06-25T12:00:00"/>
<Weather cloudState="free">
<Sun intensity="0.85" azimuth="0" elevation="1.31"/>
<Fog visualRange="100000.0"/>
<Precipitation precipitationType="dry" intensity="0.0"/>
</Weather>
<RoadCondition frictionScaleFactor="1.0"/>
</Environment>
</EnvironmentAction>
</GlobalAction>
<Private entityRef="hero">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-9.4" y="-152.8" z="0.5" h="1.57079632679"/>
</Position>
</TeleportAction>
</PrivateAction>
<PrivateAction>
<ControllerAction>
<AssignControllerAction>
<Controller name="HeroAgent">
<Properties>
<Property name="module" value="external_control"/>
</Properties>
</Controller>
</AssignControllerAction>
<OverrideControllerValueAction>
<Throttle value="0" active="false"/>
<Brake value="0" active="false"/>
<Clutch value="0" active="false"/>
<ParkingBrake value="0" active="false"/>
<SteeringWheel value="0" active="false"/>
<Gear number="0" active="false"/>
</OverrideControllerValueAction>
</ControllerAction>
</PrivateAction>
</Private>
<Private entityRef="adversary">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-9.4" y="-71.0" z="0.5" h="1.57079632679"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="standing">
<PrivateAction>
<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_28216">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-7.422260284423828" y="22.03112030029297" z="0.0031273651402443647"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_close_to_hero_28217">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-1.5464533567428589" y="-158.8804931640625" z="0.0019445419311523438"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_close_to_hero_28218">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-7.111526012420654" y="-147.8961944580078" z="0.0019445419311523438"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_w_transform_28219">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="71.48169708251953" y="44.9222297668457" z="0.5"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_close_to_hero_28220">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-15.224226951599121" y="-156.0858612060547" z="0.0019445419311523438"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
</Actions>
</Init>
<Story name="MyStory">
<Act name="Behavior">
<ManeuverGroup maximumExecutionCount="1" name="ManeuverSequence">
<Actors selectTriggeringEntities="false">
<EntityRef entityRef="adversary"/>
</Actors>
<Maneuver name="LaneChangeSimpleManeuver">
<Event name="AdversaryAccelerates" priority="overwrite">
<Action name="AdversaryAccelerates">
<PrivateAction>
<LongitudinalAction>
<SpeedAction>
<SpeedActionDynamics dynamicsShape="step" value="50" dynamicsDimension="distance"/>
<SpeedActionTarget>
<AbsoluteTargetSpeed value="5.0"/>
</SpeedActionTarget>
</SpeedAction>
</LongitudinalAction>
</PrivateAction>
</Action>
<StartTrigger>
<ConditionGroup>
<Condition name="StartCondition" delay="0" conditionEdge="rising">
<ByEntityCondition>
<TriggeringEntities triggeringEntitiesRule="any">
<EntityRef entityRef="hero"/>
</TriggeringEntities>
<EntityCondition>
<RelativeDistanceCondition entityRef="adversary" relativeDistanceType="cartesianDistance" value="40.0" freespace="false" rule="lessThan"/>
</EntityCondition>
</ByEntityCondition>
</Condition>
</ConditionGroup>
</StartTrigger>
</Event>
<Event name="AdversaryChangesLane" priority="overwrite">
<Action name="AdversaryChangesLane">
<PrivateAction>
<LateralAction>
<LaneChangeAction>
<LaneChangeActionDynamics dynamicsShape="linear" value="25" dynamicsDimension="distance"/>
<LaneChangeTarget>
<RelativeTargetLane entityRef="adversary" value="-1"/>
</LaneChangeTarget>
</LaneChangeAction>
</LateralAction>
</PrivateAction>
</Action>
<StartTrigger>
<ConditionGroup>
<Condition name="AfterAdversaryAccelerates" delay="0" conditionEdge="rising">
<ByValueCondition>
<StoryboardElementStateCondition storyboardElementType="action" storyboardElementRef="AdversaryAccelerates" state="completeState"/>
</ByValueCondition>
</Condition>
</ConditionGroup>
</StartTrigger>
</Event>
</Maneuver>
</ManeuverGroup>
<StartTrigger>
<ConditionGroup>
<Condition name="OverallStartCondition" delay="0" conditionEdge="rising">
<ByEntityCondition>
<TriggeringEntities triggeringEntitiesRule="any">
<EntityRef entityRef="hero"/>
</TriggeringEntities>
<EntityCondition>
<TraveledDistanceCondition value="1.0"/>
</EntityCondition>
</ByEntityCondition>
</Condition>
<Condition name="StartTime" delay="0" conditionEdge="rising">
<ByValueCondition>
<SimulationTimeCondition value="0" rule="equalTo"/>
</ByValueCondition>
</Condition>
</ConditionGroup>
</StartTrigger>
<StopTrigger>
<ConditionGroup>
<Condition name="EndCondition" delay="0" conditionEdge="rising">
<ByEntityCondition>
<TriggeringEntities triggeringEntitiesRule="any">
<EntityRef entityRef="hero"/>
</TriggeringEntities>
<EntityCondition>
<TraveledDistanceCondition value="200.0"/>
</EntityCondition>
</ByEntityCondition>
</Condition>
</ConditionGroup>
</StopTrigger>
</Act>
</Story>
<StopTrigger>
<ConditionGroup>
<Condition name="criteria_RunningStopTest" delay="0" conditionEdge="rising">
<ByValueCondition>
<ParameterCondition parameterRef="" value="" rule="lessThan"/>
</ByValueCondition>
</Condition>
<Condition name="criteria_RunningRedLightTest" delay="0" conditionEdge="rising">
<ByValueCondition>
<ParameterCondition parameterRef="" value="" rule="lessThan"/>
</ByValueCondition>
</Condition>
<Condition name="criteria_WrongLaneTest" delay="0" conditionEdge="rising">
<ByValueCondition>
<ParameterCondition parameterRef="" value="" rule="lessThan"/>
</ByValueCondition>
</Condition>
<Condition name="criteria_OnSidewalkTest" delay="0" conditionEdge="rising">
<ByValueCondition>
<ParameterCondition parameterRef="" value="" rule="lessThan"/>
</ByValueCondition>
</Condition>
<Condition name="criteria_KeepLaneTest" delay="0" conditionEdge="rising">
<ByValueCondition>
<ParameterCondition parameterRef="" value="" rule="lessThan"/>
</ByValueCondition>
</Condition>
<Condition name="criteria_CollisionTest" delay="0" conditionEdge="rising">
<ByValueCondition>
<ParameterCondition parameterRef="" value="" rule="lessThan"/>
</ByValueCondition>
</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_28216">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_close_to_hero_28217">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_close_to_hero_28218">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_w_transform_28219">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_close_to_hero_28220">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_close_to_hero_28221">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
</Entities>
<Storyboard>
<Init>
<Actions>
<GlobalAction>
<EnvironmentAction>
<Environment name="Environment1">
<TimeOfDay animation="false" dateTime="2019-06-25T12:00:00"/>
<Weather cloudState="free">
<Sun intensity="0.85" azimuth="0" elevation="1.31"/>
<Fog visualRange="100000.0"/>
<Precipitation precipitationType="dry" intensity="0.0"/>
</Weather>
<RoadCondition frictionScaleFactor="1.0"/>
</Environment>
</EnvironmentAction>
</GlobalAction>
<Private entityRef="hero">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-9.4" y="-152.8" z="0.5" h="1.57079632679"/>
</Position>
</TeleportAction>
</PrivateAction>
<PrivateAction>
<ControllerAction>
<AssignControllerAction>
<Controller name="HeroAgent">
<Properties>
<Property name="module" value="external_control"/>
</Properties>
</Controller>
</AssignControllerAction>
<OverrideControllerValueAction>
<Throttle value="0" active="false"/>
<Brake value="0" active="false"/>
<Clutch value="0" active="false"/>
<ParkingBrake value="0" active="false"/>
<SteeringWheel value="0" active="false"/>
<Gear number="0" active="false"/>
</OverrideControllerValueAction>
</ControllerAction>
</PrivateAction>
</Private>
<Private entityRef="adversary">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-9.4" y="-71.0" z="0.5" h="1.57079632679"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="standing">
<PrivateAction>
<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_28216">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-7.422260284423828" y="22.03112030029297" z="0.0031273651402443647"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_close_to_hero_28217">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-1.5464533567428589" y="-158.8804931640625" z="0.0019445419311523438"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_close_to_hero_28218">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-7.111526012420654" y="-147.8961944580078" z="0.0019445419311523438"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_w_transform_28219">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="71.48169708251953" y="44.9222297668457" z="0.5"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_close_to_hero_28220">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-15.224226951599121" y="-156.0858612060547" z="0.0019445419311523438"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_close_to_hero_28221">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-10.122130393981934" y="-151.3431854248047" z="0.0019445419311523438"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
</Actions>
</Init>
<Story name="MyStory">
<Act name="Behavior">
<ManeuverGroup maximumExecutionCount="1" name="ManeuverSequence">
<Actors selectTriggeringEntities="false">
<EntityRef entityRef="adversary"/>
</Actors>
<Maneuver name="LaneChangeSimpleManeuver">
<Event name="AdversaryAccelerates" priority="overwrite">
<Action name="AdversaryAccelerates">
<PrivateAction>
<LongitudinalAction>
<SpeedAction>
<SpeedActionDynamics dynamicsShape="step" value="50" dynamicsDimension="distance"/>
<SpeedActionTarget>
<AbsoluteTargetSpeed value="5.0"/>
</SpeedActionTarget>
</SpeedAction>
</LongitudinalAction>
</PrivateAction>
</Action>
<StartTrigger>
<ConditionGroup>
<Condition name="StartCondition" delay="0" conditionEdge="rising">
<ByEntityCondition>
<TriggeringEntities triggeringEntitiesRule="any">
<EntityRef entityRef="hero"/>
</TriggeringEntities>
<EntityCondition>
<RelativeDistanceCondition entityRef="adversary" relativeDistanceType="cartesianDistance" value="40.0" freespace="false" rule="lessThan"/>
</EntityCondition>
</ByEntityCondition>
</Condition>
</ConditionGroup>
</StartTrigger>
</Event>
<Event name="AdversaryChangesLane" priority="overwrite">
<Action name="AdversaryChangesLane">
<PrivateAction>
<LateralAction>
<LaneChangeAction>
<LaneChangeActionDynamics dynamicsShape="linear" value="25" dynamicsDimension="distance"/>
<LaneChangeTarget>
<RelativeTargetLane entityRef="adversary" value="-1"/>
</LaneChangeTarget>
</LaneChangeAction>
</LateralAction>
</PrivateAction>
</Action>
<StartTrigger>
<ConditionGroup>
<Condition name="AfterAdversaryAccelerates" delay="0" conditionEdge="rising">
<ByValueCondition>
<StoryboardElementStateCondition storyboardElementType="action" storyboardElementRef="AdversaryAccelerates" state="completeState"/>
</ByValueCondition>
</Condition>
</ConditionGroup>
</StartTrigger>
</Event>
</Maneuver>
</ManeuverGroup>
<StartTrigger>
<ConditionGroup>
<Condition name="OverallStartCondition" delay="0" conditionEdge="rising">
<ByEntityCondition>
<TriggeringEntities triggeringEntitiesRule="any">
<EntityRef entityRef="hero"/>
</TriggeringEntities>
<EntityCondition>
<TraveledDistanceCondition value="1.0"/>
</EntityCondition>
</ByEntityCondition>
</Condition>
<Condition name="StartTime" delay="0" conditionEdge="rising">
<ByValueCondition>
<SimulationTimeCondition value="0" rule="equalTo"/>
</ByValueCondition>
</Condition>
</ConditionGroup>
</StartTrigger>
<StopTrigger>
<ConditionGroup>
<Condition name="EndCondition" delay="0" conditionEdge="rising">
<ByEntityCondition>
<TriggeringEntities triggeringEntitiesRule="any">
<EntityRef entityRef="hero"/>
</TriggeringEntities>
<EntityCondition>
<TraveledDistanceCondition value="200.0"/>
</EntityCondition>
</ByEntityCondition>
</Condition>
</ConditionGroup>
</StopTrigger>
</Act>
</Story>
<StopTrigger>
<ConditionGroup>
<Condition name="criteria_RunningStopTest" delay="0" conditionEdge="rising">
<ByValueCondition>
<ParameterCondition parameterRef="" value="" rule="lessThan"/>
</ByValueCondition>
</Condition>
<Condition name="criteria_RunningRedLightTest" delay="0" conditionEdge="rising">
<ByValueCondition>
<ParameterCondition parameterRef="" value="" rule="lessThan"/>
</ByValueCondition>
</Condition>
<Condition name="criteria_WrongLaneTest" delay="0" conditionEdge="rising">
<ByValueCondition>
<ParameterCondition parameterRef="" value="" rule="lessThan"/>
</ByValueCondition>
</Condition>
<Condition name="criteria_OnSidewalkTest" delay="0" conditionEdge="rising">
<ByValueCondition>
<ParameterCondition parameterRef="" value="" rule="lessThan"/>
</ByValueCondition>
</Condition>
<Condition name="criteria_KeepLaneTest" delay="0" conditionEdge="rising">
<ByValueCondition>
<ParameterCondition parameterRef="" value="" rule="lessThan"/>
</ByValueCondition>
</Condition>
<Condition name="criteria_CollisionTest" delay="0" conditionEdge="rising">
<ByValueCondition>
<ParameterCondition parameterRef="" value="" rule="lessThan"/>
</ByValueCondition>
</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 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_21713">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_close_to_adversary_21714">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_close_to_hero_21715">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_w_transform_21716">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_w_transform_21718">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_close_to_standing_21719">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_close_to_standing_21720">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_w_transform_21721">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_w_transform_21722">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_w_transform_21724">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_w_transform_21725">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_close_to_hero_21726">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_w_transform_21727">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_close_to_hero_21728">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_close_to_standing_21729">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_w_transform_21730">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_close_to_adversary_21731">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_close_to_adversary_21732">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_close_to_hero_21733">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_w_transform_21734">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_close_to_hero_21735">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_w_transform_21736">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_w_transform_21737">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_close_to_hero_21738">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
</Entities>
<Storyboard>
<Init>
<Actions>
<GlobalAction>
<EnvironmentAction>
<Environment name="Environment1">
<TimeOfDay animation="false" dateTime="2019-06-25T12:00:00"/>
<Weather cloudState="free">
<Sun intensity="0.85" azimuth="0" elevation="1.31"/>
<Fog visualRange="100000.0"/>
<Precipitation precipitationType="dry" intensity="0.0"/>
</Weather>
<RoadCondition frictionScaleFactor="1.0"/>
</Environment>
</EnvironmentAction>
</GlobalAction>
<Private entityRef="hero">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-9.4" y="-152.8" z="0.5" h="1.57079632679"/>
</Position>
</TeleportAction>
</PrivateAction>
<PrivateAction>
<ControllerAction>
<AssignControllerAction>
<Controller name="HeroAgent">
<Properties>
<Property name="module" value="external_control"/>
</Properties>
</Controller>
</AssignControllerAction>
<OverrideControllerValueAction>
<Throttle value="0" active="false"/>
<Brake value="0" active="false"/>
<Clutch value="0" active="false"/>
<ParkingBrake value="0" active="false"/>
<SteeringWheel value="0" active="false"/>
<Gear number="0" active="false"/>
</OverrideControllerValueAction>
</ControllerAction>
</PrivateAction>
</Private>
<Private entityRef="adversary">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-9.4" y="-71.0" z="0.5" h="1.57079632679"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="standing">
<PrivateAction>
<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_21713">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-7.986269950866699" y="39.937049865722656" z="0.0031180190853774548"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_close_to_adversary_21714">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-12.100281715393066" y="-65.31352233886719" z="0.03388175740838051"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_close_to_hero_21715">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-3.7263572216033936" y="-158.36170959472656" z="0.0018838500836864114"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_w_transform_21716">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="32.250736236572266" y="-9.441798210144043" z="0.5"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_w_transform_21718">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="34.569793701171875" y="25.566171646118164" z="0.5"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_close_to_standing_21719">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-4.93910026550293" y="24.347219467163086" z="0.0031229399610310793"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_close_to_standing_21720">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-1.0048198699951172" y="32.998268127441406" z="0.003124084323644638"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_w_transform_21721">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="59.718143463134766" y="1.8001856803894043" z="0.5"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_w_transform_21722">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-62.62575912475586" y="62.30781936645508" z="0.5"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_w_transform_21724">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="3.3080060482025146" y="-48.099876403808594" z="0.5"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_w_transform_21725">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="97.27648162841797" y="20.291959762573242" z="0.5"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_close_to_hero_21726">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-16.95647621154785" y="-155.78172302246094" z="0.0018838500836864114"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_w_transform_21727">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="8.981527328491211" y="85.56189727783203" z="0.5"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_close_to_hero_21728">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-15.108329772949219" y="-150.77542114257812" z="0.0018838500836864114"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_close_to_standing_21729">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-2.1414663791656494" y="33.94261169433594" z="0.003121681045740843"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_w_transform_21730">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-74.69772338867188" y="-54.88603973388672" z="0.5"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_close_to_adversary_21731">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-13.674844741821289" y="-85.69035339355469" z="0.03386257216334343"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_close_to_adversary_21732">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-2.679516315460205" y="-62.84733581542969" z="0.03387054428458214"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_close_to_hero_21733">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-2.8600986003875732" y="-146.35240173339844" z="0.0018838500836864114"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_w_transform_21734">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-84.63571166992188" y="0.8219609260559082" z="0.5"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_close_to_hero_21735">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-3.096097230911255" y="-154.3140411376953" z="0.0018838500836864114"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_w_transform_21736">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-98.80602264404297" y="22.256349563598633" z="0.5"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_w_transform_21737">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="78.15633392333984" y="91.44544982910156" z="0.5"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_close_to_hero_21738">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-2.999691963195801" y="-151.9214324951172" 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_21713">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_close_to_adversary_21714">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_close_to_hero_21715">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_w_transform_21716">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_w_transform_21718">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_close_to_standing_21719">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_close_to_standing_21720">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_w_transform_21721">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_w_transform_21722">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_w_transform_21724">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_w_transform_21725">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_close_to_hero_21726">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_w_transform_21727">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_close_to_hero_21728">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_close_to_standing_21729">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_w_transform_21730">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_close_to_adversary_21731">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_close_to_adversary_21732">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_close_to_hero_21733">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_w_transform_21734">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_close_to_hero_21735">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_w_transform_21736">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_w_transform_21737">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_close_to_hero_21738">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_close_to_standing_21739">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
</Entities>
<Storyboard>
<Init>
<Actions>
<GlobalAction>
<EnvironmentAction>
<Environment name="Environment1">
<TimeOfDay animation="false" dateTime="2019-06-25T12:00:00"/>
<Weather cloudState="free">
<Sun intensity="0.85" azimuth="0" elevation="1.31"/>
<Fog visualRange="100000.0"/>
<Precipitation precipitationType="dry" intensity="0.0"/>
</Weather>
<RoadCondition frictionScaleFactor="1.0"/>
</Environment>
</EnvironmentAction>
</GlobalAction>
<Private entityRef="hero">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-9.4" y="-152.8" z="0.5" h="1.57079632679"/>
</Position>
</TeleportAction>
</PrivateAction>
<PrivateAction>
<ControllerAction>
<AssignControllerAction>
<Controller name="HeroAgent">
<Properties>
<Property name="module" value="external_control"/>
</Properties>
</Controller>
</AssignControllerAction>
<OverrideControllerValueAction>
<Throttle value="0" active="false"/>
<Brake value="0" active="false"/>
<Clutch value="0" active="false"/>
<ParkingBrake value="0" active="false"/>
<SteeringWheel value="0" active="false"/>
<Gear number="0" active="false"/>
</OverrideControllerValueAction>
</ControllerAction>
</PrivateAction>
</Private>
<Private entityRef="adversary">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-9.4" y="-71.0" z="0.5" h="1.57079632679"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="standing">
<PrivateAction>
<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_21713">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-7.986269950866699" y="39.937049865722656" z="0.0031180190853774548"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_close_to_adversary_21714">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-12.100281715393066" y="-65.31352233886719" z="0.03388175740838051"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_close_to_hero_21715">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-3.7263572216033936" y="-158.36170959472656" z="0.0018838500836864114"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_w_transform_21716">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="32.250736236572266" y="-9.441798210144043" z="0.5"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_w_transform_21718">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="34.569793701171875" y="25.566171646118164" z="0.5"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_close_to_standing_21719">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-4.93910026550293" y="24.347219467163086" z="0.0031229399610310793"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_close_to_standing_21720">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-1.0048198699951172" y="32.998268127441406" z="0.003124084323644638"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_w_transform_21721">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="59.718143463134766" y="1.8001856803894043" z="0.5"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_w_transform_21722">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-62.62575912475586" y="62.30781936645508" z="0.5"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_w_transform_21724">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="3.3080060482025146" y="-48.099876403808594" z="0.5"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_w_transform_21725">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="97.27648162841797" y="20.291959762573242" z="0.5"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_close_to_hero_21726">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-16.95647621154785" y="-155.78172302246094" z="0.0018838500836864114"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_w_transform_21727">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="8.981527328491211" y="85.56189727783203" z="0.5"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_close_to_hero_21728">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-15.108329772949219" y="-150.77542114257812" z="0.0018838500836864114"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_close_to_standing_21729">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-2.1414663791656494" y="33.94261169433594" z="0.003121681045740843"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_w_transform_21730">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-74.69772338867188" y="-54.88603973388672" z="0.5"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_close_to_adversary_21731">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-13.674844741821289" y="-85.69035339355469" z="0.03386257216334343"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_close_to_adversary_21732">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-2.679516315460205" y="-62.84733581542969" z="0.03387054428458214"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_close_to_hero_21733">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-2.8600986003875732" y="-146.35240173339844" z="0.0018838500836864114"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_w_transform_21734">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-84.63571166992188" y="0.8219609260559082" z="0.5"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_close_to_hero_21735">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-3.096097230911255" y="-154.3140411376953" z="0.0018838500836864114"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_w_transform_21736">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-98.80602264404297" y="22.256349563598633" z="0.5"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_w_transform_21737">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="78.15633392333984" y="91.44544982910156" z="0.5"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_close_to_hero_21738">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-2.999691963195801" y="-151.9214324951172" z="0.0018838500836864114"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_close_to_standing_21739">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-10.290504455566406" y="28.06936264038086" z="0.0031148146372288465"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
</Actions>
</Init>
<Story name="MyStory">
<Act name="Behavior">
<ManeuverGroup maximumExecutionCount="1" name="ManeuverSequence">
<Actors selectTriggeringEntities="false">
<EntityRef entityRef="adversary"/>
</Actors>
<Maneuver name="LaneChangeSimpleManeuver">
<Event name="AdversaryAccelerates" priority="overwrite">
<Action name="AdversaryAccelerates">
<PrivateAction>
<LongitudinalAction>
<SpeedAction>
<SpeedActionDynamics dynamicsShape="step" value="50" dynamicsDimension="distance"/>
<SpeedActionTarget>
<AbsoluteTargetSpeed value="5.0"/>
</SpeedActionTarget>
</SpeedAction>
</LongitudinalAction>
</PrivateAction>
</Action>
<StartTrigger>
<ConditionGroup>
<Condition name="StartCondition" delay="0" conditionEdge="rising">
<ByEntityCondition>
<TriggeringEntities triggeringEntitiesRule="any">
<EntityRef entityRef="hero"/>
</TriggeringEntities>
<EntityCondition>
<RelativeDistanceCondition entityRef="adversary" relativeDistanceType="cartesianDistance" value="40.0" freespace="false" rule="lessThan"/>
</EntityCondition>
</ByEntityCondition>
</Condition>
</ConditionGroup>
</StartTrigger>
</Event>
<Event name="AdversaryChangesLane" priority="overwrite">
<Action name="AdversaryChangesLane">
<PrivateAction>
<LateralAction>
<LaneChangeAction>
<LaneChangeActionDynamics dynamicsShape="linear" value="25" dynamicsDimension="distance"/>
<LaneChangeTarget>
<RelativeTargetLane entityRef="adversary" value="-1"/>
</LaneChangeTarget>
</LaneChangeAction>
</LateralAction>
</PrivateAction>
</Action>
<StartTrigger>
<ConditionGroup>
<Condition name="AfterAdversaryAccelerates" delay="0" conditionEdge="rising">
<ByValueCondition>
<StoryboardElementStateCondition storyboardElementType="action" storyboardElementRef="AdversaryAccelerates" state="completeState"/>
</ByValueCondition>
</Condition>
</ConditionGroup>
</StartTrigger>
</Event>
</Maneuver>
</ManeuverGroup>
<StartTrigger>
<ConditionGroup>
<Condition name="OverallStartCondition" delay="0" conditionEdge="rising">
<ByEntityCondition>
<TriggeringEntities triggeringEntitiesRule="any">
<EntityRef entityRef="hero"/>
</TriggeringEntities>
<EntityCondition>
<TraveledDistanceCondition value="1.0"/>
</EntityCondition>
</ByEntityCondition>
</Condition>
<Condition name="StartTime" delay="0" conditionEdge="rising">
<ByValueCondition>
<SimulationTimeCondition value="0" rule="equalTo"/>
</ByValueCondition>
</Condition>
</ConditionGroup>
</StartTrigger>
<StopTrigger>
<ConditionGroup>
<Condition name="EndCondition" delay="0" conditionEdge="rising">
<ByEntityCondition>
<TriggeringEntities triggeringEntitiesRule="any">
<EntityRef entityRef="hero"/>
</TriggeringEntities>
<EntityCondition>
<TraveledDistanceCondition value="200.0"/>
</EntityCondition>
</ByEntityCondition>
</Condition>
</ConditionGroup>
</StopTrigger>
</Act>
</Story>
<StopTrigger>
<ConditionGroup>
<Condition name="criteria_RunningStopTest" delay="0" conditionEdge="rising">
<ByValueCondition>
<ParameterCondition parameterRef="" value="" rule="lessThan"/>
</ByValueCondition>
</Condition>
<Condition name="criteria_RunningRedLightTest" delay="0" conditionEdge="rising">
<ByValueCondition>
<ParameterCondition parameterRef="" value="" rule="lessThan"/>
</ByValueCondition>
</Condition>
<Condition name="criteria_WrongLaneTest" delay="0" conditionEdge="rising">
<ByValueCondition>
<ParameterCondition parameterRef="" value="" rule="lessThan"/>
</ByValueCondition>
</Condition>
<Condition name="criteria_OnSidewalkTest" delay="0" conditionEdge="rising">
<ByValueCondition>
<ParameterCondition parameterRef="" value="" rule="lessThan"/>
</ByValueCondition>
</Condition>
<Condition name="criteria_KeepLaneTest" delay="0" conditionEdge="rising">
<ByValueCondition>
<ParameterCondition parameterRef="" value="" rule="lessThan"/>
</ByValueCondition>
</Condition>
<Condition name="criteria_CollisionTest" delay="0" conditionEdge="rising">
<ByValueCondition>
<ParameterCondition parameterRef="" value="" rule="lessThan"/>
</ByValueCondition>
</Condition>
<Condition name="criteria_DrivenDistanceTest" delay="0" conditionEdge="rising">
<ByValueCondition>
<ParameterCondition parameterRef="distance_success" value="100" rule="lessThan"/>
</ByValueCondition>
</Condition>
</ConditionGroup>
</StopTrigger>
</Storyboard>
</OpenSCENARIO>
``` |
i would like to order you to add pedestrian at location (-1.61, -40.12, 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_6420">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_close_to_adversary_6421">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_close_to_standing_6422">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_close_to_adversary_6423">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_close_to_hero_6424">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_w_transform_6425">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_w_transform_6426">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_w_transform_6428">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_w_transform_6429">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_close_to_adversary_6430">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_close_to_hero_6431">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
</Entities>
<Storyboard>
<Init>
<Actions>
<GlobalAction>
<EnvironmentAction>
<Environment name="Environment1">
<TimeOfDay animation="false" dateTime="2019-06-25T12:00:00"/>
<Weather cloudState="free">
<Sun intensity="0.85" azimuth="0" elevation="1.31"/>
<Fog visualRange="100000.0"/>
<Precipitation precipitationType="dry" intensity="0.0"/>
</Weather>
<RoadCondition frictionScaleFactor="1.0"/>
</Environment>
</EnvironmentAction>
</GlobalAction>
<Private entityRef="hero">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-9.4" y="-152.8" z="0.5" h="1.57079632679"/>
</Position>
</TeleportAction>
</PrivateAction>
<PrivateAction>
<ControllerAction>
<AssignControllerAction>
<Controller name="HeroAgent">
<Properties>
<Property name="module" value="external_control"/>
</Properties>
</Controller>
</AssignControllerAction>
<OverrideControllerValueAction>
<Throttle value="0" active="false"/>
<Brake value="0" active="false"/>
<Clutch value="0" active="false"/>
<ParkingBrake value="0" active="false"/>
<SteeringWheel value="0" active="false"/>
<Gear number="0" active="false"/>
</OverrideControllerValueAction>
</ControllerAction>
</PrivateAction>
</Private>
<Private entityRef="adversary">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-9.4" y="-71.0" z="0.5" h="1.57079632679"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="standing">
<PrivateAction>
<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_6420">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-10.12061595916748" y="-68.47168731689453" z="0.03381919860839844"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_close_to_adversary_6421">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-5.447667598724365" y="-78.29082489013672" z="0.033803101629018784"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_close_to_standing_6422">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-14.173430442810059" y="38.60332489013672" z="0.003053817665204406"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_close_to_adversary_6423">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-16.472742080688477" y="-72.99942016601562" z="0.03383327275514603"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_close_to_hero_6424">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-8.821328163146973" y="-146.30181884765625" z="0.0016471862327307463"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_w_transform_6425">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="84.2310791015625" y="-67.28512573242188" z="0.5"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_w_transform_6426">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="39.19343185424805" y="1.240070104598999" z="0.5"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_w_transform_6428">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="96.10203552246094" y="1.5278648138046265" z="0.5"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_w_transform_6429">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-14.051575660705566" y="-85.57488250732422" z="0.5"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_close_to_adversary_6430">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-12.437922477722168" y="-64.14549255371094" z="0.03377227857708931"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_close_to_hero_6431">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-17.025842666625977" y="-154.0355682373047" z="0.0016471862327307463"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
</Actions>
</Init>
<Story name="MyStory">
<Act name="Behavior">
<ManeuverGroup maximumExecutionCount="1" name="ManeuverSequence">
<Actors selectTriggeringEntities="false">
<EntityRef entityRef="adversary"/>
</Actors>
<Maneuver name="LaneChangeSimpleManeuver">
<Event name="AdversaryAccelerates" priority="overwrite">
<Action name="AdversaryAccelerates">
<PrivateAction>
<LongitudinalAction>
<SpeedAction>
<SpeedActionDynamics dynamicsShape="step" value="50" dynamicsDimension="distance"/>
<SpeedActionTarget>
<AbsoluteTargetSpeed value="5.0"/>
</SpeedActionTarget>
</SpeedAction>
</LongitudinalAction>
</PrivateAction>
</Action>
<StartTrigger>
<ConditionGroup>
<Condition name="StartCondition" delay="0" conditionEdge="rising">
<ByEntityCondition>
<TriggeringEntities triggeringEntitiesRule="any">
<EntityRef entityRef="hero"/>
</TriggeringEntities>
<EntityCondition>
<RelativeDistanceCondition entityRef="adversary" relativeDistanceType="cartesianDistance" value="40.0" freespace="false" rule="lessThan"/>
</EntityCondition>
</ByEntityCondition>
</Condition>
</ConditionGroup>
</StartTrigger>
</Event>
<Event name="AdversaryChangesLane" priority="overwrite">
<Action name="AdversaryChangesLane">
<PrivateAction>
<LateralAction>
<LaneChangeAction>
<LaneChangeActionDynamics dynamicsShape="linear" value="25" dynamicsDimension="distance"/>
<LaneChangeTarget>
<RelativeTargetLane entityRef="adversary" value="-1"/>
</LaneChangeTarget>
</LaneChangeAction>
</LateralAction>
</PrivateAction>
</Action>
<StartTrigger>
<ConditionGroup>
<Condition name="AfterAdversaryAccelerates" delay="0" conditionEdge="rising">
<ByValueCondition>
<StoryboardElementStateCondition storyboardElementType="action" storyboardElementRef="AdversaryAccelerates" state="completeState"/>
</ByValueCondition>
</Condition>
</ConditionGroup>
</StartTrigger>
</Event>
</Maneuver>
</ManeuverGroup>
<StartTrigger>
<ConditionGroup>
<Condition name="OverallStartCondition" delay="0" conditionEdge="rising">
<ByEntityCondition>
<TriggeringEntities triggeringEntitiesRule="any">
<EntityRef entityRef="hero"/>
</TriggeringEntities>
<EntityCondition>
<TraveledDistanceCondition value="1.0"/>
</EntityCondition>
</ByEntityCondition>
</Condition>
<Condition name="StartTime" delay="0" conditionEdge="rising">
<ByValueCondition>
<SimulationTimeCondition value="0" rule="equalTo"/>
</ByValueCondition>
</Condition>
</ConditionGroup>
</StartTrigger>
<StopTrigger>
<ConditionGroup>
<Condition name="EndCondition" delay="0" conditionEdge="rising">
<ByEntityCondition>
<TriggeringEntities triggeringEntitiesRule="any">
<EntityRef entityRef="hero"/>
</TriggeringEntities>
<EntityCondition>
<TraveledDistanceCondition value="200.0"/>
</EntityCondition>
</ByEntityCondition>
</Condition>
</ConditionGroup>
</StopTrigger>
</Act>
</Story>
<StopTrigger>
<ConditionGroup>
<Condition name="criteria_RunningStopTest" delay="0" conditionEdge="rising">
<ByValueCondition>
<ParameterCondition parameterRef="" value="" rule="lessThan"/>
</ByValueCondition>
</Condition>
<Condition name="criteria_RunningRedLightTest" delay="0" conditionEdge="rising">
<ByValueCondition>
<ParameterCondition parameterRef="" value="" rule="lessThan"/>
</ByValueCondition>
</Condition>
<Condition name="criteria_WrongLaneTest" delay="0" conditionEdge="rising">
<ByValueCondition>
<ParameterCondition parameterRef="" value="" rule="lessThan"/>
</ByValueCondition>
</Condition>
<Condition name="criteria_OnSidewalkTest" delay="0" conditionEdge="rising">
<ByValueCondition>
<ParameterCondition parameterRef="" value="" rule="lessThan"/>
</ByValueCondition>
</Condition>
<Condition name="criteria_KeepLaneTest" delay="0" conditionEdge="rising">
<ByValueCondition>
<ParameterCondition parameterRef="" value="" rule="lessThan"/>
</ByValueCondition>
</Condition>
<Condition name="criteria_CollisionTest" delay="0" conditionEdge="rising">
<ByValueCondition>
<ParameterCondition parameterRef="" value="" rule="lessThan"/>
</ByValueCondition>
</Condition>
<Condition name="criteria_DrivenDistanceTest" delay="0" conditionEdge="rising">
<ByValueCondition>
<ParameterCondition parameterRef="distance_success" value="100" rule="lessThan"/>
</ByValueCondition>
</Condition>
</ConditionGroup>
</StopTrigger>
</Storyboard>
</OpenSCENARIO>
``` | Here is the result:
```
<?xml version="1.0" ?>
<OpenSCENARIO>
<FileHeader revMajor="1" revMinor="0" date="2020-03-24T12:00:00" description="CARLA:LaneChangeSimple" author=""/>
<ParameterDeclarations/>
<CatalogLocations/>
<RoadNetwork>
<LogicFile filepath="Town04"/>
<SceneGraphFile filepath=""/>
</RoadNetwork>
<Entities>
<ScenarioObject name="hero">
<Vehicle name="vehicle.tesla.model3" vehicleCategory="car">
<ParameterDeclarations/>
<Performance maxSpeed="69.444" maxAcceleration="200" maxDeceleration="10.0"/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2.1" length="4.5" height="1.8"/>
</BoundingBox>
<Axles>
<FrontAxle maxSteering="0.5" wheelDiameter="0.6" trackWidth="1.8" positionX="3.1" positionZ="0.3"/>
<RearAxle maxSteering="0.0" wheelDiameter="0.6" trackWidth="1.8" positionX="0.0" positionZ="0.3"/>
</Axles>
<Properties>
<Property name="type" value="ego_vehicle"/>
</Properties>
</Vehicle>
</ScenarioObject>
<ScenarioObject name="adversary">
<Vehicle name="vehicle.lincoln.mkz_2017" vehicleCategory="car">
<ParameterDeclarations/>
<Performance maxSpeed="69.444" maxAcceleration="200" maxDeceleration="10.0"/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2.1" length="4.5" height="1.8"/>
</BoundingBox>
<Axles>
<FrontAxle maxSteering="0.5" wheelDiameter="0.6" trackWidth="1.8" positionX="3.1" positionZ="0.3"/>
<RearAxle maxSteering="0.0" wheelDiameter="0.6" trackWidth="1.8" positionX="0.0" positionZ="0.3"/>
</Axles>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Vehicle>
</ScenarioObject>
<ScenarioObject name="standing">
<Vehicle name="vehicle.volkswagen.t2" vehicleCategory="car">
<ParameterDeclarations/>
<Performance maxSpeed="69.444" maxAcceleration="200" maxDeceleration="10.0"/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2.1" length="4.5" height="1.8"/>
</BoundingBox>
<Axles>
<FrontAxle maxSteering="0.5" wheelDiameter="0.6" trackWidth="1.8" positionX="3.1" positionZ="0.3"/>
<RearAxle maxSteering="0.0" wheelDiameter="0.6" trackWidth="1.8" positionX="0.0" positionZ="0.3"/>
</Axles>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Vehicle>
</ScenarioObject>
<ScenarioObject name="pedestrian_close_to_adversary_6420">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_close_to_adversary_6421">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_close_to_standing_6422">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_close_to_adversary_6423">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_close_to_hero_6424">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_w_transform_6425">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_w_transform_6426">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_w_transform_6428">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_w_transform_6429">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_close_to_adversary_6430">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_close_to_hero_6431">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_w_transform_6432">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
</Entities>
<Storyboard>
<Init>
<Actions>
<GlobalAction>
<EnvironmentAction>
<Environment name="Environment1">
<TimeOfDay animation="false" dateTime="2019-06-25T12:00:00"/>
<Weather cloudState="free">
<Sun intensity="0.85" azimuth="0" elevation="1.31"/>
<Fog visualRange="100000.0"/>
<Precipitation precipitationType="dry" intensity="0.0"/>
</Weather>
<RoadCondition frictionScaleFactor="1.0"/>
</Environment>
</EnvironmentAction>
</GlobalAction>
<Private entityRef="hero">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-9.4" y="-152.8" z="0.5" h="1.57079632679"/>
</Position>
</TeleportAction>
</PrivateAction>
<PrivateAction>
<ControllerAction>
<AssignControllerAction>
<Controller name="HeroAgent">
<Properties>
<Property name="module" value="external_control"/>
</Properties>
</Controller>
</AssignControllerAction>
<OverrideControllerValueAction>
<Throttle value="0" active="false"/>
<Brake value="0" active="false"/>
<Clutch value="0" active="false"/>
<ParkingBrake value="0" active="false"/>
<SteeringWheel value="0" active="false"/>
<Gear number="0" active="false"/>
</OverrideControllerValueAction>
</ControllerAction>
</PrivateAction>
</Private>
<Private entityRef="adversary">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-9.4" y="-71.0" z="0.5" h="1.57079632679"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="standing">
<PrivateAction>
<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_6420">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-10.12061595916748" y="-68.47168731689453" z="0.03381919860839844"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_close_to_adversary_6421">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-5.447667598724365" y="-78.29082489013672" z="0.033803101629018784"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_close_to_standing_6422">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-14.173430442810059" y="38.60332489013672" z="0.003053817665204406"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_close_to_adversary_6423">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-16.472742080688477" y="-72.99942016601562" z="0.03383327275514603"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_close_to_hero_6424">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-8.821328163146973" y="-146.30181884765625" z="0.0016471862327307463"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_w_transform_6425">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="84.2310791015625" y="-67.28512573242188" z="0.5"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_w_transform_6426">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="39.19343185424805" y="1.240070104598999" z="0.5"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_w_transform_6428">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="96.10203552246094" y="1.5278648138046265" z="0.5"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_w_transform_6429">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-14.051575660705566" y="-85.57488250732422" z="0.5"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_close_to_adversary_6430">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-12.437922477722168" y="-64.14549255371094" z="0.03377227857708931"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_close_to_hero_6431">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-17.025842666625977" y="-154.0355682373047" z="0.0016471862327307463"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_w_transform_6432">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-1.611444354057312" y="-40.12474822998047" 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_w_transform_12311?
```
<?xml version="1.0" ?>
<OpenSCENARIO>
<FileHeader revMajor="1" revMinor="0" date="2020-03-24T12:00:00" description="CARLA:LaneChangeSimple" author=""/>
<ParameterDeclarations/>
<CatalogLocations/>
<RoadNetwork>
<LogicFile filepath="Town04"/>
<SceneGraphFile filepath=""/>
</RoadNetwork>
<Entities>
<ScenarioObject name="hero">
<Vehicle name="vehicle.tesla.model3" vehicleCategory="car">
<ParameterDeclarations/>
<Performance maxSpeed="69.444" maxAcceleration="200" maxDeceleration="10.0"/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2.1" length="4.5" height="1.8"/>
</BoundingBox>
<Axles>
<FrontAxle maxSteering="0.5" wheelDiameter="0.6" trackWidth="1.8" positionX="3.1" positionZ="0.3"/>
<RearAxle maxSteering="0.0" wheelDiameter="0.6" trackWidth="1.8" positionX="0.0" positionZ="0.3"/>
</Axles>
<Properties>
<Property name="type" value="ego_vehicle"/>
</Properties>
</Vehicle>
</ScenarioObject>
<ScenarioObject name="adversary">
<Vehicle name="vehicle.lincoln.mkz_2017" vehicleCategory="car">
<ParameterDeclarations/>
<Performance maxSpeed="69.444" maxAcceleration="200" maxDeceleration="10.0"/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2.1" length="4.5" height="1.8"/>
</BoundingBox>
<Axles>
<FrontAxle maxSteering="0.5" wheelDiameter="0.6" trackWidth="1.8" positionX="3.1" positionZ="0.3"/>
<RearAxle maxSteering="0.0" wheelDiameter="0.6" trackWidth="1.8" positionX="0.0" positionZ="0.3"/>
</Axles>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Vehicle>
</ScenarioObject>
<ScenarioObject name="standing">
<Vehicle name="vehicle.volkswagen.t2" vehicleCategory="car">
<ParameterDeclarations/>
<Performance maxSpeed="69.444" maxAcceleration="200" maxDeceleration="10.0"/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2.1" length="4.5" height="1.8"/>
</BoundingBox>
<Axles>
<FrontAxle maxSteering="0.5" wheelDiameter="0.6" trackWidth="1.8" positionX="3.1" positionZ="0.3"/>
<RearAxle maxSteering="0.0" wheelDiameter="0.6" 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_12304">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_w_transform_12305">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_w_transform_12307">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_w_transform_12309">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_w_transform_12310">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_w_transform_12311">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_w_transform_12312">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_close_to_hero_12318">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_w_transform_12319">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_w_transform_12328">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_w_transform_12329">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_w_transform_12330">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
</Entities>
<Storyboard>
<Init>
<Actions>
<GlobalAction>
<EnvironmentAction>
<Environment name="Environment1">
<TimeOfDay animation="false" dateTime="2019-06-25T12:00:00"/>
<Weather cloudState="free">
<Sun intensity="0.85" azimuth="0" elevation="1.31"/>
<Fog visualRange="100000.0"/>
<Precipitation precipitationType="dry" intensity="0.0"/>
</Weather>
<RoadCondition frictionScaleFactor="1.0"/>
</Environment>
</EnvironmentAction>
</GlobalAction>
<Private entityRef="hero">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-9.4" y="-152.8" z="0.5" h="1.57079632679"/>
</Position>
</TeleportAction>
</PrivateAction>
<PrivateAction>
<ControllerAction>
<AssignControllerAction>
<Controller name="HeroAgent">
<Properties>
<Property name="module" value="external_control"/>
</Properties>
</Controller>
</AssignControllerAction>
<OverrideControllerValueAction>
<Throttle value="0" active="false"/>
<Brake value="0" active="false"/>
<Clutch value="0" active="false"/>
<ParkingBrake value="0" active="false"/>
<SteeringWheel value="0" active="false"/>
<Gear number="0" active="false"/>
</OverrideControllerValueAction>
</ControllerAction>
</PrivateAction>
</Private>
<Private entityRef="adversary">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-9.4" y="-71.0" z="0.5" h="1.57079632679"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="standing">
<PrivateAction>
<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_12304">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-14.289423942565918" y="36.589500427246094" z="0.003077087225392461"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_w_transform_12305">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="19.356740951538086" y="-19.649280548095703" z="0.5"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_w_transform_12307">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-32.07927703857422" y="-21.70496368408203" z="0.5"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_w_transform_12309">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-14.731060981750488" y="-84.27838134765625" z="0.5"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_w_transform_12310">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-26.5274600982666" y="-60.260318756103516" z="0.5"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_w_transform_12311">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-83.17606353759766" y="86.58049011230469" z="0.5"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_w_transform_12312">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-90.04114532470703" y="8.755516052246094" z="0.5"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_close_to_hero_12318">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="0.42872387170791626" y="-159.8135223388672" z="0.0015143966302275658"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_w_transform_12319">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="86.34703826904297" y="-30.00496482849121" z="0.5"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_w_transform_12328">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="29.275999069213867" y="-5.290709495544434" z="0.5"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_w_transform_12329">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-16.041852951049805" y="-8.325617790222168" z="0.5"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_w_transform_12330">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="61.893680572509766" y="-63.282806396484375" 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_12304">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_w_transform_12305">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_w_transform_12307">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_w_transform_12309">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_w_transform_12310">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_w_transform_12312">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_close_to_hero_12318">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_w_transform_12319">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_w_transform_12328">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_w_transform_12329">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_w_transform_12330">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
</Entities>
<Storyboard>
<Init>
<Actions>
<GlobalAction>
<EnvironmentAction>
<Environment name="Environment1">
<TimeOfDay animation="false" dateTime="2019-06-25T12:00:00"/>
<Weather cloudState="free">
<Sun intensity="0.85" azimuth="0" elevation="1.31"/>
<Fog visualRange="100000.0"/>
<Precipitation precipitationType="dry" intensity="0.0"/>
</Weather>
<RoadCondition frictionScaleFactor="1.0"/>
</Environment>
</EnvironmentAction>
</GlobalAction>
<Private entityRef="hero">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-9.4" y="-152.8" z="0.5" h="1.57079632679"/>
</Position>
</TeleportAction>
</PrivateAction>
<PrivateAction>
<ControllerAction>
<AssignControllerAction>
<Controller name="HeroAgent">
<Properties>
<Property name="module" value="external_control"/>
</Properties>
</Controller>
</AssignControllerAction>
<OverrideControllerValueAction>
<Throttle value="0" active="false"/>
<Brake value="0" active="false"/>
<Clutch value="0" active="false"/>
<ParkingBrake value="0" active="false"/>
<SteeringWheel value="0" active="false"/>
<Gear number="0" active="false"/>
</OverrideControllerValueAction>
</ControllerAction>
</PrivateAction>
</Private>
<Private entityRef="adversary">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-9.4" y="-71.0" z="0.5" h="1.57079632679"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="standing">
<PrivateAction>
<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_12304">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-14.289423942565918" y="36.589500427246094" z="0.003077087225392461"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_w_transform_12305">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="19.356740951538086" y="-19.649280548095703" z="0.5"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_w_transform_12307">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-32.07927703857422" y="-21.70496368408203" z="0.5"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_w_transform_12309">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-14.731060981750488" y="-84.27838134765625" z="0.5"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_w_transform_12310">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-26.5274600982666" y="-60.260318756103516" z="0.5"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_w_transform_12312">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-90.04114532470703" y="8.755516052246094" z="0.5"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_close_to_hero_12318">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="0.42872387170791626" y="-159.8135223388672" z="0.0015143966302275658"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_w_transform_12319">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="86.34703826904297" y="-30.00496482849121" z="0.5"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_w_transform_12328">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="29.275999069213867" y="-5.290709495544434" z="0.5"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_w_transform_12329">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-16.041852951049805" y="-8.325617790222168" z="0.5"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_w_transform_12330">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="61.893680572509766" y="-63.282806396484375" 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 remove pedestrian close to adversary?
```
<?xml version="1.0" ?>
<OpenSCENARIO>
<FileHeader revMajor="1" revMinor="0" date="2020-03-24T12:00:00" description="CARLA:LaneChangeSimple" author=""/>
<ParameterDeclarations/>
<CatalogLocations/>
<RoadNetwork>
<LogicFile filepath="Town04"/>
<SceneGraphFile filepath=""/>
</RoadNetwork>
<Entities>
<ScenarioObject name="hero">
<Vehicle name="vehicle.tesla.model3" vehicleCategory="car">
<ParameterDeclarations/>
<Performance maxSpeed="69.444" maxAcceleration="200" maxDeceleration="10.0"/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2.1" length="4.5" height="1.8"/>
</BoundingBox>
<Axles>
<FrontAxle maxSteering="0.5" wheelDiameter="0.6" trackWidth="1.8" positionX="3.1" positionZ="0.3"/>
<RearAxle maxSteering="0.0" wheelDiameter="0.6" trackWidth="1.8" positionX="0.0" positionZ="0.3"/>
</Axles>
<Properties>
<Property name="type" value="ego_vehicle"/>
</Properties>
</Vehicle>
</ScenarioObject>
<ScenarioObject name="adversary">
<Vehicle name="vehicle.lincoln.mkz_2017" vehicleCategory="car">
<ParameterDeclarations/>
<Performance maxSpeed="69.444" maxAcceleration="200" maxDeceleration="10.0"/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2.1" length="4.5" height="1.8"/>
</BoundingBox>
<Axles>
<FrontAxle maxSteering="0.5" wheelDiameter="0.6" trackWidth="1.8" positionX="3.1" positionZ="0.3"/>
<RearAxle maxSteering="0.0" wheelDiameter="0.6" trackWidth="1.8" positionX="0.0" positionZ="0.3"/>
</Axles>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Vehicle>
</ScenarioObject>
<ScenarioObject name="standing">
<Vehicle name="vehicle.volkswagen.t2" vehicleCategory="car">
<ParameterDeclarations/>
<Performance maxSpeed="69.444" maxAcceleration="200" maxDeceleration="10.0"/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2.1" length="4.5" height="1.8"/>
</BoundingBox>
<Axles>
<FrontAxle maxSteering="0.5" wheelDiameter="0.6" trackWidth="1.8" positionX="3.1" positionZ="0.3"/>
<RearAxle maxSteering="0.0" wheelDiameter="0.6" trackWidth="1.8" positionX="0.0" positionZ="0.3"/>
</Axles>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Vehicle>
</ScenarioObject>
<ScenarioObject name="pedestrian_close_to_standing_10045">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_w_transform_10046">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_w_transform_10047">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_w_transform_10048">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_w_transform_10049">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_w_transform_10051">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_close_to_adversary_10052">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_close_to_adversary_10053">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_w_transform_10054">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_close_to_hero_10055">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_w_transform_10056">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_w_transform_10057">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_close_to_standing_10058">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_w_transform_10059">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_w_transform_10060">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_close_to_hero_10061">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_w_transform_10062">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_w_transform_10063">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
</Entities>
<Storyboard>
<Init>
<Actions>
<GlobalAction>
<EnvironmentAction>
<Environment name="Environment1">
<TimeOfDay animation="false" dateTime="2019-06-25T12:00:00"/>
<Weather cloudState="free">
<Sun intensity="0.85" azimuth="0" elevation="1.31"/>
<Fog visualRange="100000.0"/>
<Precipitation precipitationType="dry" intensity="0.0"/>
</Weather>
<RoadCondition frictionScaleFactor="1.0"/>
</Environment>
</EnvironmentAction>
</GlobalAction>
<Private entityRef="hero">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-9.4" y="-152.8" z="0.5" h="1.57079632679"/>
</Position>
</TeleportAction>
</PrivateAction>
<PrivateAction>
<ControllerAction>
<AssignControllerAction>
<Controller name="HeroAgent">
<Properties>
<Property name="module" value="external_control"/>
</Properties>
</Controller>
</AssignControllerAction>
<OverrideControllerValueAction>
<Throttle value="0" active="false"/>
<Brake value="0" active="false"/>
<Clutch value="0" active="false"/>
<ParkingBrake value="0" active="false"/>
<SteeringWheel value="0" active="false"/>
<Gear number="0" active="false"/>
</OverrideControllerValueAction>
</ControllerAction>
</PrivateAction>
</Private>
<Private entityRef="adversary">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-9.4" y="-71.0" z="0.5" h="1.57079632679"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="standing">
<PrivateAction>
<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_10045">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-3.6838321685791016" y="38.3436164855957" z="0.0030119705479592085"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_w_transform_10046">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-54.051780700683594" y="93.8980712890625" z="0.5"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_w_transform_10047">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-55.30434036254883" y="-22.114233016967773" z="0.5"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_w_transform_10048">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-22.541208267211914" y="-3.7897305488586426" z="0.5"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_w_transform_10049">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="90.41964721679688" y="84.75875091552734" z="0.5"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_w_transform_10051">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-33.264156341552734" y="8.639246940612793" z="0.5"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_close_to_adversary_10052">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-2.580861806869507" y="-64.24242401123047" z="0.03376781567931175"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_close_to_adversary_10053">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-1.689148187637329" y="-74.66495513916016" z="0.03376903384923935"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_w_transform_10054">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="72.1383056640625" y="-58.79379653930664" z="0.5"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_close_to_hero_10055">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-5.932504177093506" y="-147.99325561523438" z="0.0013734435196965933"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_w_transform_10056">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="9.25638198852539" y="34.78384780883789" z="0.5"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_w_transform_10057">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-11.685005187988281" y="-58.2169075012207" z="0.5"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_close_to_standing_10058">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-6.654298782348633" y="27.653579711914062" z="0.003022498916834593"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_w_transform_10059">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-64.91808319091797" y="-57.05032730102539" z="0.5"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_w_transform_10060">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="56.52521896362305" y="4.006617546081543" z="0.5"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_close_to_hero_10061">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-11.25544548034668" y="-156.03579711914062" z="0.0013734435196965933"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_w_transform_10062">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-24.643556594848633" y="-97.07291412353516" z="0.5"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_w_transform_10063">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-85.60538482666016" y="51.29557800292969" 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_10045">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_w_transform_10046">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_w_transform_10047">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_w_transform_10048">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_w_transform_10049">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_w_transform_10051">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_close_to_adversary_10052">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_w_transform_10054">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_close_to_hero_10055">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_w_transform_10056">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_w_transform_10057">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_close_to_standing_10058">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_w_transform_10059">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_w_transform_10060">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_close_to_hero_10061">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_w_transform_10062">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_w_transform_10063">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
</Entities>
<Storyboard>
<Init>
<Actions>
<GlobalAction>
<EnvironmentAction>
<Environment name="Environment1">
<TimeOfDay animation="false" dateTime="2019-06-25T12:00:00"/>
<Weather cloudState="free">
<Sun intensity="0.85" azimuth="0" elevation="1.31"/>
<Fog visualRange="100000.0"/>
<Precipitation precipitationType="dry" intensity="0.0"/>
</Weather>
<RoadCondition frictionScaleFactor="1.0"/>
</Environment>
</EnvironmentAction>
</GlobalAction>
<Private entityRef="hero">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-9.4" y="-152.8" z="0.5" h="1.57079632679"/>
</Position>
</TeleportAction>
</PrivateAction>
<PrivateAction>
<ControllerAction>
<AssignControllerAction>
<Controller name="HeroAgent">
<Properties>
<Property name="module" value="external_control"/>
</Properties>
</Controller>
</AssignControllerAction>
<OverrideControllerValueAction>
<Throttle value="0" active="false"/>
<Brake value="0" active="false"/>
<Clutch value="0" active="false"/>
<ParkingBrake value="0" active="false"/>
<SteeringWheel value="0" active="false"/>
<Gear number="0" active="false"/>
</OverrideControllerValueAction>
</ControllerAction>
</PrivateAction>
</Private>
<Private entityRef="adversary">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-9.4" y="-71.0" z="0.5" h="1.57079632679"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="standing">
<PrivateAction>
<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_10045">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-3.6838321685791016" y="38.3436164855957" z="0.0030119705479592085"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_w_transform_10046">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-54.051780700683594" y="93.8980712890625" z="0.5"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_w_transform_10047">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-55.30434036254883" y="-22.114233016967773" z="0.5"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_w_transform_10048">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-22.541208267211914" y="-3.7897305488586426" z="0.5"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_w_transform_10049">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="90.41964721679688" y="84.75875091552734" z="0.5"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_w_transform_10051">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-33.264156341552734" y="8.639246940612793" z="0.5"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_close_to_adversary_10052">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-2.580861806869507" y="-64.24242401123047" z="0.03376781567931175"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_w_transform_10054">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="72.1383056640625" y="-58.79379653930664" z="0.5"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_close_to_hero_10055">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-5.932504177093506" y="-147.99325561523438" z="0.0013734435196965933"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_w_transform_10056">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="9.25638198852539" y="34.78384780883789" z="0.5"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_w_transform_10057">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-11.685005187988281" y="-58.2169075012207" z="0.5"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_close_to_standing_10058">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-6.654298782348633" y="27.653579711914062" z="0.003022498916834593"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_w_transform_10059">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-64.91808319091797" y="-57.05032730102539" z="0.5"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_w_transform_10060">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="56.52521896362305" y="4.006617546081543" z="0.5"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_close_to_hero_10061">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-11.25544548034668" y="-156.03579711914062" z="0.0013734435196965933"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_w_transform_10062">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-24.643556594848633" y="-97.07291412353516" z="0.5"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_w_transform_10063">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-85.60538482666016" y="51.29557800292969" 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 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_9809">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
</Entities>
<Storyboard>
<Init>
<Actions>
<GlobalAction>
<EnvironmentAction>
<Environment name="Environment1">
<TimeOfDay animation="false" dateTime="2019-06-25T12:00:00"/>
<Weather cloudState="free">
<Sun intensity="0.85" azimuth="0" elevation="1.31"/>
<Fog visualRange="100000.0"/>
<Precipitation precipitationType="dry" intensity="0.0"/>
</Weather>
<RoadCondition frictionScaleFactor="1.0"/>
</Environment>
</EnvironmentAction>
</GlobalAction>
<Private entityRef="hero">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-9.4" y="-152.8" z="0.5" h="1.57079632679"/>
</Position>
</TeleportAction>
</PrivateAction>
<PrivateAction>
<ControllerAction>
<AssignControllerAction>
<Controller name="HeroAgent">
<Properties>
<Property name="module" value="external_control"/>
</Properties>
</Controller>
</AssignControllerAction>
<OverrideControllerValueAction>
<Throttle value="0" active="false"/>
<Brake value="0" active="false"/>
<Clutch value="0" active="false"/>
<ParkingBrake value="0" active="false"/>
<SteeringWheel value="0" active="false"/>
<Gear number="0" active="false"/>
</OverrideControllerValueAction>
</ControllerAction>
</PrivateAction>
</Private>
<Private entityRef="adversary">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-9.4" y="-71.0" z="0.5" h="1.57079632679"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="standing">
<PrivateAction>
<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_9809">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-25.672134399414062" y="-144.84683227539062" z="0.0019029616378247738"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
</Actions>
</Init>
<Story name="MyStory">
<Act name="Behavior">
<ManeuverGroup maximumExecutionCount="1" name="ManeuverSequence">
<Actors selectTriggeringEntities="false">
<EntityRef entityRef="adversary"/>
</Actors>
<Maneuver name="LaneChangeSimpleManeuver">
<Event name="AdversaryAccelerates" priority="overwrite">
<Action name="AdversaryAccelerates">
<PrivateAction>
<LongitudinalAction>
<SpeedAction>
<SpeedActionDynamics dynamicsShape="step" value="50" dynamicsDimension="distance"/>
<SpeedActionTarget>
<AbsoluteTargetSpeed value="5.0"/>
</SpeedActionTarget>
</SpeedAction>
</LongitudinalAction>
</PrivateAction>
</Action>
<StartTrigger>
<ConditionGroup>
<Condition name="StartCondition" delay="0" conditionEdge="rising">
<ByEntityCondition>
<TriggeringEntities triggeringEntitiesRule="any">
<EntityRef entityRef="hero"/>
</TriggeringEntities>
<EntityCondition>
<RelativeDistanceCondition entityRef="adversary" relativeDistanceType="cartesianDistance" value="40.0" freespace="false" rule="lessThan"/>
</EntityCondition>
</ByEntityCondition>
</Condition>
</ConditionGroup>
</StartTrigger>
</Event>
<Event name="AdversaryChangesLane" priority="overwrite">
<Action name="AdversaryChangesLane">
<PrivateAction>
<LateralAction>
<LaneChangeAction>
<LaneChangeActionDynamics dynamicsShape="linear" value="25" dynamicsDimension="distance"/>
<LaneChangeTarget>
<RelativeTargetLane entityRef="adversary" value="-1"/>
</LaneChangeTarget>
</LaneChangeAction>
</LateralAction>
</PrivateAction>
</Action>
<StartTrigger>
<ConditionGroup>
<Condition name="AfterAdversaryAccelerates" delay="0" conditionEdge="rising">
<ByValueCondition>
<StoryboardElementStateCondition storyboardElementType="action" storyboardElementRef="AdversaryAccelerates" state="completeState"/>
</ByValueCondition>
</Condition>
</ConditionGroup>
</StartTrigger>
</Event>
</Maneuver>
</ManeuverGroup>
<StartTrigger>
<ConditionGroup>
<Condition name="OverallStartCondition" delay="0" conditionEdge="rising">
<ByEntityCondition>
<TriggeringEntities triggeringEntitiesRule="any">
<EntityRef entityRef="hero"/>
</TriggeringEntities>
<EntityCondition>
<TraveledDistanceCondition value="1.0"/>
</EntityCondition>
</ByEntityCondition>
</Condition>
<Condition name="StartTime" delay="0" conditionEdge="rising">
<ByValueCondition>
<SimulationTimeCondition value="0" rule="equalTo"/>
</ByValueCondition>
</Condition>
</ConditionGroup>
</StartTrigger>
<StopTrigger>
<ConditionGroup>
<Condition name="EndCondition" delay="0" conditionEdge="rising">
<ByEntityCondition>
<TriggeringEntities triggeringEntitiesRule="any">
<EntityRef entityRef="hero"/>
</TriggeringEntities>
<EntityCondition>
<TraveledDistanceCondition value="200.0"/>
</EntityCondition>
</ByEntityCondition>
</Condition>
</ConditionGroup>
</StopTrigger>
</Act>
</Story>
<StopTrigger>
<ConditionGroup>
<Condition name="criteria_RunningStopTest" delay="0" conditionEdge="rising">
<ByValueCondition>
<ParameterCondition parameterRef="" value="" rule="lessThan"/>
</ByValueCondition>
</Condition>
<Condition name="criteria_RunningRedLightTest" delay="0" conditionEdge="rising">
<ByValueCondition>
<ParameterCondition parameterRef="" value="" rule="lessThan"/>
</ByValueCondition>
</Condition>
<Condition name="criteria_WrongLaneTest" delay="0" conditionEdge="rising">
<ByValueCondition>
<ParameterCondition parameterRef="" value="" rule="lessThan"/>
</ByValueCondition>
</Condition>
<Condition name="criteria_OnSidewalkTest" delay="0" conditionEdge="rising">
<ByValueCondition>
<ParameterCondition parameterRef="" value="" rule="lessThan"/>
</ByValueCondition>
</Condition>
<Condition name="criteria_KeepLaneTest" delay="0" conditionEdge="rising">
<ByValueCondition>
<ParameterCondition parameterRef="" value="" rule="lessThan"/>
</ByValueCondition>
</Condition>
<Condition name="criteria_CollisionTest" delay="0" conditionEdge="rising">
<ByValueCondition>
<ParameterCondition parameterRef="" value="" rule="lessThan"/>
</ByValueCondition>
</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_9809">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_close_to_standing_9810">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
</Entities>
<Storyboard>
<Init>
<Actions>
<GlobalAction>
<EnvironmentAction>
<Environment name="Environment1">
<TimeOfDay animation="false" dateTime="2019-06-25T12:00:00"/>
<Weather cloudState="free">
<Sun intensity="0.85" azimuth="0" elevation="1.31"/>
<Fog visualRange="100000.0"/>
<Precipitation precipitationType="dry" intensity="0.0"/>
</Weather>
<RoadCondition frictionScaleFactor="1.0"/>
</Environment>
</EnvironmentAction>
</GlobalAction>
<Private entityRef="hero">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-9.4" y="-152.8" z="0.5" h="1.57079632679"/>
</Position>
</TeleportAction>
</PrivateAction>
<PrivateAction>
<ControllerAction>
<AssignControllerAction>
<Controller name="HeroAgent">
<Properties>
<Property name="module" value="external_control"/>
</Properties>
</Controller>
</AssignControllerAction>
<OverrideControllerValueAction>
<Throttle value="0" active="false"/>
<Brake value="0" active="false"/>
<Clutch value="0" active="false"/>
<ParkingBrake value="0" active="false"/>
<SteeringWheel value="0" active="false"/>
<Gear number="0" active="false"/>
</OverrideControllerValueAction>
</ControllerAction>
</PrivateAction>
</Private>
<Private entityRef="adversary">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-9.4" y="-71.0" z="0.5" h="1.57079632679"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="standing">
<PrivateAction>
<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_9809">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-25.672134399414062" y="-144.84683227539062" z="0.0019029616378247738"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_close_to_standing_9810">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-12.499204635620117" y="34.15200424194336" z="0.0030339050572365522"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
</Actions>
</Init>
<Story name="MyStory">
<Act name="Behavior">
<ManeuverGroup maximumExecutionCount="1" name="ManeuverSequence">
<Actors selectTriggeringEntities="false">
<EntityRef entityRef="adversary"/>
</Actors>
<Maneuver name="LaneChangeSimpleManeuver">
<Event name="AdversaryAccelerates" priority="overwrite">
<Action name="AdversaryAccelerates">
<PrivateAction>
<LongitudinalAction>
<SpeedAction>
<SpeedActionDynamics dynamicsShape="step" value="50" dynamicsDimension="distance"/>
<SpeedActionTarget>
<AbsoluteTargetSpeed value="5.0"/>
</SpeedActionTarget>
</SpeedAction>
</LongitudinalAction>
</PrivateAction>
</Action>
<StartTrigger>
<ConditionGroup>
<Condition name="StartCondition" delay="0" conditionEdge="rising">
<ByEntityCondition>
<TriggeringEntities triggeringEntitiesRule="any">
<EntityRef entityRef="hero"/>
</TriggeringEntities>
<EntityCondition>
<RelativeDistanceCondition entityRef="adversary" relativeDistanceType="cartesianDistance" value="40.0" freespace="false" rule="lessThan"/>
</EntityCondition>
</ByEntityCondition>
</Condition>
</ConditionGroup>
</StartTrigger>
</Event>
<Event name="AdversaryChangesLane" priority="overwrite">
<Action name="AdversaryChangesLane">
<PrivateAction>
<LateralAction>
<LaneChangeAction>
<LaneChangeActionDynamics dynamicsShape="linear" value="25" dynamicsDimension="distance"/>
<LaneChangeTarget>
<RelativeTargetLane entityRef="adversary" value="-1"/>
</LaneChangeTarget>
</LaneChangeAction>
</LateralAction>
</PrivateAction>
</Action>
<StartTrigger>
<ConditionGroup>
<Condition name="AfterAdversaryAccelerates" delay="0" conditionEdge="rising">
<ByValueCondition>
<StoryboardElementStateCondition storyboardElementType="action" storyboardElementRef="AdversaryAccelerates" state="completeState"/>
</ByValueCondition>
</Condition>
</ConditionGroup>
</StartTrigger>
</Event>
</Maneuver>
</ManeuverGroup>
<StartTrigger>
<ConditionGroup>
<Condition name="OverallStartCondition" delay="0" conditionEdge="rising">
<ByEntityCondition>
<TriggeringEntities triggeringEntitiesRule="any">
<EntityRef entityRef="hero"/>
</TriggeringEntities>
<EntityCondition>
<TraveledDistanceCondition value="1.0"/>
</EntityCondition>
</ByEntityCondition>
</Condition>
<Condition name="StartTime" delay="0" conditionEdge="rising">
<ByValueCondition>
<SimulationTimeCondition value="0" rule="equalTo"/>
</ByValueCondition>
</Condition>
</ConditionGroup>
</StartTrigger>
<StopTrigger>
<ConditionGroup>
<Condition name="EndCondition" delay="0" conditionEdge="rising">
<ByEntityCondition>
<TriggeringEntities triggeringEntitiesRule="any">
<EntityRef entityRef="hero"/>
</TriggeringEntities>
<EntityCondition>
<TraveledDistanceCondition value="200.0"/>
</EntityCondition>
</ByEntityCondition>
</Condition>
</ConditionGroup>
</StopTrigger>
</Act>
</Story>
<StopTrigger>
<ConditionGroup>
<Condition name="criteria_RunningStopTest" delay="0" conditionEdge="rising">
<ByValueCondition>
<ParameterCondition parameterRef="" value="" rule="lessThan"/>
</ByValueCondition>
</Condition>
<Condition name="criteria_RunningRedLightTest" delay="0" conditionEdge="rising">
<ByValueCondition>
<ParameterCondition parameterRef="" value="" rule="lessThan"/>
</ByValueCondition>
</Condition>
<Condition name="criteria_WrongLaneTest" delay="0" conditionEdge="rising">
<ByValueCondition>
<ParameterCondition parameterRef="" value="" rule="lessThan"/>
</ByValueCondition>
</Condition>
<Condition name="criteria_OnSidewalkTest" delay="0" conditionEdge="rising">
<ByValueCondition>
<ParameterCondition parameterRef="" value="" rule="lessThan"/>
</ByValueCondition>
</Condition>
<Condition name="criteria_KeepLaneTest" delay="0" conditionEdge="rising">
<ByValueCondition>
<ParameterCondition parameterRef="" value="" rule="lessThan"/>
</ByValueCondition>
</Condition>
<Condition name="criteria_CollisionTest" delay="0" conditionEdge="rising">
<ByValueCondition>
<ParameterCondition parameterRef="" value="" rule="lessThan"/>
</ByValueCondition>
</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_1650">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_close_to_hero_1651">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_close_to_adversary_1652">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_w_transform_1653">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
</Entities>
<Storyboard>
<Init>
<Actions>
<GlobalAction>
<EnvironmentAction>
<Environment name="Environment1">
<TimeOfDay animation="false" dateTime="2019-06-25T12:00:00"/>
<Weather cloudState="free">
<Sun intensity="0.85" azimuth="0" elevation="1.31"/>
<Fog visualRange="100000.0"/>
<Precipitation precipitationType="dry" intensity="0.0"/>
</Weather>
<RoadCondition frictionScaleFactor="1.0"/>
</Environment>
</EnvironmentAction>
</GlobalAction>
<Private entityRef="hero">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-9.4" y="-152.8" z="0.5" h="1.57079632679"/>
</Position>
</TeleportAction>
</PrivateAction>
<PrivateAction>
<ControllerAction>
<AssignControllerAction>
<Controller name="HeroAgent">
<Properties>
<Property name="module" value="external_control"/>
</Properties>
</Controller>
</AssignControllerAction>
<OverrideControllerValueAction>
<Throttle value="0" active="false"/>
<Brake value="0" active="false"/>
<Clutch value="0" active="false"/>
<ParkingBrake value="0" active="false"/>
<SteeringWheel value="0" active="false"/>
<Gear number="0" active="false"/>
</OverrideControllerValueAction>
</ControllerAction>
</PrivateAction>
</Private>
<Private entityRef="adversary">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-9.4" y="-71.0" z="0.5" h="1.57079632679"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="standing">
<PrivateAction>
<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_1650">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-16.099607467651367" y="-144.72569274902344" z="0.0016471862327307463"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_close_to_hero_1651">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="0.4973556399345398" y="-147.03880310058594" z="0.0016471862327307463"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_close_to_adversary_1652">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-15.580249786376953" y="-63.01248550415039" z="0.03383418917655945"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_w_transform_1653">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-51.238868713378906" y="32.01349639892578" 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_1650">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_close_to_hero_1651">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_close_to_adversary_1652">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_w_transform_1653">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_close_to_standing_1654">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
</Entities>
<Storyboard>
<Init>
<Actions>
<GlobalAction>
<EnvironmentAction>
<Environment name="Environment1">
<TimeOfDay animation="false" dateTime="2019-06-25T12:00:00"/>
<Weather cloudState="free">
<Sun intensity="0.85" azimuth="0" elevation="1.31"/>
<Fog visualRange="100000.0"/>
<Precipitation precipitationType="dry" intensity="0.0"/>
</Weather>
<RoadCondition frictionScaleFactor="1.0"/>
</Environment>
</EnvironmentAction>
</GlobalAction>
<Private entityRef="hero">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-9.4" y="-152.8" z="0.5" h="1.57079632679"/>
</Position>
</TeleportAction>
</PrivateAction>
<PrivateAction>
<ControllerAction>
<AssignControllerAction>
<Controller name="HeroAgent">
<Properties>
<Property name="module" value="external_control"/>
</Properties>
</Controller>
</AssignControllerAction>
<OverrideControllerValueAction>
<Throttle value="0" active="false"/>
<Brake value="0" active="false"/>
<Clutch value="0" active="false"/>
<ParkingBrake value="0" active="false"/>
<SteeringWheel value="0" active="false"/>
<Gear number="0" active="false"/>
</OverrideControllerValueAction>
</ControllerAction>
</PrivateAction>
</Private>
<Private entityRef="adversary">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-9.4" y="-71.0" z="0.5" h="1.57079632679"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="standing">
<PrivateAction>
<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_1650">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-16.099607467651367" y="-144.72569274902344" z="0.0016471862327307463"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_close_to_hero_1651">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="0.4973556399345398" y="-147.03880310058594" z="0.0016471862327307463"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_close_to_adversary_1652">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-15.580249786376953" y="-63.01248550415039" z="0.03383418917655945"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_w_transform_1653">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-51.238868713378906" y="32.01349639892578" z="0.5"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_close_to_standing_1654">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-12.319565773010254" y="34.025203704833984" z="0.0030803680419921875"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
</Actions>
</Init>
<Story name="MyStory">
<Act name="Behavior">
<ManeuverGroup maximumExecutionCount="1" name="ManeuverSequence">
<Actors selectTriggeringEntities="false">
<EntityRef entityRef="adversary"/>
</Actors>
<Maneuver name="LaneChangeSimpleManeuver">
<Event name="AdversaryAccelerates" priority="overwrite">
<Action name="AdversaryAccelerates">
<PrivateAction>
<LongitudinalAction>
<SpeedAction>
<SpeedActionDynamics dynamicsShape="step" value="50" dynamicsDimension="distance"/>
<SpeedActionTarget>
<AbsoluteTargetSpeed value="5.0"/>
</SpeedActionTarget>
</SpeedAction>
</LongitudinalAction>
</PrivateAction>
</Action>
<StartTrigger>
<ConditionGroup>
<Condition name="StartCondition" delay="0" conditionEdge="rising">
<ByEntityCondition>
<TriggeringEntities triggeringEntitiesRule="any">
<EntityRef entityRef="hero"/>
</TriggeringEntities>
<EntityCondition>
<RelativeDistanceCondition entityRef="adversary" relativeDistanceType="cartesianDistance" value="40.0" freespace="false" rule="lessThan"/>
</EntityCondition>
</ByEntityCondition>
</Condition>
</ConditionGroup>
</StartTrigger>
</Event>
<Event name="AdversaryChangesLane" priority="overwrite">
<Action name="AdversaryChangesLane">
<PrivateAction>
<LateralAction>
<LaneChangeAction>
<LaneChangeActionDynamics dynamicsShape="linear" value="25" dynamicsDimension="distance"/>
<LaneChangeTarget>
<RelativeTargetLane entityRef="adversary" value="-1"/>
</LaneChangeTarget>
</LaneChangeAction>
</LateralAction>
</PrivateAction>
</Action>
<StartTrigger>
<ConditionGroup>
<Condition name="AfterAdversaryAccelerates" delay="0" conditionEdge="rising">
<ByValueCondition>
<StoryboardElementStateCondition storyboardElementType="action" storyboardElementRef="AdversaryAccelerates" state="completeState"/>
</ByValueCondition>
</Condition>
</ConditionGroup>
</StartTrigger>
</Event>
</Maneuver>
</ManeuverGroup>
<StartTrigger>
<ConditionGroup>
<Condition name="OverallStartCondition" delay="0" conditionEdge="rising">
<ByEntityCondition>
<TriggeringEntities triggeringEntitiesRule="any">
<EntityRef entityRef="hero"/>
</TriggeringEntities>
<EntityCondition>
<TraveledDistanceCondition value="1.0"/>
</EntityCondition>
</ByEntityCondition>
</Condition>
<Condition name="StartTime" delay="0" conditionEdge="rising">
<ByValueCondition>
<SimulationTimeCondition value="0" rule="equalTo"/>
</ByValueCondition>
</Condition>
</ConditionGroup>
</StartTrigger>
<StopTrigger>
<ConditionGroup>
<Condition name="EndCondition" delay="0" conditionEdge="rising">
<ByEntityCondition>
<TriggeringEntities triggeringEntitiesRule="any">
<EntityRef entityRef="hero"/>
</TriggeringEntities>
<EntityCondition>
<TraveledDistanceCondition value="200.0"/>
</EntityCondition>
</ByEntityCondition>
</Condition>
</ConditionGroup>
</StopTrigger>
</Act>
</Story>
<StopTrigger>
<ConditionGroup>
<Condition name="criteria_RunningStopTest" delay="0" conditionEdge="rising">
<ByValueCondition>
<ParameterCondition parameterRef="" value="" rule="lessThan"/>
</ByValueCondition>
</Condition>
<Condition name="criteria_RunningRedLightTest" delay="0" conditionEdge="rising">
<ByValueCondition>
<ParameterCondition parameterRef="" value="" rule="lessThan"/>
</ByValueCondition>
</Condition>
<Condition name="criteria_WrongLaneTest" delay="0" conditionEdge="rising">
<ByValueCondition>
<ParameterCondition parameterRef="" value="" rule="lessThan"/>
</ByValueCondition>
</Condition>
<Condition name="criteria_OnSidewalkTest" delay="0" conditionEdge="rising">
<ByValueCondition>
<ParameterCondition parameterRef="" value="" rule="lessThan"/>
</ByValueCondition>
</Condition>
<Condition name="criteria_KeepLaneTest" delay="0" conditionEdge="rising">
<ByValueCondition>
<ParameterCondition parameterRef="" value="" rule="lessThan"/>
</ByValueCondition>
</Condition>
<Condition name="criteria_CollisionTest" delay="0" conditionEdge="rising">
<ByValueCondition>
<ParameterCondition parameterRef="" value="" rule="lessThan"/>
</ByValueCondition>
</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_21976">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_w_transform_21977">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_w_transform_21978">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_close_to_standing_21979">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_w_transform_21980">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_close_to_adversary_21981">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_close_to_hero_21982">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_w_transform_21983">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_w_transform_21984">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_w_transform_21985">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_close_to_standing_21986">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_w_transform_21987">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
</Entities>
<Storyboard>
<Init>
<Actions>
<GlobalAction>
<EnvironmentAction>
<Environment name="Environment1">
<TimeOfDay animation="false" dateTime="2019-06-25T12:00:00"/>
<Weather cloudState="free">
<Sun intensity="0.85" azimuth="0" elevation="1.31"/>
<Fog visualRange="100000.0"/>
<Precipitation precipitationType="dry" intensity="0.0"/>
</Weather>
<RoadCondition frictionScaleFactor="1.0"/>
</Environment>
</EnvironmentAction>
</GlobalAction>
<Private entityRef="hero">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-9.4" y="-152.8" z="0.5" h="1.57079632679"/>
</Position>
</TeleportAction>
</PrivateAction>
<PrivateAction>
<ControllerAction>
<AssignControllerAction>
<Controller name="HeroAgent">
<Properties>
<Property name="module" value="external_control"/>
</Properties>
</Controller>
</AssignControllerAction>
<OverrideControllerValueAction>
<Throttle value="0" active="false"/>
<Brake value="0" active="false"/>
<Clutch value="0" active="false"/>
<ParkingBrake value="0" active="false"/>
<SteeringWheel value="0" active="false"/>
<Gear number="0" active="false"/>
</OverrideControllerValueAction>
</ControllerAction>
</PrivateAction>
</Private>
<Private entityRef="adversary">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-9.4" y="-71.0" z="0.5" h="1.57079632679"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="standing">
<PrivateAction>
<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_21976">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-4.067148685455322" y="-68.97502899169922" z="0.033806800842285156"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_w_transform_21977">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-36.7751579284668" y="-22.23926544189453" z="0.5"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_w_transform_21978">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="37.12152099609375" y="92.84992980957031" z="0.5"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_close_to_standing_21979">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-3.7811782360076904" y="20.523096084594727" z="0.0030492781661450863"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_w_transform_21980">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-51.34764862060547" y="51.48170471191406" z="0.5"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_close_to_adversary_21981">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-16.268083572387695" y="-69.69756317138672" z="0.033741872757673264"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_close_to_hero_21982">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-9.888622283935547" y="-144.17276000976562" z="0.001423797570168972"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_w_transform_21983">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="52.96356964111328" y="-25.370927810668945" z="0.5"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_w_transform_21984">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="56.97509765625" y="3.4597256183624268" z="0.5"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_w_transform_21985">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-67.13253784179688" y="-97.33702850341797" z="0.5"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_close_to_standing_21986">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="0.5485049486160278" y="30.978893280029297" z="0.0030862807761877775"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_w_transform_21987">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-8.298720359802246" y="-12.608635902404785" 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_21976">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_w_transform_21977">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_w_transform_21978">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_close_to_standing_21979">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_w_transform_21980">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_close_to_adversary_21981">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_close_to_hero_21982">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_w_transform_21983">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_w_transform_21984">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_w_transform_21985">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_close_to_standing_21986">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_w_transform_21987">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_close_to_adversary_21988">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
</Entities>
<Storyboard>
<Init>
<Actions>
<GlobalAction>
<EnvironmentAction>
<Environment name="Environment1">
<TimeOfDay animation="false" dateTime="2019-06-25T12:00:00"/>
<Weather cloudState="free">
<Sun intensity="0.85" azimuth="0" elevation="1.31"/>
<Fog visualRange="100000.0"/>
<Precipitation precipitationType="dry" intensity="0.0"/>
</Weather>
<RoadCondition frictionScaleFactor="1.0"/>
</Environment>
</EnvironmentAction>
</GlobalAction>
<Private entityRef="hero">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-9.4" y="-152.8" z="0.5" h="1.57079632679"/>
</Position>
</TeleportAction>
</PrivateAction>
<PrivateAction>
<ControllerAction>
<AssignControllerAction>
<Controller name="HeroAgent">
<Properties>
<Property name="module" value="external_control"/>
</Properties>
</Controller>
</AssignControllerAction>
<OverrideControllerValueAction>
<Throttle value="0" active="false"/>
<Brake value="0" active="false"/>
<Clutch value="0" active="false"/>
<ParkingBrake value="0" active="false"/>
<SteeringWheel value="0" active="false"/>
<Gear number="0" active="false"/>
</OverrideControllerValueAction>
</ControllerAction>
</PrivateAction>
</Private>
<Private entityRef="adversary">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-9.4" y="-71.0" z="0.5" h="1.57079632679"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="standing">
<PrivateAction>
<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_21976">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-4.067148685455322" y="-68.97502899169922" z="0.033806800842285156"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_w_transform_21977">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-36.7751579284668" y="-22.23926544189453" z="0.5"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_w_transform_21978">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="37.12152099609375" y="92.84992980957031" z="0.5"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_close_to_standing_21979">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-3.7811782360076904" y="20.523096084594727" z="0.0030492781661450863"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_w_transform_21980">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-51.34764862060547" y="51.48170471191406" z="0.5"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_close_to_adversary_21981">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-16.268083572387695" y="-69.69756317138672" z="0.033741872757673264"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_close_to_hero_21982">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-9.888622283935547" y="-144.17276000976562" z="0.001423797570168972"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_w_transform_21983">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="52.96356964111328" y="-25.370927810668945" z="0.5"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_w_transform_21984">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="56.97509765625" y="3.4597256183624268" z="0.5"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_w_transform_21985">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-67.13253784179688" y="-97.33702850341797" z="0.5"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_close_to_standing_21986">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="0.5485049486160278" y="30.978893280029297" z="0.0030862807761877775"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_w_transform_21987">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-8.298720359802246" y="-12.608635902404785" z="0.5"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_close_to_adversary_21988">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-7.153345584869385" y="-69.0896224975586" z="0.03384040668606758"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
</Actions>
</Init>
<Story name="MyStory">
<Act name="Behavior">
<ManeuverGroup maximumExecutionCount="1" name="ManeuverSequence">
<Actors selectTriggeringEntities="false">
<EntityRef entityRef="adversary"/>
</Actors>
<Maneuver name="LaneChangeSimpleManeuver">
<Event name="AdversaryAccelerates" priority="overwrite">
<Action name="AdversaryAccelerates">
<PrivateAction>
<LongitudinalAction>
<SpeedAction>
<SpeedActionDynamics dynamicsShape="step" value="50" dynamicsDimension="distance"/>
<SpeedActionTarget>
<AbsoluteTargetSpeed value="5.0"/>
</SpeedActionTarget>
</SpeedAction>
</LongitudinalAction>
</PrivateAction>
</Action>
<StartTrigger>
<ConditionGroup>
<Condition name="StartCondition" delay="0" conditionEdge="rising">
<ByEntityCondition>
<TriggeringEntities triggeringEntitiesRule="any">
<EntityRef entityRef="hero"/>
</TriggeringEntities>
<EntityCondition>
<RelativeDistanceCondition entityRef="adversary" relativeDistanceType="cartesianDistance" value="40.0" freespace="false" rule="lessThan"/>
</EntityCondition>
</ByEntityCondition>
</Condition>
</ConditionGroup>
</StartTrigger>
</Event>
<Event name="AdversaryChangesLane" priority="overwrite">
<Action name="AdversaryChangesLane">
<PrivateAction>
<LateralAction>
<LaneChangeAction>
<LaneChangeActionDynamics dynamicsShape="linear" value="25" dynamicsDimension="distance"/>
<LaneChangeTarget>
<RelativeTargetLane entityRef="adversary" value="-1"/>
</LaneChangeTarget>
</LaneChangeAction>
</LateralAction>
</PrivateAction>
</Action>
<StartTrigger>
<ConditionGroup>
<Condition name="AfterAdversaryAccelerates" delay="0" conditionEdge="rising">
<ByValueCondition>
<StoryboardElementStateCondition storyboardElementType="action" storyboardElementRef="AdversaryAccelerates" state="completeState"/>
</ByValueCondition>
</Condition>
</ConditionGroup>
</StartTrigger>
</Event>
</Maneuver>
</ManeuverGroup>
<StartTrigger>
<ConditionGroup>
<Condition name="OverallStartCondition" delay="0" conditionEdge="rising">
<ByEntityCondition>
<TriggeringEntities triggeringEntitiesRule="any">
<EntityRef entityRef="hero"/>
</TriggeringEntities>
<EntityCondition>
<TraveledDistanceCondition value="1.0"/>
</EntityCondition>
</ByEntityCondition>
</Condition>
<Condition name="StartTime" delay="0" conditionEdge="rising">
<ByValueCondition>
<SimulationTimeCondition value="0" rule="equalTo"/>
</ByValueCondition>
</Condition>
</ConditionGroup>
</StartTrigger>
<StopTrigger>
<ConditionGroup>
<Condition name="EndCondition" delay="0" conditionEdge="rising">
<ByEntityCondition>
<TriggeringEntities triggeringEntitiesRule="any">
<EntityRef entityRef="hero"/>
</TriggeringEntities>
<EntityCondition>
<TraveledDistanceCondition value="200.0"/>
</EntityCondition>
</ByEntityCondition>
</Condition>
</ConditionGroup>
</StopTrigger>
</Act>
</Story>
<StopTrigger>
<ConditionGroup>
<Condition name="criteria_RunningStopTest" delay="0" conditionEdge="rising">
<ByValueCondition>
<ParameterCondition parameterRef="" value="" rule="lessThan"/>
</ByValueCondition>
</Condition>
<Condition name="criteria_RunningRedLightTest" delay="0" conditionEdge="rising">
<ByValueCondition>
<ParameterCondition parameterRef="" value="" rule="lessThan"/>
</ByValueCondition>
</Condition>
<Condition name="criteria_WrongLaneTest" delay="0" conditionEdge="rising">
<ByValueCondition>
<ParameterCondition parameterRef="" value="" rule="lessThan"/>
</ByValueCondition>
</Condition>
<Condition name="criteria_OnSidewalkTest" delay="0" conditionEdge="rising">
<ByValueCondition>
<ParameterCondition parameterRef="" value="" rule="lessThan"/>
</ByValueCondition>
</Condition>
<Condition name="criteria_KeepLaneTest" delay="0" conditionEdge="rising">
<ByValueCondition>
<ParameterCondition parameterRef="" value="" rule="lessThan"/>
</ByValueCondition>
</Condition>
<Condition name="criteria_CollisionTest" delay="0" conditionEdge="rising">
<ByValueCondition>
<ParameterCondition parameterRef="" value="" rule="lessThan"/>
</ByValueCondition>
</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 (97.3, 61.27, 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_29844">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_w_transform_29845">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_w_transform_29846">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_close_to_hero_29847">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_w_transform_29848">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
</Entities>
<Storyboard>
<Init>
<Actions>
<GlobalAction>
<EnvironmentAction>
<Environment name="Environment1">
<TimeOfDay animation="false" dateTime="2019-06-25T12:00:00"/>
<Weather cloudState="free">
<Sun intensity="0.85" azimuth="0" elevation="1.31"/>
<Fog visualRange="100000.0"/>
<Precipitation precipitationType="dry" intensity="0.0"/>
</Weather>
<RoadCondition frictionScaleFactor="1.0"/>
</Environment>
</EnvironmentAction>
</GlobalAction>
<Private entityRef="hero">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-9.4" y="-152.8" z="0.5" h="1.57079632679"/>
</Position>
</TeleportAction>
</PrivateAction>
<PrivateAction>
<ControllerAction>
<AssignControllerAction>
<Controller name="HeroAgent">
<Properties>
<Property name="module" value="external_control"/>
</Properties>
</Controller>
</AssignControllerAction>
<OverrideControllerValueAction>
<Throttle value="0" active="false"/>
<Brake value="0" active="false"/>
<Clutch value="0" active="false"/>
<ParkingBrake value="0" active="false"/>
<SteeringWheel value="0" active="false"/>
<Gear number="0" active="false"/>
</OverrideControllerValueAction>
</ControllerAction>
</PrivateAction>
</Private>
<Private entityRef="adversary">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-9.4" y="-71.0" z="0.5" h="1.57079632679"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="standing">
<PrivateAction>
<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_29844">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-22.88359832763672" y="-147.0279541015625" z="0.0020544815342873335"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_w_transform_29845">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="61.96934509277344" y="-5.654316425323486" z="0.5"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_w_transform_29846">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="21.937808990478516" y="-17.251787185668945" z="0.5"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_close_to_hero_29847">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-13.5683012008667" y="-147.98150634765625" z="0.0020544815342873335"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_w_transform_29848">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-98.14737701416016" y="99.86668395996094" 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_29844">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_w_transform_29845">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_w_transform_29846">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_close_to_hero_29847">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_w_transform_29848">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_w_transform_29849">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
</Entities>
<Storyboard>
<Init>
<Actions>
<GlobalAction>
<EnvironmentAction>
<Environment name="Environment1">
<TimeOfDay animation="false" dateTime="2019-06-25T12:00:00"/>
<Weather cloudState="free">
<Sun intensity="0.85" azimuth="0" elevation="1.31"/>
<Fog visualRange="100000.0"/>
<Precipitation precipitationType="dry" intensity="0.0"/>
</Weather>
<RoadCondition frictionScaleFactor="1.0"/>
</Environment>
</EnvironmentAction>
</GlobalAction>
<Private entityRef="hero">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-9.4" y="-152.8" z="0.5" h="1.57079632679"/>
</Position>
</TeleportAction>
</PrivateAction>
<PrivateAction>
<ControllerAction>
<AssignControllerAction>
<Controller name="HeroAgent">
<Properties>
<Property name="module" value="external_control"/>
</Properties>
</Controller>
</AssignControllerAction>
<OverrideControllerValueAction>
<Throttle value="0" active="false"/>
<Brake value="0" active="false"/>
<Clutch value="0" active="false"/>
<ParkingBrake value="0" active="false"/>
<SteeringWheel value="0" active="false"/>
<Gear number="0" active="false"/>
</OverrideControllerValueAction>
</ControllerAction>
</PrivateAction>
</Private>
<Private entityRef="adversary">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-9.4" y="-71.0" z="0.5" h="1.57079632679"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="standing">
<PrivateAction>
<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_29844">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-22.88359832763672" y="-147.0279541015625" z="0.0020544815342873335"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_w_transform_29845">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="61.96934509277344" y="-5.654316425323486" z="0.5"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_w_transform_29846">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="21.937808990478516" y="-17.251787185668945" z="0.5"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_close_to_hero_29847">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-13.5683012008667" y="-147.98150634765625" z="0.0020544815342873335"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_w_transform_29848">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-98.14737701416016" y="99.86668395996094" z="0.5"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_w_transform_29849">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="97.29622650146484" y="61.2664794921875" 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 (73.81, -31.02, 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_14890">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_w_transform_14891">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_close_to_standing_14892">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_close_to_adversary_14893">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_close_to_standing_14894">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
</Entities>
<Storyboard>
<Init>
<Actions>
<GlobalAction>
<EnvironmentAction>
<Environment name="Environment1">
<TimeOfDay animation="false" dateTime="2019-06-25T12:00:00"/>
<Weather cloudState="free">
<Sun intensity="0.85" azimuth="0" elevation="1.31"/>
<Fog visualRange="100000.0"/>
<Precipitation precipitationType="dry" intensity="0.0"/>
</Weather>
<RoadCondition frictionScaleFactor="1.0"/>
</Environment>
</EnvironmentAction>
</GlobalAction>
<Private entityRef="hero">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-9.4" y="-152.8" z="0.5" h="1.57079632679"/>
</Position>
</TeleportAction>
</PrivateAction>
<PrivateAction>
<ControllerAction>
<AssignControllerAction>
<Controller name="HeroAgent">
<Properties>
<Property name="module" value="external_control"/>
</Properties>
</Controller>
</AssignControllerAction>
<OverrideControllerValueAction>
<Throttle value="0" active="false"/>
<Brake value="0" active="false"/>
<Clutch value="0" active="false"/>
<ParkingBrake value="0" active="false"/>
<SteeringWheel value="0" active="false"/>
<Gear number="0" active="false"/>
</OverrideControllerValueAction>
</ControllerAction>
</PrivateAction>
</Private>
<Private entityRef="adversary">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-9.4" y="-71.0" z="0.5" h="1.57079632679"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="standing">
<PrivateAction>
<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_14890">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-16.98584747314453" y="-61.74922180175781" z="0.03380271792411804"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_w_transform_14891">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-88.53359985351562" y="-37.902809143066406" z="0.5"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_close_to_standing_14892">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="1.2169054746627808" y="27.4603214263916" z="0.0030563734471797943"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_close_to_adversary_14893">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-16.291025161743164" y="-66.29129791259766" z="0.03381587937474251"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_close_to_standing_14894">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-7.920115947723389" y="33.310264587402344" z="0.0030450057238340378"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
</Actions>
</Init>
<Story name="MyStory">
<Act name="Behavior">
<ManeuverGroup maximumExecutionCount="1" name="ManeuverSequence">
<Actors selectTriggeringEntities="false">
<EntityRef entityRef="adversary"/>
</Actors>
<Maneuver name="LaneChangeSimpleManeuver">
<Event name="AdversaryAccelerates" priority="overwrite">
<Action name="AdversaryAccelerates">
<PrivateAction>
<LongitudinalAction>
<SpeedAction>
<SpeedActionDynamics dynamicsShape="step" value="50" dynamicsDimension="distance"/>
<SpeedActionTarget>
<AbsoluteTargetSpeed value="5.0"/>
</SpeedActionTarget>
</SpeedAction>
</LongitudinalAction>
</PrivateAction>
</Action>
<StartTrigger>
<ConditionGroup>
<Condition name="StartCondition" delay="0" conditionEdge="rising">
<ByEntityCondition>
<TriggeringEntities triggeringEntitiesRule="any">
<EntityRef entityRef="hero"/>
</TriggeringEntities>
<EntityCondition>
<RelativeDistanceCondition entityRef="adversary" relativeDistanceType="cartesianDistance" value="40.0" freespace="false" rule="lessThan"/>
</EntityCondition>
</ByEntityCondition>
</Condition>
</ConditionGroup>
</StartTrigger>
</Event>
<Event name="AdversaryChangesLane" priority="overwrite">
<Action name="AdversaryChangesLane">
<PrivateAction>
<LateralAction>
<LaneChangeAction>
<LaneChangeActionDynamics dynamicsShape="linear" value="25" dynamicsDimension="distance"/>
<LaneChangeTarget>
<RelativeTargetLane entityRef="adversary" value="-1"/>
</LaneChangeTarget>
</LaneChangeAction>
</LateralAction>
</PrivateAction>
</Action>
<StartTrigger>
<ConditionGroup>
<Condition name="AfterAdversaryAccelerates" delay="0" conditionEdge="rising">
<ByValueCondition>
<StoryboardElementStateCondition storyboardElementType="action" storyboardElementRef="AdversaryAccelerates" state="completeState"/>
</ByValueCondition>
</Condition>
</ConditionGroup>
</StartTrigger>
</Event>
</Maneuver>
</ManeuverGroup>
<StartTrigger>
<ConditionGroup>
<Condition name="OverallStartCondition" delay="0" conditionEdge="rising">
<ByEntityCondition>
<TriggeringEntities triggeringEntitiesRule="any">
<EntityRef entityRef="hero"/>
</TriggeringEntities>
<EntityCondition>
<TraveledDistanceCondition value="1.0"/>
</EntityCondition>
</ByEntityCondition>
</Condition>
<Condition name="StartTime" delay="0" conditionEdge="rising">
<ByValueCondition>
<SimulationTimeCondition value="0" rule="equalTo"/>
</ByValueCondition>
</Condition>
</ConditionGroup>
</StartTrigger>
<StopTrigger>
<ConditionGroup>
<Condition name="EndCondition" delay="0" conditionEdge="rising">
<ByEntityCondition>
<TriggeringEntities triggeringEntitiesRule="any">
<EntityRef entityRef="hero"/>
</TriggeringEntities>
<EntityCondition>
<TraveledDistanceCondition value="200.0"/>
</EntityCondition>
</ByEntityCondition>
</Condition>
</ConditionGroup>
</StopTrigger>
</Act>
</Story>
<StopTrigger>
<ConditionGroup>
<Condition name="criteria_RunningStopTest" delay="0" conditionEdge="rising">
<ByValueCondition>
<ParameterCondition parameterRef="" value="" rule="lessThan"/>
</ByValueCondition>
</Condition>
<Condition name="criteria_RunningRedLightTest" delay="0" conditionEdge="rising">
<ByValueCondition>
<ParameterCondition parameterRef="" value="" rule="lessThan"/>
</ByValueCondition>
</Condition>
<Condition name="criteria_WrongLaneTest" delay="0" conditionEdge="rising">
<ByValueCondition>
<ParameterCondition parameterRef="" value="" rule="lessThan"/>
</ByValueCondition>
</Condition>
<Condition name="criteria_OnSidewalkTest" delay="0" conditionEdge="rising">
<ByValueCondition>
<ParameterCondition parameterRef="" value="" rule="lessThan"/>
</ByValueCondition>
</Condition>
<Condition name="criteria_KeepLaneTest" delay="0" conditionEdge="rising">
<ByValueCondition>
<ParameterCondition parameterRef="" value="" rule="lessThan"/>
</ByValueCondition>
</Condition>
<Condition name="criteria_CollisionTest" delay="0" conditionEdge="rising">
<ByValueCondition>
<ParameterCondition parameterRef="" value="" rule="lessThan"/>
</ByValueCondition>
</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_14890">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_w_transform_14891">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_close_to_standing_14892">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_close_to_adversary_14893">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_close_to_standing_14894">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_w_transform_14895">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
</Entities>
<Storyboard>
<Init>
<Actions>
<GlobalAction>
<EnvironmentAction>
<Environment name="Environment1">
<TimeOfDay animation="false" dateTime="2019-06-25T12:00:00"/>
<Weather cloudState="free">
<Sun intensity="0.85" azimuth="0" elevation="1.31"/>
<Fog visualRange="100000.0"/>
<Precipitation precipitationType="dry" intensity="0.0"/>
</Weather>
<RoadCondition frictionScaleFactor="1.0"/>
</Environment>
</EnvironmentAction>
</GlobalAction>
<Private entityRef="hero">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-9.4" y="-152.8" z="0.5" h="1.57079632679"/>
</Position>
</TeleportAction>
</PrivateAction>
<PrivateAction>
<ControllerAction>
<AssignControllerAction>
<Controller name="HeroAgent">
<Properties>
<Property name="module" value="external_control"/>
</Properties>
</Controller>
</AssignControllerAction>
<OverrideControllerValueAction>
<Throttle value="0" active="false"/>
<Brake value="0" active="false"/>
<Clutch value="0" active="false"/>
<ParkingBrake value="0" active="false"/>
<SteeringWheel value="0" active="false"/>
<Gear number="0" active="false"/>
</OverrideControllerValueAction>
</ControllerAction>
</PrivateAction>
</Private>
<Private entityRef="adversary">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-9.4" y="-71.0" z="0.5" h="1.57079632679"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="standing">
<PrivateAction>
<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_14890">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-16.98584747314453" y="-61.74922180175781" z="0.03380271792411804"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_w_transform_14891">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-88.53359985351562" y="-37.902809143066406" z="0.5"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_close_to_standing_14892">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="1.2169054746627808" y="27.4603214263916" z="0.0030563734471797943"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_close_to_adversary_14893">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-16.291025161743164" y="-66.29129791259766" z="0.03381587937474251"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_close_to_standing_14894">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-7.920115947723389" y="33.310264587402344" z="0.0030450057238340378"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_w_transform_14895">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="73.80846405029297" y="-31.023881912231445" 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 remove pedestrian actor named pedestrian_close_to_adversary_19905?
```
<?xml version="1.0" ?>
<OpenSCENARIO>
<FileHeader revMajor="1" revMinor="0" date="2020-03-24T12:00:00" description="CARLA:LaneChangeSimple" author=""/>
<ParameterDeclarations/>
<CatalogLocations/>
<RoadNetwork>
<LogicFile filepath="Town04"/>
<SceneGraphFile filepath=""/>
</RoadNetwork>
<Entities>
<ScenarioObject name="hero">
<Vehicle name="vehicle.tesla.model3" vehicleCategory="car">
<ParameterDeclarations/>
<Performance maxSpeed="69.444" maxAcceleration="200" maxDeceleration="10.0"/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2.1" length="4.5" height="1.8"/>
</BoundingBox>
<Axles>
<FrontAxle maxSteering="0.5" wheelDiameter="0.6" trackWidth="1.8" positionX="3.1" positionZ="0.3"/>
<RearAxle maxSteering="0.0" wheelDiameter="0.6" trackWidth="1.8" positionX="0.0" positionZ="0.3"/>
</Axles>
<Properties>
<Property name="type" value="ego_vehicle"/>
</Properties>
</Vehicle>
</ScenarioObject>
<ScenarioObject name="adversary">
<Vehicle name="vehicle.lincoln.mkz_2017" vehicleCategory="car">
<ParameterDeclarations/>
<Performance maxSpeed="69.444" maxAcceleration="200" maxDeceleration="10.0"/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2.1" length="4.5" height="1.8"/>
</BoundingBox>
<Axles>
<FrontAxle maxSteering="0.5" wheelDiameter="0.6" trackWidth="1.8" positionX="3.1" positionZ="0.3"/>
<RearAxle maxSteering="0.0" wheelDiameter="0.6" trackWidth="1.8" positionX="0.0" positionZ="0.3"/>
</Axles>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Vehicle>
</ScenarioObject>
<ScenarioObject name="standing">
<Vehicle name="vehicle.volkswagen.t2" vehicleCategory="car">
<ParameterDeclarations/>
<Performance maxSpeed="69.444" maxAcceleration="200" maxDeceleration="10.0"/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2.1" length="4.5" height="1.8"/>
</BoundingBox>
<Axles>
<FrontAxle maxSteering="0.5" wheelDiameter="0.6" trackWidth="1.8" positionX="3.1" positionZ="0.3"/>
<RearAxle maxSteering="0.0" wheelDiameter="0.6" 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_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_adversary_19905">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
</Entities>
<Storyboard>
<Init>
<Actions>
<GlobalAction>
<EnvironmentAction>
<Environment name="Environment1">
<TimeOfDay animation="false" dateTime="2019-06-25T12:00:00"/>
<Weather cloudState="free">
<Sun intensity="0.85" azimuth="0" elevation="1.31"/>
<Fog visualRange="100000.0"/>
<Precipitation precipitationType="dry" intensity="0.0"/>
</Weather>
<RoadCondition frictionScaleFactor="1.0"/>
</Environment>
</EnvironmentAction>
</GlobalAction>
<Private entityRef="hero">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-9.4" y="-152.8" z="0.5" h="1.57079632679"/>
</Position>
</TeleportAction>
</PrivateAction>
<PrivateAction>
<ControllerAction>
<AssignControllerAction>
<Controller name="HeroAgent">
<Properties>
<Property name="module" value="external_control"/>
</Properties>
</Controller>
</AssignControllerAction>
<OverrideControllerValueAction>
<Throttle value="0" active="false"/>
<Brake value="0" active="false"/>
<Clutch value="0" active="false"/>
<ParkingBrake value="0" active="false"/>
<SteeringWheel value="0" active="false"/>
<Gear number="0" active="false"/>
</OverrideControllerValueAction>
</ControllerAction>
</PrivateAction>
</Private>
<Private entityRef="adversary">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-9.4" y="-71.0" z="0.5" h="1.57079632679"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="standing">
<PrivateAction>
<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_19902">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-9.142661094665527" y="21.36585807800293" z="0.0030141829047352076"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_w_transform_19903">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-16.48334503173828" y="-84.36519622802734" z="0.5"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_close_to_adversary_19905">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-1.6448087692260742" y="-61.78995132446289" z="0.03375614061951637"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
</Actions>
</Init>
<Story name="MyStory">
<Act name="Behavior">
<ManeuverGroup maximumExecutionCount="1" name="ManeuverSequence">
<Actors selectTriggeringEntities="false">
<EntityRef entityRef="adversary"/>
</Actors>
<Maneuver name="LaneChangeSimpleManeuver">
<Event name="AdversaryAccelerates" priority="overwrite">
<Action name="AdversaryAccelerates">
<PrivateAction>
<LongitudinalAction>
<SpeedAction>
<SpeedActionDynamics dynamicsShape="step" value="50" dynamicsDimension="distance"/>
<SpeedActionTarget>
<AbsoluteTargetSpeed value="5.0"/>
</SpeedActionTarget>
</SpeedAction>
</LongitudinalAction>
</PrivateAction>
</Action>
<StartTrigger>
<ConditionGroup>
<Condition name="StartCondition" delay="0" conditionEdge="rising">
<ByEntityCondition>
<TriggeringEntities triggeringEntitiesRule="any">
<EntityRef entityRef="hero"/>
</TriggeringEntities>
<EntityCondition>
<RelativeDistanceCondition entityRef="adversary" relativeDistanceType="cartesianDistance" value="40.0" freespace="false" rule="lessThan"/>
</EntityCondition>
</ByEntityCondition>
</Condition>
</ConditionGroup>
</StartTrigger>
</Event>
<Event name="AdversaryChangesLane" priority="overwrite">
<Action name="AdversaryChangesLane">
<PrivateAction>
<LateralAction>
<LaneChangeAction>
<LaneChangeActionDynamics dynamicsShape="linear" value="25" dynamicsDimension="distance"/>
<LaneChangeTarget>
<RelativeTargetLane entityRef="adversary" value="-1"/>
</LaneChangeTarget>
</LaneChangeAction>
</LateralAction>
</PrivateAction>
</Action>
<StartTrigger>
<ConditionGroup>
<Condition name="AfterAdversaryAccelerates" delay="0" conditionEdge="rising">
<ByValueCondition>
<StoryboardElementStateCondition storyboardElementType="action" storyboardElementRef="AdversaryAccelerates" state="completeState"/>
</ByValueCondition>
</Condition>
</ConditionGroup>
</StartTrigger>
</Event>
</Maneuver>
</ManeuverGroup>
<StartTrigger>
<ConditionGroup>
<Condition name="OverallStartCondition" delay="0" conditionEdge="rising">
<ByEntityCondition>
<TriggeringEntities triggeringEntitiesRule="any">
<EntityRef entityRef="hero"/>
</TriggeringEntities>
<EntityCondition>
<TraveledDistanceCondition value="1.0"/>
</EntityCondition>
</ByEntityCondition>
</Condition>
<Condition name="StartTime" delay="0" conditionEdge="rising">
<ByValueCondition>
<SimulationTimeCondition value="0" rule="equalTo"/>
</ByValueCondition>
</Condition>
</ConditionGroup>
</StartTrigger>
<StopTrigger>
<ConditionGroup>
<Condition name="EndCondition" delay="0" conditionEdge="rising">
<ByEntityCondition>
<TriggeringEntities triggeringEntitiesRule="any">
<EntityRef entityRef="hero"/>
</TriggeringEntities>
<EntityCondition>
<TraveledDistanceCondition value="200.0"/>
</EntityCondition>
</ByEntityCondition>
</Condition>
</ConditionGroup>
</StopTrigger>
</Act>
</Story>
<StopTrigger>
<ConditionGroup>
<Condition name="criteria_RunningStopTest" delay="0" conditionEdge="rising">
<ByValueCondition>
<ParameterCondition parameterRef="" value="" rule="lessThan"/>
</ByValueCondition>
</Condition>
<Condition name="criteria_RunningRedLightTest" delay="0" conditionEdge="rising">
<ByValueCondition>
<ParameterCondition parameterRef="" value="" rule="lessThan"/>
</ByValueCondition>
</Condition>
<Condition name="criteria_WrongLaneTest" delay="0" conditionEdge="rising">
<ByValueCondition>
<ParameterCondition parameterRef="" value="" rule="lessThan"/>
</ByValueCondition>
</Condition>
<Condition name="criteria_OnSidewalkTest" delay="0" conditionEdge="rising">
<ByValueCondition>
<ParameterCondition parameterRef="" value="" rule="lessThan"/>
</ByValueCondition>
</Condition>
<Condition name="criteria_KeepLaneTest" delay="0" conditionEdge="rising">
<ByValueCondition>
<ParameterCondition parameterRef="" value="" rule="lessThan"/>
</ByValueCondition>
</Condition>
<Condition name="criteria_CollisionTest" delay="0" conditionEdge="rising">
<ByValueCondition>
<ParameterCondition parameterRef="" value="" rule="lessThan"/>
</ByValueCondition>
</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_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>
</Entities>
<Storyboard>
<Init>
<Actions>
<GlobalAction>
<EnvironmentAction>
<Environment name="Environment1">
<TimeOfDay animation="false" dateTime="2019-06-25T12:00:00"/>
<Weather cloudState="free">
<Sun intensity="0.85" azimuth="0" elevation="1.31"/>
<Fog visualRange="100000.0"/>
<Precipitation precipitationType="dry" intensity="0.0"/>
</Weather>
<RoadCondition frictionScaleFactor="1.0"/>
</Environment>
</EnvironmentAction>
</GlobalAction>
<Private entityRef="hero">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-9.4" y="-152.8" z="0.5" h="1.57079632679"/>
</Position>
</TeleportAction>
</PrivateAction>
<PrivateAction>
<ControllerAction>
<AssignControllerAction>
<Controller name="HeroAgent">
<Properties>
<Property name="module" value="external_control"/>
</Properties>
</Controller>
</AssignControllerAction>
<OverrideControllerValueAction>
<Throttle value="0" active="false"/>
<Brake value="0" active="false"/>
<Clutch value="0" active="false"/>
<ParkingBrake value="0" active="false"/>
<SteeringWheel value="0" active="false"/>
<Gear number="0" active="false"/>
</OverrideControllerValueAction>
</ControllerAction>
</PrivateAction>
</Private>
<Private entityRef="adversary">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-9.4" y="-71.0" z="0.5" h="1.57079632679"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="standing">
<PrivateAction>
<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_19902">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-9.142661094665527" y="21.36585807800293" z="0.0030141829047352076"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_w_transform_19903">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-16.48334503173828" y="-84.36519622802734" 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 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_114">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
</Entities>
<Storyboard>
<Init>
<Actions>
<GlobalAction>
<EnvironmentAction>
<Environment name="Environment1">
<TimeOfDay animation="false" dateTime="2019-06-25T12:00:00"/>
<Weather cloudState="free">
<Sun intensity="0.85" azimuth="0" elevation="1.31"/>
<Fog visualRange="100000.0"/>
<Precipitation precipitationType="dry" intensity="0.0"/>
</Weather>
<RoadCondition frictionScaleFactor="1.0"/>
</Environment>
</EnvironmentAction>
</GlobalAction>
<Private entityRef="hero">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-9.4" y="-152.8" z="0.5" h="1.57079632679"/>
</Position>
</TeleportAction>
</PrivateAction>
<PrivateAction>
<ControllerAction>
<AssignControllerAction>
<Controller name="HeroAgent">
<Properties>
<Property name="module" value="external_control"/>
</Properties>
</Controller>
</AssignControllerAction>
<OverrideControllerValueAction>
<Throttle value="0" active="false"/>
<Brake value="0" active="false"/>
<Clutch value="0" active="false"/>
<ParkingBrake value="0" active="false"/>
<SteeringWheel value="0" active="false"/>
<Gear number="0" active="false"/>
</OverrideControllerValueAction>
</ControllerAction>
</PrivateAction>
</Private>
<Private entityRef="adversary">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-9.4" y="-71.0" z="0.5" h="1.57079632679"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="standing">
<PrivateAction>
<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_114">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-16.876558303833008" y="-156.42916870117188" 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_114">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_close_to_hero_115">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
</Entities>
<Storyboard>
<Init>
<Actions>
<GlobalAction>
<EnvironmentAction>
<Environment name="Environment1">
<TimeOfDay animation="false" dateTime="2019-06-25T12:00:00"/>
<Weather cloudState="free">
<Sun intensity="0.85" azimuth="0" elevation="1.31"/>
<Fog visualRange="100000.0"/>
<Precipitation precipitationType="dry" intensity="0.0"/>
</Weather>
<RoadCondition frictionScaleFactor="1.0"/>
</Environment>
</EnvironmentAction>
</GlobalAction>
<Private entityRef="hero">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-9.4" y="-152.8" z="0.5" h="1.57079632679"/>
</Position>
</TeleportAction>
</PrivateAction>
<PrivateAction>
<ControllerAction>
<AssignControllerAction>
<Controller name="HeroAgent">
<Properties>
<Property name="module" value="external_control"/>
</Properties>
</Controller>
</AssignControllerAction>
<OverrideControllerValueAction>
<Throttle value="0" active="false"/>
<Brake value="0" active="false"/>
<Clutch value="0" active="false"/>
<ParkingBrake value="0" active="false"/>
<SteeringWheel value="0" active="false"/>
<Gear number="0" active="false"/>
</OverrideControllerValueAction>
</ControllerAction>
</PrivateAction>
</Private>
<Private entityRef="adversary">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-9.4" y="-71.0" z="0.5" h="1.57079632679"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="standing">
<PrivateAction>
<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_114">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-16.876558303833008" y="-156.42916870117188" z="0.0014652633108198643"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_close_to_hero_115">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-2.0477020740509033" y="-148.25180053710938" 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 ask you to remove pedestrian actor named pedestrian_close_to_standing_22899?
```
<?xml version="1.0" ?>
<OpenSCENARIO>
<FileHeader revMajor="1" revMinor="0" date="2020-03-24T12:00:00" description="CARLA:LaneChangeSimple" author=""/>
<ParameterDeclarations/>
<CatalogLocations/>
<RoadNetwork>
<LogicFile filepath="Town04"/>
<SceneGraphFile filepath=""/>
</RoadNetwork>
<Entities>
<ScenarioObject name="hero">
<Vehicle name="vehicle.tesla.model3" vehicleCategory="car">
<ParameterDeclarations/>
<Performance maxSpeed="69.444" maxAcceleration="200" maxDeceleration="10.0"/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2.1" length="4.5" height="1.8"/>
</BoundingBox>
<Axles>
<FrontAxle maxSteering="0.5" wheelDiameter="0.6" trackWidth="1.8" positionX="3.1" positionZ="0.3"/>
<RearAxle maxSteering="0.0" wheelDiameter="0.6" trackWidth="1.8" positionX="0.0" positionZ="0.3"/>
</Axles>
<Properties>
<Property name="type" value="ego_vehicle"/>
</Properties>
</Vehicle>
</ScenarioObject>
<ScenarioObject name="adversary">
<Vehicle name="vehicle.lincoln.mkz_2017" vehicleCategory="car">
<ParameterDeclarations/>
<Performance maxSpeed="69.444" maxAcceleration="200" maxDeceleration="10.0"/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2.1" length="4.5" height="1.8"/>
</BoundingBox>
<Axles>
<FrontAxle maxSteering="0.5" wheelDiameter="0.6" trackWidth="1.8" positionX="3.1" positionZ="0.3"/>
<RearAxle maxSteering="0.0" wheelDiameter="0.6" trackWidth="1.8" positionX="0.0" positionZ="0.3"/>
</Axles>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Vehicle>
</ScenarioObject>
<ScenarioObject name="standing">
<Vehicle name="vehicle.volkswagen.t2" vehicleCategory="car">
<ParameterDeclarations/>
<Performance maxSpeed="69.444" maxAcceleration="200" maxDeceleration="10.0"/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2.1" length="4.5" height="1.8"/>
</BoundingBox>
<Axles>
<FrontAxle maxSteering="0.5" wheelDiameter="0.6" trackWidth="1.8" positionX="3.1" positionZ="0.3"/>
<RearAxle maxSteering="0.0" wheelDiameter="0.6" 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_22873">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_close_to_hero_22874">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_close_to_standing_22875">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_close_to_standing_22876">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_close_to_adversary_22877">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_close_to_adversary_22878">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_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_w_transform_22881">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_close_to_hero_22882">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_w_transform_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_standing_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_close_to_adversary_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_w_transform_22888">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_close_to_standing_22889">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_close_to_hero_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>
<ScenarioObject name="pedestrian_close_to_hero_22891">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_close_to_hero_22893">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_close_to_standing_22895">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_w_transform_22896">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_w_transform_22897">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_close_to_standing_22899">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_close_to_adversary_22900">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
</Entities>
<Storyboard>
<Init>
<Actions>
<GlobalAction>
<EnvironmentAction>
<Environment name="Environment1">
<TimeOfDay animation="false" dateTime="2019-06-25T12:00:00"/>
<Weather cloudState="free">
<Sun intensity="0.85" azimuth="0" elevation="1.31"/>
<Fog visualRange="100000.0"/>
<Precipitation precipitationType="dry" intensity="0.0"/>
</Weather>
<RoadCondition frictionScaleFactor="1.0"/>
</Environment>
</EnvironmentAction>
</GlobalAction>
<Private entityRef="hero">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-9.4" y="-152.8" z="0.5" h="1.57079632679"/>
</Position>
</TeleportAction>
</PrivateAction>
<PrivateAction>
<ControllerAction>
<AssignControllerAction>
<Controller name="HeroAgent">
<Properties>
<Property name="module" value="external_control"/>
</Properties>
</Controller>
</AssignControllerAction>
<OverrideControllerValueAction>
<Throttle value="0" active="false"/>
<Brake value="0" active="false"/>
<Clutch value="0" active="false"/>
<ParkingBrake value="0" active="false"/>
<SteeringWheel value="0" active="false"/>
<Gear number="0" active="false"/>
</OverrideControllerValueAction>
</ControllerAction>
</PrivateAction>
</Private>
<Private entityRef="adversary">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-9.4" y="-71.0" z="0.5" h="1.57079632679"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="standing">
<PrivateAction>
<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_22873">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-5.982723712921143" y="-155.4190216064453" z="0.0015143966302275658"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_close_to_hero_22874">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-7.838722229003906" y="-147.2088165283203" z="0.0015143966302275658"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_close_to_standing_22875">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-13.900465965270996" y="22.269113540649414" z="0.0030862425919622183"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_close_to_standing_22876">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-10.977920532226562" y="21.455055236816406" z="0.0030631255358457565"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_close_to_adversary_22877">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="13.5266752243042" y="-83.07450866699219" z="0.033783722668886185"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_close_to_adversary_22878">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="7.844403266906738" y="-66.5199966430664" z="0.03373493254184723"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_close_to_standing_22879">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-12.556658744812012" y="19.20053482055664" z="0.003036346286535263"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_close_to_standing_22880">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-11.552939414978027" y="33.11665725708008" z="0.003055572509765625"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_w_transform_22881">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="95.64820861816406" y="-67.51325988769531" z="0.5"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_close_to_hero_22882">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-10.86131477355957" y="-157.56301879882812" z="0.0015143966302275658"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_w_transform_22883">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="7.672821044921875" y="85.42494201660156" z="0.5"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_close_to_adversary_22884">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-4.962192058563232" y="-80.91889953613281" z="0.03378860279917717"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_close_to_standing_22885">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-6.715652942657471" y="36.8592529296875" z="0.003064498770982027"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_close_to_adversary_22886">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-17.49641227722168" y="-70.91178894042969" z="0.03379722684621811"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_close_to_adversary_22887">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-8.77353572845459" y="-77.03181457519531" z="0.03380905091762543"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_w_transform_22888">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-50.74822998046875" y="41.771175384521484" z="0.5"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_close_to_standing_22889">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-14.295038223266602" y="32.00306701660156" z="0.0030258558690547943"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_close_to_hero_22890">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-10.743301391601562" y="-144.0874786376953" z="0.0015143966302275658"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_close_to_hero_22891">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-10.977676391601562" y="-157.41273498535156" z="0.0015143966302275658"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_close_to_hero_22893">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-9.658692359924316" y="-156.4786834716797" z="0.0015143966302275658"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_close_to_standing_22895">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-7.34195613861084" y="33.379390716552734" z="0.0030529021751135588"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_w_transform_22896">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-97.05823516845703" y="-15.687894821166992" z="0.5"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_w_transform_22897">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-83.54005432128906" y="88.29595947265625" z="0.5"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_close_to_standing_22899">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-15.308870315551758" y="35.31413650512695" z="0.0030372620094567537"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_close_to_adversary_22900">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-4.2776899337768555" y="-69.79501342773438" z="0.03378009796142578"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
</Actions>
</Init>
<Story name="MyStory">
<Act name="Behavior">
<ManeuverGroup maximumExecutionCount="1" name="ManeuverSequence">
<Actors selectTriggeringEntities="false">
<EntityRef entityRef="adversary"/>
</Actors>
<Maneuver name="LaneChangeSimpleManeuver">
<Event name="AdversaryAccelerates" priority="overwrite">
<Action name="AdversaryAccelerates">
<PrivateAction>
<LongitudinalAction>
<SpeedAction>
<SpeedActionDynamics dynamicsShape="step" value="50" dynamicsDimension="distance"/>
<SpeedActionTarget>
<AbsoluteTargetSpeed value="5.0"/>
</SpeedActionTarget>
</SpeedAction>
</LongitudinalAction>
</PrivateAction>
</Action>
<StartTrigger>
<ConditionGroup>
<Condition name="StartCondition" delay="0" conditionEdge="rising">
<ByEntityCondition>
<TriggeringEntities triggeringEntitiesRule="any">
<EntityRef entityRef="hero"/>
</TriggeringEntities>
<EntityCondition>
<RelativeDistanceCondition entityRef="adversary" relativeDistanceType="cartesianDistance" value="40.0" freespace="false" rule="lessThan"/>
</EntityCondition>
</ByEntityCondition>
</Condition>
</ConditionGroup>
</StartTrigger>
</Event>
<Event name="AdversaryChangesLane" priority="overwrite">
<Action name="AdversaryChangesLane">
<PrivateAction>
<LateralAction>
<LaneChangeAction>
<LaneChangeActionDynamics dynamicsShape="linear" value="25" dynamicsDimension="distance"/>
<LaneChangeTarget>
<RelativeTargetLane entityRef="adversary" value="-1"/>
</LaneChangeTarget>
</LaneChangeAction>
</LateralAction>
</PrivateAction>
</Action>
<StartTrigger>
<ConditionGroup>
<Condition name="AfterAdversaryAccelerates" delay="0" conditionEdge="rising">
<ByValueCondition>
<StoryboardElementStateCondition storyboardElementType="action" storyboardElementRef="AdversaryAccelerates" state="completeState"/>
</ByValueCondition>
</Condition>
</ConditionGroup>
</StartTrigger>
</Event>
</Maneuver>
</ManeuverGroup>
<StartTrigger>
<ConditionGroup>
<Condition name="OverallStartCondition" delay="0" conditionEdge="rising">
<ByEntityCondition>
<TriggeringEntities triggeringEntitiesRule="any">
<EntityRef entityRef="hero"/>
</TriggeringEntities>
<EntityCondition>
<TraveledDistanceCondition value="1.0"/>
</EntityCondition>
</ByEntityCondition>
</Condition>
<Condition name="StartTime" delay="0" conditionEdge="rising">
<ByValueCondition>
<SimulationTimeCondition value="0" rule="equalTo"/>
</ByValueCondition>
</Condition>
</ConditionGroup>
</StartTrigger>
<StopTrigger>
<ConditionGroup>
<Condition name="EndCondition" delay="0" conditionEdge="rising">
<ByEntityCondition>
<TriggeringEntities triggeringEntitiesRule="any">
<EntityRef entityRef="hero"/>
</TriggeringEntities>
<EntityCondition>
<TraveledDistanceCondition value="200.0"/>
</EntityCondition>
</ByEntityCondition>
</Condition>
</ConditionGroup>
</StopTrigger>
</Act>
</Story>
<StopTrigger>
<ConditionGroup>
<Condition name="criteria_RunningStopTest" delay="0" conditionEdge="rising">
<ByValueCondition>
<ParameterCondition parameterRef="" value="" rule="lessThan"/>
</ByValueCondition>
</Condition>
<Condition name="criteria_RunningRedLightTest" delay="0" conditionEdge="rising">
<ByValueCondition>
<ParameterCondition parameterRef="" value="" rule="lessThan"/>
</ByValueCondition>
</Condition>
<Condition name="criteria_WrongLaneTest" delay="0" conditionEdge="rising">
<ByValueCondition>
<ParameterCondition parameterRef="" value="" rule="lessThan"/>
</ByValueCondition>
</Condition>
<Condition name="criteria_OnSidewalkTest" delay="0" conditionEdge="rising">
<ByValueCondition>
<ParameterCondition parameterRef="" value="" rule="lessThan"/>
</ByValueCondition>
</Condition>
<Condition name="criteria_KeepLaneTest" delay="0" conditionEdge="rising">
<ByValueCondition>
<ParameterCondition parameterRef="" value="" rule="lessThan"/>
</ByValueCondition>
</Condition>
<Condition name="criteria_CollisionTest" delay="0" conditionEdge="rising">
<ByValueCondition>
<ParameterCondition parameterRef="" value="" rule="lessThan"/>
</ByValueCondition>
</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_22873">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_close_to_hero_22874">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_close_to_standing_22875">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_close_to_standing_22876">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_close_to_adversary_22877">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_close_to_adversary_22878">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_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_w_transform_22881">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_close_to_hero_22882">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_w_transform_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_standing_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_close_to_adversary_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_w_transform_22888">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_close_to_standing_22889">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_close_to_hero_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>
<ScenarioObject name="pedestrian_close_to_hero_22891">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_close_to_hero_22893">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_close_to_standing_22895">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_w_transform_22896">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_w_transform_22897">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_close_to_adversary_22900">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
</Entities>
<Storyboard>
<Init>
<Actions>
<GlobalAction>
<EnvironmentAction>
<Environment name="Environment1">
<TimeOfDay animation="false" dateTime="2019-06-25T12:00:00"/>
<Weather cloudState="free">
<Sun intensity="0.85" azimuth="0" elevation="1.31"/>
<Fog visualRange="100000.0"/>
<Precipitation precipitationType="dry" intensity="0.0"/>
</Weather>
<RoadCondition frictionScaleFactor="1.0"/>
</Environment>
</EnvironmentAction>
</GlobalAction>
<Private entityRef="hero">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-9.4" y="-152.8" z="0.5" h="1.57079632679"/>
</Position>
</TeleportAction>
</PrivateAction>
<PrivateAction>
<ControllerAction>
<AssignControllerAction>
<Controller name="HeroAgent">
<Properties>
<Property name="module" value="external_control"/>
</Properties>
</Controller>
</AssignControllerAction>
<OverrideControllerValueAction>
<Throttle value="0" active="false"/>
<Brake value="0" active="false"/>
<Clutch value="0" active="false"/>
<ParkingBrake value="0" active="false"/>
<SteeringWheel value="0" active="false"/>
<Gear number="0" active="false"/>
</OverrideControllerValueAction>
</ControllerAction>
</PrivateAction>
</Private>
<Private entityRef="adversary">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-9.4" y="-71.0" z="0.5" h="1.57079632679"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="standing">
<PrivateAction>
<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_22873">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-5.982723712921143" y="-155.4190216064453" z="0.0015143966302275658"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_close_to_hero_22874">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-7.838722229003906" y="-147.2088165283203" z="0.0015143966302275658"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_close_to_standing_22875">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-13.900465965270996" y="22.269113540649414" z="0.0030862425919622183"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_close_to_standing_22876">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-10.977920532226562" y="21.455055236816406" z="0.0030631255358457565"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_close_to_adversary_22877">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="13.5266752243042" y="-83.07450866699219" z="0.033783722668886185"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_close_to_adversary_22878">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="7.844403266906738" y="-66.5199966430664" z="0.03373493254184723"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_close_to_standing_22879">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-12.556658744812012" y="19.20053482055664" z="0.003036346286535263"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_close_to_standing_22880">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-11.552939414978027" y="33.11665725708008" z="0.003055572509765625"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_w_transform_22881">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="95.64820861816406" y="-67.51325988769531" z="0.5"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_close_to_hero_22882">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-10.86131477355957" y="-157.56301879882812" z="0.0015143966302275658"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_w_transform_22883">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="7.672821044921875" y="85.42494201660156" z="0.5"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_close_to_adversary_22884">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-4.962192058563232" y="-80.91889953613281" z="0.03378860279917717"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_close_to_standing_22885">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-6.715652942657471" y="36.8592529296875" z="0.003064498770982027"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_close_to_adversary_22886">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-17.49641227722168" y="-70.91178894042969" z="0.03379722684621811"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_close_to_adversary_22887">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-8.77353572845459" y="-77.03181457519531" z="0.03380905091762543"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_w_transform_22888">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-50.74822998046875" y="41.771175384521484" z="0.5"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_close_to_standing_22889">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-14.295038223266602" y="32.00306701660156" z="0.0030258558690547943"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_close_to_hero_22890">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-10.743301391601562" y="-144.0874786376953" z="0.0015143966302275658"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_close_to_hero_22891">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-10.977676391601562" y="-157.41273498535156" z="0.0015143966302275658"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_close_to_hero_22893">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-9.658692359924316" y="-156.4786834716797" z="0.0015143966302275658"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_close_to_standing_22895">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-7.34195613861084" y="33.379390716552734" z="0.0030529021751135588"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_w_transform_22896">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-97.05823516845703" y="-15.687894821166992" z="0.5"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_w_transform_22897">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-83.54005432128906" y="88.29595947265625" z="0.5"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_close_to_adversary_22900">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-4.2776899337768555" y="-69.79501342773438" z="0.03378009796142578"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
</Actions>
</Init>
<Story name="MyStory">
<Act name="Behavior">
<ManeuverGroup maximumExecutionCount="1" name="ManeuverSequence">
<Actors selectTriggeringEntities="false">
<EntityRef entityRef="adversary"/>
</Actors>
<Maneuver name="LaneChangeSimpleManeuver">
<Event name="AdversaryAccelerates" priority="overwrite">
<Action name="AdversaryAccelerates">
<PrivateAction>
<LongitudinalAction>
<SpeedAction>
<SpeedActionDynamics dynamicsShape="step" value="50" dynamicsDimension="distance"/>
<SpeedActionTarget>
<AbsoluteTargetSpeed value="5.0"/>
</SpeedActionTarget>
</SpeedAction>
</LongitudinalAction>
</PrivateAction>
</Action>
<StartTrigger>
<ConditionGroup>
<Condition name="StartCondition" delay="0" conditionEdge="rising">
<ByEntityCondition>
<TriggeringEntities triggeringEntitiesRule="any">
<EntityRef entityRef="hero"/>
</TriggeringEntities>
<EntityCondition>
<RelativeDistanceCondition entityRef="adversary" relativeDistanceType="cartesianDistance" value="40.0" freespace="false" rule="lessThan"/>
</EntityCondition>
</ByEntityCondition>
</Condition>
</ConditionGroup>
</StartTrigger>
</Event>
<Event name="AdversaryChangesLane" priority="overwrite">
<Action name="AdversaryChangesLane">
<PrivateAction>
<LateralAction>
<LaneChangeAction>
<LaneChangeActionDynamics dynamicsShape="linear" value="25" dynamicsDimension="distance"/>
<LaneChangeTarget>
<RelativeTargetLane entityRef="adversary" value="-1"/>
</LaneChangeTarget>
</LaneChangeAction>
</LateralAction>
</PrivateAction>
</Action>
<StartTrigger>
<ConditionGroup>
<Condition name="AfterAdversaryAccelerates" delay="0" conditionEdge="rising">
<ByValueCondition>
<StoryboardElementStateCondition storyboardElementType="action" storyboardElementRef="AdversaryAccelerates" state="completeState"/>
</ByValueCondition>
</Condition>
</ConditionGroup>
</StartTrigger>
</Event>
</Maneuver>
</ManeuverGroup>
<StartTrigger>
<ConditionGroup>
<Condition name="OverallStartCondition" delay="0" conditionEdge="rising">
<ByEntityCondition>
<TriggeringEntities triggeringEntitiesRule="any">
<EntityRef entityRef="hero"/>
</TriggeringEntities>
<EntityCondition>
<TraveledDistanceCondition value="1.0"/>
</EntityCondition>
</ByEntityCondition>
</Condition>
<Condition name="StartTime" delay="0" conditionEdge="rising">
<ByValueCondition>
<SimulationTimeCondition value="0" rule="equalTo"/>
</ByValueCondition>
</Condition>
</ConditionGroup>
</StartTrigger>
<StopTrigger>
<ConditionGroup>
<Condition name="EndCondition" delay="0" conditionEdge="rising">
<ByEntityCondition>
<TriggeringEntities triggeringEntitiesRule="any">
<EntityRef entityRef="hero"/>
</TriggeringEntities>
<EntityCondition>
<TraveledDistanceCondition value="200.0"/>
</EntityCondition>
</ByEntityCondition>
</Condition>
</ConditionGroup>
</StopTrigger>
</Act>
</Story>
<StopTrigger>
<ConditionGroup>
<Condition name="criteria_RunningStopTest" delay="0" conditionEdge="rising">
<ByValueCondition>
<ParameterCondition parameterRef="" value="" rule="lessThan"/>
</ByValueCondition>
</Condition>
<Condition name="criteria_RunningRedLightTest" delay="0" conditionEdge="rising">
<ByValueCondition>
<ParameterCondition parameterRef="" value="" rule="lessThan"/>
</ByValueCondition>
</Condition>
<Condition name="criteria_WrongLaneTest" delay="0" conditionEdge="rising">
<ByValueCondition>
<ParameterCondition parameterRef="" value="" rule="lessThan"/>
</ByValueCondition>
</Condition>
<Condition name="criteria_OnSidewalkTest" delay="0" conditionEdge="rising">
<ByValueCondition>
<ParameterCondition parameterRef="" value="" rule="lessThan"/>
</ByValueCondition>
</Condition>
<Condition name="criteria_KeepLaneTest" delay="0" conditionEdge="rising">
<ByValueCondition>
<ParameterCondition parameterRef="" value="" rule="lessThan"/>
</ByValueCondition>
</Condition>
<Condition name="criteria_CollisionTest" delay="0" conditionEdge="rising">
<ByValueCondition>
<ParameterCondition parameterRef="" value="" rule="lessThan"/>
</ByValueCondition>
</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 (-68.93, -58.48, 0.5)?
```
<?xml version="1.0" ?>
<OpenSCENARIO>
<FileHeader revMajor="1" revMinor="0" date="2020-03-24T12:00:00" description="CARLA:LaneChangeSimple" author=""/>
<ParameterDeclarations/>
<CatalogLocations/>
<RoadNetwork>
<LogicFile filepath="Town04"/>
<SceneGraphFile filepath=""/>
</RoadNetwork>
<Entities>
<ScenarioObject name="hero">
<Vehicle name="vehicle.tesla.model3" vehicleCategory="car">
<ParameterDeclarations/>
<Performance maxSpeed="69.444" maxAcceleration="200" maxDeceleration="10.0"/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2.1" length="4.5" height="1.8"/>
</BoundingBox>
<Axles>
<FrontAxle maxSteering="0.5" wheelDiameter="0.6" trackWidth="1.8" positionX="3.1" positionZ="0.3"/>
<RearAxle maxSteering="0.0" wheelDiameter="0.6" trackWidth="1.8" positionX="0.0" positionZ="0.3"/>
</Axles>
<Properties>
<Property name="type" value="ego_vehicle"/>
</Properties>
</Vehicle>
</ScenarioObject>
<ScenarioObject name="adversary">
<Vehicle name="vehicle.lincoln.mkz_2017" vehicleCategory="car">
<ParameterDeclarations/>
<Performance maxSpeed="69.444" maxAcceleration="200" maxDeceleration="10.0"/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2.1" length="4.5" height="1.8"/>
</BoundingBox>
<Axles>
<FrontAxle maxSteering="0.5" wheelDiameter="0.6" trackWidth="1.8" positionX="3.1" positionZ="0.3"/>
<RearAxle maxSteering="0.0" wheelDiameter="0.6" trackWidth="1.8" positionX="0.0" positionZ="0.3"/>
</Axles>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Vehicle>
</ScenarioObject>
<ScenarioObject name="standing">
<Vehicle name="vehicle.volkswagen.t2" vehicleCategory="car">
<ParameterDeclarations/>
<Performance maxSpeed="69.444" maxAcceleration="200" maxDeceleration="10.0"/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2.1" length="4.5" height="1.8"/>
</BoundingBox>
<Axles>
<FrontAxle maxSteering="0.5" wheelDiameter="0.6" trackWidth="1.8" positionX="3.1" positionZ="0.3"/>
<RearAxle maxSteering="0.0" wheelDiameter="0.6" trackWidth="1.8" positionX="0.0" positionZ="0.3"/>
</Axles>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Vehicle>
</ScenarioObject>
<ScenarioObject name="pedestrian_close_to_adversary_30161">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_w_transform_30162">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_w_transform_30163">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_close_to_standing_30164">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_close_to_adversary_30165">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_w_transform_30166">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_w_transform_30167">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_w_transform_30168">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_w_transform_30169">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_close_to_adversary_30171">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_w_transform_30172">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_close_to_adversary_30173">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
</Entities>
<Storyboard>
<Init>
<Actions>
<GlobalAction>
<EnvironmentAction>
<Environment name="Environment1">
<TimeOfDay animation="false" dateTime="2019-06-25T12:00:00"/>
<Weather cloudState="free">
<Sun intensity="0.85" azimuth="0" elevation="1.31"/>
<Fog visualRange="100000.0"/>
<Precipitation precipitationType="dry" intensity="0.0"/>
</Weather>
<RoadCondition frictionScaleFactor="1.0"/>
</Environment>
</EnvironmentAction>
</GlobalAction>
<Private entityRef="hero">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-9.4" y="-152.8" z="0.5" h="1.57079632679"/>
</Position>
</TeleportAction>
</PrivateAction>
<PrivateAction>
<ControllerAction>
<AssignControllerAction>
<Controller name="HeroAgent">
<Properties>
<Property name="module" value="external_control"/>
</Properties>
</Controller>
</AssignControllerAction>
<OverrideControllerValueAction>
<Throttle value="0" active="false"/>
<Brake value="0" active="false"/>
<Clutch value="0" active="false"/>
<ParkingBrake value="0" active="false"/>
<SteeringWheel value="0" active="false"/>
<Gear number="0" active="false"/>
</OverrideControllerValueAction>
</ControllerAction>
</PrivateAction>
</Private>
<Private entityRef="adversary">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-9.4" y="-71.0" z="0.5" h="1.57079632679"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="standing">
<PrivateAction>
<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_30161">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-19.131580352783203" y="-67.99214935302734" z="0.03381515294313431"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_w_transform_30162">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-73.26138305664062" y="71.65120697021484" z="0.5"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_w_transform_30163">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="67.8221664428711" y="-63.45111846923828" z="0.5"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_close_to_standing_30164">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-5.524023056030273" y="34.27295684814453" z="0.0030636214651167393"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_close_to_adversary_30165">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="9.011606216430664" y="-68.61674499511719" z="0.033773839473724365"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_w_transform_30166">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="42.8818244934082" y="-10.9055757522583" z="0.5"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_w_transform_30167">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-13.354435920715332" y="-95.1915054321289" z="0.5"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_w_transform_30168">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="38.09371566772461" y="3.2683558464050293" z="0.5"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_w_transform_30169">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-68.47959899902344" y="46.06125259399414" z="0.5"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_close_to_adversary_30171">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-13.95378303527832" y="-61.18113708496094" z="0.033754538744688034"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_w_transform_30172">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="54.178977966308594" y="-27.90575408935547" z="0.5"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_close_to_adversary_30173">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-4.728926181793213" y="-78.25807189941406" z="0.033782005310058594"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
</Actions>
</Init>
<Story name="MyStory">
<Act name="Behavior">
<ManeuverGroup maximumExecutionCount="1" name="ManeuverSequence">
<Actors selectTriggeringEntities="false">
<EntityRef entityRef="adversary"/>
</Actors>
<Maneuver name="LaneChangeSimpleManeuver">
<Event name="AdversaryAccelerates" priority="overwrite">
<Action name="AdversaryAccelerates">
<PrivateAction>
<LongitudinalAction>
<SpeedAction>
<SpeedActionDynamics dynamicsShape="step" value="50" dynamicsDimension="distance"/>
<SpeedActionTarget>
<AbsoluteTargetSpeed value="5.0"/>
</SpeedActionTarget>
</SpeedAction>
</LongitudinalAction>
</PrivateAction>
</Action>
<StartTrigger>
<ConditionGroup>
<Condition name="StartCondition" delay="0" conditionEdge="rising">
<ByEntityCondition>
<TriggeringEntities triggeringEntitiesRule="any">
<EntityRef entityRef="hero"/>
</TriggeringEntities>
<EntityCondition>
<RelativeDistanceCondition entityRef="adversary" relativeDistanceType="cartesianDistance" value="40.0" freespace="false" rule="lessThan"/>
</EntityCondition>
</ByEntityCondition>
</Condition>
</ConditionGroup>
</StartTrigger>
</Event>
<Event name="AdversaryChangesLane" priority="overwrite">
<Action name="AdversaryChangesLane">
<PrivateAction>
<LateralAction>
<LaneChangeAction>
<LaneChangeActionDynamics dynamicsShape="linear" value="25" dynamicsDimension="distance"/>
<LaneChangeTarget>
<RelativeTargetLane entityRef="adversary" value="-1"/>
</LaneChangeTarget>
</LaneChangeAction>
</LateralAction>
</PrivateAction>
</Action>
<StartTrigger>
<ConditionGroup>
<Condition name="AfterAdversaryAccelerates" delay="0" conditionEdge="rising">
<ByValueCondition>
<StoryboardElementStateCondition storyboardElementType="action" storyboardElementRef="AdversaryAccelerates" state="completeState"/>
</ByValueCondition>
</Condition>
</ConditionGroup>
</StartTrigger>
</Event>
</Maneuver>
</ManeuverGroup>
<StartTrigger>
<ConditionGroup>
<Condition name="OverallStartCondition" delay="0" conditionEdge="rising">
<ByEntityCondition>
<TriggeringEntities triggeringEntitiesRule="any">
<EntityRef entityRef="hero"/>
</TriggeringEntities>
<EntityCondition>
<TraveledDistanceCondition value="1.0"/>
</EntityCondition>
</ByEntityCondition>
</Condition>
<Condition name="StartTime" delay="0" conditionEdge="rising">
<ByValueCondition>
<SimulationTimeCondition value="0" rule="equalTo"/>
</ByValueCondition>
</Condition>
</ConditionGroup>
</StartTrigger>
<StopTrigger>
<ConditionGroup>
<Condition name="EndCondition" delay="0" conditionEdge="rising">
<ByEntityCondition>
<TriggeringEntities triggeringEntitiesRule="any">
<EntityRef entityRef="hero"/>
</TriggeringEntities>
<EntityCondition>
<TraveledDistanceCondition value="200.0"/>
</EntityCondition>
</ByEntityCondition>
</Condition>
</ConditionGroup>
</StopTrigger>
</Act>
</Story>
<StopTrigger>
<ConditionGroup>
<Condition name="criteria_RunningStopTest" delay="0" conditionEdge="rising">
<ByValueCondition>
<ParameterCondition parameterRef="" value="" rule="lessThan"/>
</ByValueCondition>
</Condition>
<Condition name="criteria_RunningRedLightTest" delay="0" conditionEdge="rising">
<ByValueCondition>
<ParameterCondition parameterRef="" value="" rule="lessThan"/>
</ByValueCondition>
</Condition>
<Condition name="criteria_WrongLaneTest" delay="0" conditionEdge="rising">
<ByValueCondition>
<ParameterCondition parameterRef="" value="" rule="lessThan"/>
</ByValueCondition>
</Condition>
<Condition name="criteria_OnSidewalkTest" delay="0" conditionEdge="rising">
<ByValueCondition>
<ParameterCondition parameterRef="" value="" rule="lessThan"/>
</ByValueCondition>
</Condition>
<Condition name="criteria_KeepLaneTest" delay="0" conditionEdge="rising">
<ByValueCondition>
<ParameterCondition parameterRef="" value="" rule="lessThan"/>
</ByValueCondition>
</Condition>
<Condition name="criteria_CollisionTest" delay="0" conditionEdge="rising">
<ByValueCondition>
<ParameterCondition parameterRef="" value="" rule="lessThan"/>
</ByValueCondition>
</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_30161">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_w_transform_30162">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_w_transform_30163">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_close_to_standing_30164">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_close_to_adversary_30165">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_w_transform_30166">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_w_transform_30167">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_w_transform_30168">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_w_transform_30169">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_close_to_adversary_30171">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_w_transform_30172">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_close_to_adversary_30173">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_w_transform_30174">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
</Entities>
<Storyboard>
<Init>
<Actions>
<GlobalAction>
<EnvironmentAction>
<Environment name="Environment1">
<TimeOfDay animation="false" dateTime="2019-06-25T12:00:00"/>
<Weather cloudState="free">
<Sun intensity="0.85" azimuth="0" elevation="1.31"/>
<Fog visualRange="100000.0"/>
<Precipitation precipitationType="dry" intensity="0.0"/>
</Weather>
<RoadCondition frictionScaleFactor="1.0"/>
</Environment>
</EnvironmentAction>
</GlobalAction>
<Private entityRef="hero">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-9.4" y="-152.8" z="0.5" h="1.57079632679"/>
</Position>
</TeleportAction>
</PrivateAction>
<PrivateAction>
<ControllerAction>
<AssignControllerAction>
<Controller name="HeroAgent">
<Properties>
<Property name="module" value="external_control"/>
</Properties>
</Controller>
</AssignControllerAction>
<OverrideControllerValueAction>
<Throttle value="0" active="false"/>
<Brake value="0" active="false"/>
<Clutch value="0" active="false"/>
<ParkingBrake value="0" active="false"/>
<SteeringWheel value="0" active="false"/>
<Gear number="0" active="false"/>
</OverrideControllerValueAction>
</ControllerAction>
</PrivateAction>
</Private>
<Private entityRef="adversary">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-9.4" y="-71.0" z="0.5" h="1.57079632679"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="standing">
<PrivateAction>
<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_30161">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-19.131580352783203" y="-67.99214935302734" z="0.03381515294313431"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_w_transform_30162">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-73.26138305664062" y="71.65120697021484" z="0.5"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_w_transform_30163">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="67.8221664428711" y="-63.45111846923828" z="0.5"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_close_to_standing_30164">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-5.524023056030273" y="34.27295684814453" z="0.0030636214651167393"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_close_to_adversary_30165">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="9.011606216430664" y="-68.61674499511719" z="0.033773839473724365"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_w_transform_30166">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="42.8818244934082" y="-10.9055757522583" z="0.5"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_w_transform_30167">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-13.354435920715332" y="-95.1915054321289" z="0.5"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_w_transform_30168">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="38.09371566772461" y="3.2683558464050293" z="0.5"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_w_transform_30169">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-68.47959899902344" y="46.06125259399414" z="0.5"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_close_to_adversary_30171">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-13.95378303527832" y="-61.18113708496094" z="0.033754538744688034"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_w_transform_30172">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="54.178977966308594" y="-27.90575408935547" z="0.5"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_close_to_adversary_30173">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-4.728926181793213" y="-78.25807189941406" z="0.033782005310058594"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_w_transform_30174">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-68.92823028564453" y="-58.47895050048828" z="0.5"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
</Actions>
</Init>
<Story name="MyStory">
<Act name="Behavior">
<ManeuverGroup maximumExecutionCount="1" name="ManeuverSequence">
<Actors selectTriggeringEntities="false">
<EntityRef entityRef="adversary"/>
</Actors>
<Maneuver name="LaneChangeSimpleManeuver">
<Event name="AdversaryAccelerates" priority="overwrite">
<Action name="AdversaryAccelerates">
<PrivateAction>
<LongitudinalAction>
<SpeedAction>
<SpeedActionDynamics dynamicsShape="step" value="50" dynamicsDimension="distance"/>
<SpeedActionTarget>
<AbsoluteTargetSpeed value="5.0"/>
</SpeedActionTarget>
</SpeedAction>
</LongitudinalAction>
</PrivateAction>
</Action>
<StartTrigger>
<ConditionGroup>
<Condition name="StartCondition" delay="0" conditionEdge="rising">
<ByEntityCondition>
<TriggeringEntities triggeringEntitiesRule="any">
<EntityRef entityRef="hero"/>
</TriggeringEntities>
<EntityCondition>
<RelativeDistanceCondition entityRef="adversary" relativeDistanceType="cartesianDistance" value="40.0" freespace="false" rule="lessThan"/>
</EntityCondition>
</ByEntityCondition>
</Condition>
</ConditionGroup>
</StartTrigger>
</Event>
<Event name="AdversaryChangesLane" priority="overwrite">
<Action name="AdversaryChangesLane">
<PrivateAction>
<LateralAction>
<LaneChangeAction>
<LaneChangeActionDynamics dynamicsShape="linear" value="25" dynamicsDimension="distance"/>
<LaneChangeTarget>
<RelativeTargetLane entityRef="adversary" value="-1"/>
</LaneChangeTarget>
</LaneChangeAction>
</LateralAction>
</PrivateAction>
</Action>
<StartTrigger>
<ConditionGroup>
<Condition name="AfterAdversaryAccelerates" delay="0" conditionEdge="rising">
<ByValueCondition>
<StoryboardElementStateCondition storyboardElementType="action" storyboardElementRef="AdversaryAccelerates" state="completeState"/>
</ByValueCondition>
</Condition>
</ConditionGroup>
</StartTrigger>
</Event>
</Maneuver>
</ManeuverGroup>
<StartTrigger>
<ConditionGroup>
<Condition name="OverallStartCondition" delay="0" conditionEdge="rising">
<ByEntityCondition>
<TriggeringEntities triggeringEntitiesRule="any">
<EntityRef entityRef="hero"/>
</TriggeringEntities>
<EntityCondition>
<TraveledDistanceCondition value="1.0"/>
</EntityCondition>
</ByEntityCondition>
</Condition>
<Condition name="StartTime" delay="0" conditionEdge="rising">
<ByValueCondition>
<SimulationTimeCondition value="0" rule="equalTo"/>
</ByValueCondition>
</Condition>
</ConditionGroup>
</StartTrigger>
<StopTrigger>
<ConditionGroup>
<Condition name="EndCondition" delay="0" conditionEdge="rising">
<ByEntityCondition>
<TriggeringEntities triggeringEntitiesRule="any">
<EntityRef entityRef="hero"/>
</TriggeringEntities>
<EntityCondition>
<TraveledDistanceCondition value="200.0"/>
</EntityCondition>
</ByEntityCondition>
</Condition>
</ConditionGroup>
</StopTrigger>
</Act>
</Story>
<StopTrigger>
<ConditionGroup>
<Condition name="criteria_RunningStopTest" delay="0" conditionEdge="rising">
<ByValueCondition>
<ParameterCondition parameterRef="" value="" rule="lessThan"/>
</ByValueCondition>
</Condition>
<Condition name="criteria_RunningRedLightTest" delay="0" conditionEdge="rising">
<ByValueCondition>
<ParameterCondition parameterRef="" value="" rule="lessThan"/>
</ByValueCondition>
</Condition>
<Condition name="criteria_WrongLaneTest" delay="0" conditionEdge="rising">
<ByValueCondition>
<ParameterCondition parameterRef="" value="" rule="lessThan"/>
</ByValueCondition>
</Condition>
<Condition name="criteria_OnSidewalkTest" delay="0" conditionEdge="rising">
<ByValueCondition>
<ParameterCondition parameterRef="" value="" rule="lessThan"/>
</ByValueCondition>
</Condition>
<Condition name="criteria_KeepLaneTest" delay="0" conditionEdge="rising">
<ByValueCondition>
<ParameterCondition parameterRef="" value="" rule="lessThan"/>
</ByValueCondition>
</Condition>
<Condition name="criteria_CollisionTest" delay="0" conditionEdge="rising">
<ByValueCondition>
<ParameterCondition parameterRef="" value="" rule="lessThan"/>
</ByValueCondition>
</Condition>
<Condition name="criteria_DrivenDistanceTest" delay="0" conditionEdge="rising">
<ByValueCondition>
<ParameterCondition parameterRef="distance_success" value="100" rule="lessThan"/>
</ByValueCondition>
</Condition>
</ConditionGroup>
</StopTrigger>
</Storyboard>
</OpenSCENARIO>
``` |
i want you to add pedestrian at location (69.41, -22.95, 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_14532">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_close_to_adversary_14534">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_w_transform_14535">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_w_transform_14536">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_close_to_adversary_14537">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_w_transform_14538">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_close_to_adversary_14539">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_close_to_hero_14541">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_close_to_adversary_14542">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_close_to_adversary_14543">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_close_to_adversary_14544">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
</Entities>
<Storyboard>
<Init>
<Actions>
<GlobalAction>
<EnvironmentAction>
<Environment name="Environment1">
<TimeOfDay animation="false" dateTime="2019-06-25T12:00:00"/>
<Weather cloudState="free">
<Sun intensity="0.85" azimuth="0" elevation="1.31"/>
<Fog visualRange="100000.0"/>
<Precipitation precipitationType="dry" intensity="0.0"/>
</Weather>
<RoadCondition frictionScaleFactor="1.0"/>
</Environment>
</EnvironmentAction>
</GlobalAction>
<Private entityRef="hero">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-9.4" y="-152.8" z="0.5" h="1.57079632679"/>
</Position>
</TeleportAction>
</PrivateAction>
<PrivateAction>
<ControllerAction>
<AssignControllerAction>
<Controller name="HeroAgent">
<Properties>
<Property name="module" value="external_control"/>
</Properties>
</Controller>
</AssignControllerAction>
<OverrideControllerValueAction>
<Throttle value="0" active="false"/>
<Brake value="0" active="false"/>
<Clutch value="0" active="false"/>
<ParkingBrake value="0" active="false"/>
<SteeringWheel value="0" active="false"/>
<Gear number="0" active="false"/>
</OverrideControllerValueAction>
</ControllerAction>
</PrivateAction>
</Private>
<Private entityRef="adversary">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-9.4" y="-71.0" z="0.5" h="1.57079632679"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="standing">
<PrivateAction>
<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_14532">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-8.517602920532227" y="36.90864562988281" z="0.003043060190975666"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_close_to_adversary_14534">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-5.78913688659668" y="-78.53152465820312" z="0.03377414494752884"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_w_transform_14535">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="85.9383773803711" y="18.64263153076172" z="0.5"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_w_transform_14536">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-38.83165740966797" y="56.8685188293457" z="0.5"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_close_to_adversary_14537">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-8.321244239807129" y="-57.197059631347656" z="0.033793333917856216"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_w_transform_14538">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-33.87074279785156" y="-11.2330961227417" z="0.5"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_close_to_adversary_14539">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-15.049751281738281" y="-60.87346267700195" z="0.033754270523786545"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_close_to_hero_14541">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-8.947813987731934" y="-143.2817840576172" z="0.0016471862327307463"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_close_to_adversary_14542">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-15.221386909484863" y="-64.13460540771484" z="0.033747557550668716"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_close_to_adversary_14543">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-14.609772682189941" y="-78.3282699584961" z="0.03373558074235916"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_close_to_adversary_14544">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-10.314096450805664" y="-77.28939819335938" z="0.033734969794750214"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
</Actions>
</Init>
<Story name="MyStory">
<Act name="Behavior">
<ManeuverGroup maximumExecutionCount="1" name="ManeuverSequence">
<Actors selectTriggeringEntities="false">
<EntityRef entityRef="adversary"/>
</Actors>
<Maneuver name="LaneChangeSimpleManeuver">
<Event name="AdversaryAccelerates" priority="overwrite">
<Action name="AdversaryAccelerates">
<PrivateAction>
<LongitudinalAction>
<SpeedAction>
<SpeedActionDynamics dynamicsShape="step" value="50" dynamicsDimension="distance"/>
<SpeedActionTarget>
<AbsoluteTargetSpeed value="5.0"/>
</SpeedActionTarget>
</SpeedAction>
</LongitudinalAction>
</PrivateAction>
</Action>
<StartTrigger>
<ConditionGroup>
<Condition name="StartCondition" delay="0" conditionEdge="rising">
<ByEntityCondition>
<TriggeringEntities triggeringEntitiesRule="any">
<EntityRef entityRef="hero"/>
</TriggeringEntities>
<EntityCondition>
<RelativeDistanceCondition entityRef="adversary" relativeDistanceType="cartesianDistance" value="40.0" freespace="false" rule="lessThan"/>
</EntityCondition>
</ByEntityCondition>
</Condition>
</ConditionGroup>
</StartTrigger>
</Event>
<Event name="AdversaryChangesLane" priority="overwrite">
<Action name="AdversaryChangesLane">
<PrivateAction>
<LateralAction>
<LaneChangeAction>
<LaneChangeActionDynamics dynamicsShape="linear" value="25" dynamicsDimension="distance"/>
<LaneChangeTarget>
<RelativeTargetLane entityRef="adversary" value="-1"/>
</LaneChangeTarget>
</LaneChangeAction>
</LateralAction>
</PrivateAction>
</Action>
<StartTrigger>
<ConditionGroup>
<Condition name="AfterAdversaryAccelerates" delay="0" conditionEdge="rising">
<ByValueCondition>
<StoryboardElementStateCondition storyboardElementType="action" storyboardElementRef="AdversaryAccelerates" state="completeState"/>
</ByValueCondition>
</Condition>
</ConditionGroup>
</StartTrigger>
</Event>
</Maneuver>
</ManeuverGroup>
<StartTrigger>
<ConditionGroup>
<Condition name="OverallStartCondition" delay="0" conditionEdge="rising">
<ByEntityCondition>
<TriggeringEntities triggeringEntitiesRule="any">
<EntityRef entityRef="hero"/>
</TriggeringEntities>
<EntityCondition>
<TraveledDistanceCondition value="1.0"/>
</EntityCondition>
</ByEntityCondition>
</Condition>
<Condition name="StartTime" delay="0" conditionEdge="rising">
<ByValueCondition>
<SimulationTimeCondition value="0" rule="equalTo"/>
</ByValueCondition>
</Condition>
</ConditionGroup>
</StartTrigger>
<StopTrigger>
<ConditionGroup>
<Condition name="EndCondition" delay="0" conditionEdge="rising">
<ByEntityCondition>
<TriggeringEntities triggeringEntitiesRule="any">
<EntityRef entityRef="hero"/>
</TriggeringEntities>
<EntityCondition>
<TraveledDistanceCondition value="200.0"/>
</EntityCondition>
</ByEntityCondition>
</Condition>
</ConditionGroup>
</StopTrigger>
</Act>
</Story>
<StopTrigger>
<ConditionGroup>
<Condition name="criteria_RunningStopTest" delay="0" conditionEdge="rising">
<ByValueCondition>
<ParameterCondition parameterRef="" value="" rule="lessThan"/>
</ByValueCondition>
</Condition>
<Condition name="criteria_RunningRedLightTest" delay="0" conditionEdge="rising">
<ByValueCondition>
<ParameterCondition parameterRef="" value="" rule="lessThan"/>
</ByValueCondition>
</Condition>
<Condition name="criteria_WrongLaneTest" delay="0" conditionEdge="rising">
<ByValueCondition>
<ParameterCondition parameterRef="" value="" rule="lessThan"/>
</ByValueCondition>
</Condition>
<Condition name="criteria_OnSidewalkTest" delay="0" conditionEdge="rising">
<ByValueCondition>
<ParameterCondition parameterRef="" value="" rule="lessThan"/>
</ByValueCondition>
</Condition>
<Condition name="criteria_KeepLaneTest" delay="0" conditionEdge="rising">
<ByValueCondition>
<ParameterCondition parameterRef="" value="" rule="lessThan"/>
</ByValueCondition>
</Condition>
<Condition name="criteria_CollisionTest" delay="0" conditionEdge="rising">
<ByValueCondition>
<ParameterCondition parameterRef="" value="" rule="lessThan"/>
</ByValueCondition>
</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_14532">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_close_to_adversary_14534">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_w_transform_14535">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_w_transform_14536">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_close_to_adversary_14537">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_w_transform_14538">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_close_to_adversary_14539">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_close_to_hero_14541">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_close_to_adversary_14542">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_close_to_adversary_14543">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_close_to_adversary_14544">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_w_transform_14545">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
</Entities>
<Storyboard>
<Init>
<Actions>
<GlobalAction>
<EnvironmentAction>
<Environment name="Environment1">
<TimeOfDay animation="false" dateTime="2019-06-25T12:00:00"/>
<Weather cloudState="free">
<Sun intensity="0.85" azimuth="0" elevation="1.31"/>
<Fog visualRange="100000.0"/>
<Precipitation precipitationType="dry" intensity="0.0"/>
</Weather>
<RoadCondition frictionScaleFactor="1.0"/>
</Environment>
</EnvironmentAction>
</GlobalAction>
<Private entityRef="hero">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-9.4" y="-152.8" z="0.5" h="1.57079632679"/>
</Position>
</TeleportAction>
</PrivateAction>
<PrivateAction>
<ControllerAction>
<AssignControllerAction>
<Controller name="HeroAgent">
<Properties>
<Property name="module" value="external_control"/>
</Properties>
</Controller>
</AssignControllerAction>
<OverrideControllerValueAction>
<Throttle value="0" active="false"/>
<Brake value="0" active="false"/>
<Clutch value="0" active="false"/>
<ParkingBrake value="0" active="false"/>
<SteeringWheel value="0" active="false"/>
<Gear number="0" active="false"/>
</OverrideControllerValueAction>
</ControllerAction>
</PrivateAction>
</Private>
<Private entityRef="adversary">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-9.4" y="-71.0" z="0.5" h="1.57079632679"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="standing">
<PrivateAction>
<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_14532">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-8.517602920532227" y="36.90864562988281" z="0.003043060190975666"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_close_to_adversary_14534">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-5.78913688659668" y="-78.53152465820312" z="0.03377414494752884"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_w_transform_14535">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="85.9383773803711" y="18.64263153076172" z="0.5"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_w_transform_14536">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-38.83165740966797" y="56.8685188293457" z="0.5"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_close_to_adversary_14537">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-8.321244239807129" y="-57.197059631347656" z="0.033793333917856216"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_w_transform_14538">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-33.87074279785156" y="-11.2330961227417" z="0.5"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_close_to_adversary_14539">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-15.049751281738281" y="-60.87346267700195" z="0.033754270523786545"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_close_to_hero_14541">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-8.947813987731934" y="-143.2817840576172" z="0.0016471862327307463"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_close_to_adversary_14542">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-15.221386909484863" y="-64.13460540771484" z="0.033747557550668716"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_close_to_adversary_14543">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-14.609772682189941" y="-78.3282699584961" z="0.03373558074235916"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_close_to_adversary_14544">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-10.314096450805664" y="-77.28939819335938" z="0.033734969794750214"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_w_transform_14545">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="69.4149169921875" y="-22.94549560546875" 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 actor named pedestrian_w_transform_6?
```
<?xml version="1.0" ?>
<OpenSCENARIO>
<FileHeader revMajor="1" revMinor="0" date="2020-03-24T12:00:00" description="CARLA:LaneChangeSimple" author=""/>
<ParameterDeclarations/>
<CatalogLocations/>
<RoadNetwork>
<LogicFile filepath="Town04"/>
<SceneGraphFile filepath=""/>
</RoadNetwork>
<Entities>
<ScenarioObject name="hero">
<Vehicle name="vehicle.tesla.model3" vehicleCategory="car">
<ParameterDeclarations/>
<Performance maxSpeed="69.444" maxAcceleration="200" maxDeceleration="10.0"/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2.1" length="4.5" height="1.8"/>
</BoundingBox>
<Axles>
<FrontAxle maxSteering="0.5" wheelDiameter="0.6" trackWidth="1.8" positionX="3.1" positionZ="0.3"/>
<RearAxle maxSteering="0.0" wheelDiameter="0.6" trackWidth="1.8" positionX="0.0" positionZ="0.3"/>
</Axles>
<Properties>
<Property name="type" value="ego_vehicle"/>
</Properties>
</Vehicle>
</ScenarioObject>
<ScenarioObject name="adversary">
<Vehicle name="vehicle.lincoln.mkz_2017" vehicleCategory="car">
<ParameterDeclarations/>
<Performance maxSpeed="69.444" maxAcceleration="200" maxDeceleration="10.0"/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2.1" length="4.5" height="1.8"/>
</BoundingBox>
<Axles>
<FrontAxle maxSteering="0.5" wheelDiameter="0.6" trackWidth="1.8" positionX="3.1" positionZ="0.3"/>
<RearAxle maxSteering="0.0" wheelDiameter="0.6" trackWidth="1.8" positionX="0.0" positionZ="0.3"/>
</Axles>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Vehicle>
</ScenarioObject>
<ScenarioObject name="standing">
<Vehicle name="vehicle.volkswagen.t2" vehicleCategory="car">
<ParameterDeclarations/>
<Performance maxSpeed="69.444" maxAcceleration="200" maxDeceleration="10.0"/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2.1" length="4.5" height="1.8"/>
</BoundingBox>
<Axles>
<FrontAxle maxSteering="0.5" wheelDiameter="0.6" trackWidth="1.8" positionX="3.1" positionZ="0.3"/>
<RearAxle maxSteering="0.0" wheelDiameter="0.6" 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_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_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_w_transform_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_w_transform_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_hero_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>
</Entities>
<Storyboard>
<Init>
<Actions>
<GlobalAction>
<EnvironmentAction>
<Environment name="Environment1">
<TimeOfDay animation="false" dateTime="2019-06-25T12:00:00"/>
<Weather cloudState="free">
<Sun intensity="0.85" azimuth="0" elevation="1.31"/>
<Fog visualRange="100000.0"/>
<Precipitation precipitationType="dry" intensity="0.0"/>
</Weather>
<RoadCondition frictionScaleFactor="1.0"/>
</Environment>
</EnvironmentAction>
</GlobalAction>
<Private entityRef="hero">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-9.4" y="-152.8" z="0.5" h="1.57079632679"/>
</Position>
</TeleportAction>
</PrivateAction>
<PrivateAction>
<ControllerAction>
<AssignControllerAction>
<Controller name="HeroAgent">
<Properties>
<Property name="module" value="external_control"/>
</Properties>
</Controller>
</AssignControllerAction>
<OverrideControllerValueAction>
<Throttle value="0" active="false"/>
<Brake value="0" active="false"/>
<Clutch value="0" active="false"/>
<ParkingBrake value="0" active="false"/>
<SteeringWheel value="0" active="false"/>
<Gear number="0" active="false"/>
</OverrideControllerValueAction>
</ControllerAction>
</PrivateAction>
</Private>
<Private entityRef="adversary">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-9.4" y="-71.0" z="0.5" h="1.57079632679"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="standing">
<PrivateAction>
<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_1">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-6.205387115478516" y="-149.11050415039062" z="0.0013900374760851264"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_w_transform_2">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-16.643354415893555" y="22.699186325073242" z="0.5"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_close_to_hero_4">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-10.994789123535156" y="-159.05770874023438" z="0.0013900374760851264"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_w_transform_5">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-14.396476745605469" y="95.6912841796875" z="0.5"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_w_transform_6">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="87.10540771484375" y="-71.31244659423828" z="0.5"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_close_to_hero_7">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-11.365592956542969" y="-146.88937377929688" z="0.0013900374760851264"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_w_transform_8">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-4.680298328399658" y="-22.90030288696289" z="0.5"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_close_to_standing_9">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-5.652507305145264" y="27.94312286376953" z="0.0030150983948260546"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
</Actions>
</Init>
<Story name="MyStory">
<Act name="Behavior">
<ManeuverGroup maximumExecutionCount="1" name="ManeuverSequence">
<Actors selectTriggeringEntities="false">
<EntityRef entityRef="adversary"/>
</Actors>
<Maneuver name="LaneChangeSimpleManeuver">
<Event name="AdversaryAccelerates" priority="overwrite">
<Action name="AdversaryAccelerates">
<PrivateAction>
<LongitudinalAction>
<SpeedAction>
<SpeedActionDynamics dynamicsShape="step" value="50" dynamicsDimension="distance"/>
<SpeedActionTarget>
<AbsoluteTargetSpeed value="5.0"/>
</SpeedActionTarget>
</SpeedAction>
</LongitudinalAction>
</PrivateAction>
</Action>
<StartTrigger>
<ConditionGroup>
<Condition name="StartCondition" delay="0" conditionEdge="rising">
<ByEntityCondition>
<TriggeringEntities triggeringEntitiesRule="any">
<EntityRef entityRef="hero"/>
</TriggeringEntities>
<EntityCondition>
<RelativeDistanceCondition entityRef="adversary" relativeDistanceType="cartesianDistance" value="40.0" freespace="false" rule="lessThan"/>
</EntityCondition>
</ByEntityCondition>
</Condition>
</ConditionGroup>
</StartTrigger>
</Event>
<Event name="AdversaryChangesLane" priority="overwrite">
<Action name="AdversaryChangesLane">
<PrivateAction>
<LateralAction>
<LaneChangeAction>
<LaneChangeActionDynamics dynamicsShape="linear" value="25" dynamicsDimension="distance"/>
<LaneChangeTarget>
<RelativeTargetLane entityRef="adversary" value="-1"/>
</LaneChangeTarget>
</LaneChangeAction>
</LateralAction>
</PrivateAction>
</Action>
<StartTrigger>
<ConditionGroup>
<Condition name="AfterAdversaryAccelerates" delay="0" conditionEdge="rising">
<ByValueCondition>
<StoryboardElementStateCondition storyboardElementType="action" storyboardElementRef="AdversaryAccelerates" state="completeState"/>
</ByValueCondition>
</Condition>
</ConditionGroup>
</StartTrigger>
</Event>
</Maneuver>
</ManeuverGroup>
<StartTrigger>
<ConditionGroup>
<Condition name="OverallStartCondition" delay="0" conditionEdge="rising">
<ByEntityCondition>
<TriggeringEntities triggeringEntitiesRule="any">
<EntityRef entityRef="hero"/>
</TriggeringEntities>
<EntityCondition>
<TraveledDistanceCondition value="1.0"/>
</EntityCondition>
</ByEntityCondition>
</Condition>
<Condition name="StartTime" delay="0" conditionEdge="rising">
<ByValueCondition>
<SimulationTimeCondition value="0" rule="equalTo"/>
</ByValueCondition>
</Condition>
</ConditionGroup>
</StartTrigger>
<StopTrigger>
<ConditionGroup>
<Condition name="EndCondition" delay="0" conditionEdge="rising">
<ByEntityCondition>
<TriggeringEntities triggeringEntitiesRule="any">
<EntityRef entityRef="hero"/>
</TriggeringEntities>
<EntityCondition>
<TraveledDistanceCondition value="200.0"/>
</EntityCondition>
</ByEntityCondition>
</Condition>
</ConditionGroup>
</StopTrigger>
</Act>
</Story>
<StopTrigger>
<ConditionGroup>
<Condition name="criteria_RunningStopTest" delay="0" conditionEdge="rising">
<ByValueCondition>
<ParameterCondition parameterRef="" value="" rule="lessThan"/>
</ByValueCondition>
</Condition>
<Condition name="criteria_RunningRedLightTest" delay="0" conditionEdge="rising">
<ByValueCondition>
<ParameterCondition parameterRef="" value="" rule="lessThan"/>
</ByValueCondition>
</Condition>
<Condition name="criteria_WrongLaneTest" delay="0" conditionEdge="rising">
<ByValueCondition>
<ParameterCondition parameterRef="" value="" rule="lessThan"/>
</ByValueCondition>
</Condition>
<Condition name="criteria_OnSidewalkTest" delay="0" conditionEdge="rising">
<ByValueCondition>
<ParameterCondition parameterRef="" value="" rule="lessThan"/>
</ByValueCondition>
</Condition>
<Condition name="criteria_KeepLaneTest" delay="0" conditionEdge="rising">
<ByValueCondition>
<ParameterCondition parameterRef="" value="" rule="lessThan"/>
</ByValueCondition>
</Condition>
<Condition name="criteria_CollisionTest" delay="0" conditionEdge="rising">
<ByValueCondition>
<ParameterCondition parameterRef="" value="" rule="lessThan"/>
</ByValueCondition>
</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_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_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_w_transform_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_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>
</Entities>
<Storyboard>
<Init>
<Actions>
<GlobalAction>
<EnvironmentAction>
<Environment name="Environment1">
<TimeOfDay animation="false" dateTime="2019-06-25T12:00:00"/>
<Weather cloudState="free">
<Sun intensity="0.85" azimuth="0" elevation="1.31"/>
<Fog visualRange="100000.0"/>
<Precipitation precipitationType="dry" intensity="0.0"/>
</Weather>
<RoadCondition frictionScaleFactor="1.0"/>
</Environment>
</EnvironmentAction>
</GlobalAction>
<Private entityRef="hero">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-9.4" y="-152.8" z="0.5" h="1.57079632679"/>
</Position>
</TeleportAction>
</PrivateAction>
<PrivateAction>
<ControllerAction>
<AssignControllerAction>
<Controller name="HeroAgent">
<Properties>
<Property name="module" value="external_control"/>
</Properties>
</Controller>
</AssignControllerAction>
<OverrideControllerValueAction>
<Throttle value="0" active="false"/>
<Brake value="0" active="false"/>
<Clutch value="0" active="false"/>
<ParkingBrake value="0" active="false"/>
<SteeringWheel value="0" active="false"/>
<Gear number="0" active="false"/>
</OverrideControllerValueAction>
</ControllerAction>
</PrivateAction>
</Private>
<Private entityRef="adversary">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-9.4" y="-71.0" z="0.5" h="1.57079632679"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="standing">
<PrivateAction>
<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_1">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-6.205387115478516" y="-149.11050415039062" z="0.0013900374760851264"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_w_transform_2">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-16.643354415893555" y="22.699186325073242" z="0.5"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_close_to_hero_4">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-10.994789123535156" y="-159.05770874023438" z="0.0013900374760851264"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_w_transform_5">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-14.396476745605469" y="95.6912841796875" z="0.5"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_close_to_hero_7">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-11.365592956542969" y="-146.88937377929688" z="0.0013900374760851264"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_w_transform_8">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-4.680298328399658" y="-22.90030288696289" z="0.5"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_close_to_standing_9">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-5.652507305145264" y="27.94312286376953" z="0.0030150983948260546"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
</Actions>
</Init>
<Story name="MyStory">
<Act name="Behavior">
<ManeuverGroup maximumExecutionCount="1" name="ManeuverSequence">
<Actors selectTriggeringEntities="false">
<EntityRef entityRef="adversary"/>
</Actors>
<Maneuver name="LaneChangeSimpleManeuver">
<Event name="AdversaryAccelerates" priority="overwrite">
<Action name="AdversaryAccelerates">
<PrivateAction>
<LongitudinalAction>
<SpeedAction>
<SpeedActionDynamics dynamicsShape="step" value="50" dynamicsDimension="distance"/>
<SpeedActionTarget>
<AbsoluteTargetSpeed value="5.0"/>
</SpeedActionTarget>
</SpeedAction>
</LongitudinalAction>
</PrivateAction>
</Action>
<StartTrigger>
<ConditionGroup>
<Condition name="StartCondition" delay="0" conditionEdge="rising">
<ByEntityCondition>
<TriggeringEntities triggeringEntitiesRule="any">
<EntityRef entityRef="hero"/>
</TriggeringEntities>
<EntityCondition>
<RelativeDistanceCondition entityRef="adversary" relativeDistanceType="cartesianDistance" value="40.0" freespace="false" rule="lessThan"/>
</EntityCondition>
</ByEntityCondition>
</Condition>
</ConditionGroup>
</StartTrigger>
</Event>
<Event name="AdversaryChangesLane" priority="overwrite">
<Action name="AdversaryChangesLane">
<PrivateAction>
<LateralAction>
<LaneChangeAction>
<LaneChangeActionDynamics dynamicsShape="linear" value="25" dynamicsDimension="distance"/>
<LaneChangeTarget>
<RelativeTargetLane entityRef="adversary" value="-1"/>
</LaneChangeTarget>
</LaneChangeAction>
</LateralAction>
</PrivateAction>
</Action>
<StartTrigger>
<ConditionGroup>
<Condition name="AfterAdversaryAccelerates" delay="0" conditionEdge="rising">
<ByValueCondition>
<StoryboardElementStateCondition storyboardElementType="action" storyboardElementRef="AdversaryAccelerates" state="completeState"/>
</ByValueCondition>
</Condition>
</ConditionGroup>
</StartTrigger>
</Event>
</Maneuver>
</ManeuverGroup>
<StartTrigger>
<ConditionGroup>
<Condition name="OverallStartCondition" delay="0" conditionEdge="rising">
<ByEntityCondition>
<TriggeringEntities triggeringEntitiesRule="any">
<EntityRef entityRef="hero"/>
</TriggeringEntities>
<EntityCondition>
<TraveledDistanceCondition value="1.0"/>
</EntityCondition>
</ByEntityCondition>
</Condition>
<Condition name="StartTime" delay="0" conditionEdge="rising">
<ByValueCondition>
<SimulationTimeCondition value="0" rule="equalTo"/>
</ByValueCondition>
</Condition>
</ConditionGroup>
</StartTrigger>
<StopTrigger>
<ConditionGroup>
<Condition name="EndCondition" delay="0" conditionEdge="rising">
<ByEntityCondition>
<TriggeringEntities triggeringEntitiesRule="any">
<EntityRef entityRef="hero"/>
</TriggeringEntities>
<EntityCondition>
<TraveledDistanceCondition value="200.0"/>
</EntityCondition>
</ByEntityCondition>
</Condition>
</ConditionGroup>
</StopTrigger>
</Act>
</Story>
<StopTrigger>
<ConditionGroup>
<Condition name="criteria_RunningStopTest" delay="0" conditionEdge="rising">
<ByValueCondition>
<ParameterCondition parameterRef="" value="" rule="lessThan"/>
</ByValueCondition>
</Condition>
<Condition name="criteria_RunningRedLightTest" delay="0" conditionEdge="rising">
<ByValueCondition>
<ParameterCondition parameterRef="" value="" rule="lessThan"/>
</ByValueCondition>
</Condition>
<Condition name="criteria_WrongLaneTest" delay="0" conditionEdge="rising">
<ByValueCondition>
<ParameterCondition parameterRef="" value="" rule="lessThan"/>
</ByValueCondition>
</Condition>
<Condition name="criteria_OnSidewalkTest" delay="0" conditionEdge="rising">
<ByValueCondition>
<ParameterCondition parameterRef="" value="" rule="lessThan"/>
</ByValueCondition>
</Condition>
<Condition name="criteria_KeepLaneTest" delay="0" conditionEdge="rising">
<ByValueCondition>
<ParameterCondition parameterRef="" value="" rule="lessThan"/>
</ByValueCondition>
</Condition>
<Condition name="criteria_CollisionTest" delay="0" conditionEdge="rising">
<ByValueCondition>
<ParameterCondition parameterRef="" value="" rule="lessThan"/>
</ByValueCondition>
</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 (35.59, 51.29, 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_4161">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_w_transform_4162">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_close_to_hero_4163">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_w_transform_4164">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_close_to_standing_4165">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_w_transform_4166">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_close_to_adversary_4167">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_close_to_adversary_4168">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_w_transform_4169">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
</Entities>
<Storyboard>
<Init>
<Actions>
<GlobalAction>
<EnvironmentAction>
<Environment name="Environment1">
<TimeOfDay animation="false" dateTime="2019-06-25T12:00:00"/>
<Weather cloudState="free">
<Sun intensity="0.85" azimuth="0" elevation="1.31"/>
<Fog visualRange="100000.0"/>
<Precipitation precipitationType="dry" intensity="0.0"/>
</Weather>
<RoadCondition frictionScaleFactor="1.0"/>
</Environment>
</EnvironmentAction>
</GlobalAction>
<Private entityRef="hero">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-9.4" y="-152.8" z="0.5" h="1.57079632679"/>
</Position>
</TeleportAction>
</PrivateAction>
<PrivateAction>
<ControllerAction>
<AssignControllerAction>
<Controller name="HeroAgent">
<Properties>
<Property name="module" value="external_control"/>
</Properties>
</Controller>
</AssignControllerAction>
<OverrideControllerValueAction>
<Throttle value="0" active="false"/>
<Brake value="0" active="false"/>
<Clutch value="0" active="false"/>
<ParkingBrake value="0" active="false"/>
<SteeringWheel value="0" active="false"/>
<Gear number="0" active="false"/>
</OverrideControllerValueAction>
</ControllerAction>
</PrivateAction>
</Private>
<Private entityRef="adversary">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-9.4" y="-71.0" z="0.5" h="1.57079632679"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="standing">
<PrivateAction>
<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_4161">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-12.641396522521973" y="34.33012390136719" z="0.0030273436568677425"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_w_transform_4162">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-73.80753326416016" y="96.74227905273438" z="0.5"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_close_to_hero_4163">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-19.388286590576172" y="-148.69052124023438" z="0.0013734435196965933"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_w_transform_4164">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="55.62676239013672" y="93.1760482788086" z="0.5"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_close_to_standing_4165">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-13.837114334106445" y="22.00433349609375" z="0.003018455347046256"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_w_transform_4166">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="51.61927032470703" y="-0.8043880462646484" z="0.5"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_close_to_adversary_4167">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-8.045684814453125" y="-65.13609313964844" z="0.033757131546735764"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_close_to_adversary_4168">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-8.516622543334961" y="-83.57398986816406" z="0.033757131546735764"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_w_transform_4169">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-11.77808666229248" y="-25.056865692138672" 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_4161">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_w_transform_4162">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_close_to_hero_4163">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_w_transform_4164">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_close_to_standing_4165">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_w_transform_4166">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_close_to_adversary_4167">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_close_to_adversary_4168">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_w_transform_4169">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_w_transform_4170">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
</Entities>
<Storyboard>
<Init>
<Actions>
<GlobalAction>
<EnvironmentAction>
<Environment name="Environment1">
<TimeOfDay animation="false" dateTime="2019-06-25T12:00:00"/>
<Weather cloudState="free">
<Sun intensity="0.85" azimuth="0" elevation="1.31"/>
<Fog visualRange="100000.0"/>
<Precipitation precipitationType="dry" intensity="0.0"/>
</Weather>
<RoadCondition frictionScaleFactor="1.0"/>
</Environment>
</EnvironmentAction>
</GlobalAction>
<Private entityRef="hero">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-9.4" y="-152.8" z="0.5" h="1.57079632679"/>
</Position>
</TeleportAction>
</PrivateAction>
<PrivateAction>
<ControllerAction>
<AssignControllerAction>
<Controller name="HeroAgent">
<Properties>
<Property name="module" value="external_control"/>
</Properties>
</Controller>
</AssignControllerAction>
<OverrideControllerValueAction>
<Throttle value="0" active="false"/>
<Brake value="0" active="false"/>
<Clutch value="0" active="false"/>
<ParkingBrake value="0" active="false"/>
<SteeringWheel value="0" active="false"/>
<Gear number="0" active="false"/>
</OverrideControllerValueAction>
</ControllerAction>
</PrivateAction>
</Private>
<Private entityRef="adversary">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-9.4" y="-71.0" z="0.5" h="1.57079632679"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="standing">
<PrivateAction>
<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_4161">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-12.641396522521973" y="34.33012390136719" z="0.0030273436568677425"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_w_transform_4162">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-73.80753326416016" y="96.74227905273438" z="0.5"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_close_to_hero_4163">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-19.388286590576172" y="-148.69052124023438" z="0.0013734435196965933"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_w_transform_4164">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="55.62676239013672" y="93.1760482788086" z="0.5"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_close_to_standing_4165">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-13.837114334106445" y="22.00433349609375" z="0.003018455347046256"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_w_transform_4166">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="51.61927032470703" y="-0.8043880462646484" z="0.5"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_close_to_adversary_4167">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-8.045684814453125" y="-65.13609313964844" z="0.033757131546735764"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_close_to_adversary_4168">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-8.516622543334961" y="-83.57398986816406" z="0.033757131546735764"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_w_transform_4169">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-11.77808666229248" y="-25.056865692138672" z="0.5"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_w_transform_4170">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="35.58704376220703" y="51.29364776611328" 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_w_transform_7980?
```
<?xml version="1.0" ?>
<OpenSCENARIO>
<FileHeader revMajor="1" revMinor="0" date="2020-03-24T12:00:00" description="CARLA:LaneChangeSimple" author=""/>
<ParameterDeclarations/>
<CatalogLocations/>
<RoadNetwork>
<LogicFile filepath="Town04"/>
<SceneGraphFile filepath=""/>
</RoadNetwork>
<Entities>
<ScenarioObject name="hero">
<Vehicle name="vehicle.tesla.model3" vehicleCategory="car">
<ParameterDeclarations/>
<Performance maxSpeed="69.444" maxAcceleration="200" maxDeceleration="10.0"/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2.1" length="4.5" height="1.8"/>
</BoundingBox>
<Axles>
<FrontAxle maxSteering="0.5" wheelDiameter="0.6" trackWidth="1.8" positionX="3.1" positionZ="0.3"/>
<RearAxle maxSteering="0.0" wheelDiameter="0.6" trackWidth="1.8" positionX="0.0" positionZ="0.3"/>
</Axles>
<Properties>
<Property name="type" value="ego_vehicle"/>
</Properties>
</Vehicle>
</ScenarioObject>
<ScenarioObject name="adversary">
<Vehicle name="vehicle.lincoln.mkz_2017" vehicleCategory="car">
<ParameterDeclarations/>
<Performance maxSpeed="69.444" maxAcceleration="200" maxDeceleration="10.0"/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2.1" length="4.5" height="1.8"/>
</BoundingBox>
<Axles>
<FrontAxle maxSteering="0.5" wheelDiameter="0.6" trackWidth="1.8" positionX="3.1" positionZ="0.3"/>
<RearAxle maxSteering="0.0" wheelDiameter="0.6" trackWidth="1.8" positionX="0.0" positionZ="0.3"/>
</Axles>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Vehicle>
</ScenarioObject>
<ScenarioObject name="standing">
<Vehicle name="vehicle.volkswagen.t2" vehicleCategory="car">
<ParameterDeclarations/>
<Performance maxSpeed="69.444" maxAcceleration="200" maxDeceleration="10.0"/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2.1" length="4.5" height="1.8"/>
</BoundingBox>
<Axles>
<FrontAxle maxSteering="0.5" wheelDiameter="0.6" trackWidth="1.8" positionX="3.1" positionZ="0.3"/>
<RearAxle maxSteering="0.0" wheelDiameter="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_7962">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_close_to_standing_7963">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_w_transform_7964">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_w_transform_7965">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_close_to_hero_7966">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_w_transform_7967">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_close_to_standing_7969">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_w_transform_7971">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_w_transform_7974">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_w_transform_7975">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_close_to_standing_7976">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_close_to_standing_7977">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_w_transform_7978">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_close_to_hero_7979">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_w_transform_7980">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_w_transform_7983">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_w_transform_7986">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_w_transform_7987">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
</Entities>
<Storyboard>
<Init>
<Actions>
<GlobalAction>
<EnvironmentAction>
<Environment name="Environment1">
<TimeOfDay animation="false" dateTime="2019-06-25T12:00:00"/>
<Weather cloudState="free">
<Sun intensity="0.85" azimuth="0" elevation="1.31"/>
<Fog visualRange="100000.0"/>
<Precipitation precipitationType="dry" intensity="0.0"/>
</Weather>
<RoadCondition frictionScaleFactor="1.0"/>
</Environment>
</EnvironmentAction>
</GlobalAction>
<Private entityRef="hero">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-9.4" y="-152.8" z="0.5" h="1.57079632679"/>
</Position>
</TeleportAction>
</PrivateAction>
<PrivateAction>
<ControllerAction>
<AssignControllerAction>
<Controller name="HeroAgent">
<Properties>
<Property name="module" value="external_control"/>
</Properties>
</Controller>
</AssignControllerAction>
<OverrideControllerValueAction>
<Throttle value="0" active="false"/>
<Brake value="0" active="false"/>
<Clutch value="0" active="false"/>
<ParkingBrake value="0" active="false"/>
<SteeringWheel value="0" active="false"/>
<Gear number="0" active="false"/>
</OverrideControllerValueAction>
</ControllerAction>
</PrivateAction>
</Private>
<Private entityRef="adversary">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-9.4" y="-71.0" z="0.5" h="1.57079632679"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="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_7962">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-24.073030471801758" y="-39.513389587402344" z="0.5"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_close_to_standing_7963">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-4.725503921508789" y="26.227033615112305" z="0.003053054679185152"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_w_transform_7964">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="99.41167449951172" y="-7.706654071807861" z="0.5"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_w_transform_7965">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-72.24806213378906" y="64.6197280883789" z="0.5"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_close_to_hero_7966">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-5.875853061676025" y="-149.19371032714844" z="0.0016471862327307463"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_w_transform_7967">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="77.76593780517578" y="41.984466552734375" z="0.5"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_close_to_standing_7969">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-5.131825923919678" y="20.089496612548828" z="0.0030555343255400658"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_w_transform_7971">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="35.249000549316406" y="58.705116271972656" z="0.5"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_w_transform_7974">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="65.00021362304688" y="-29.16636085510254" z="0.5"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_w_transform_7975">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-53.565555572509766" y="99.186767578125" z="0.5"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_close_to_standing_7976">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-3.4274003505706787" y="38.94416809082031" z="0.0030370329041033983"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_close_to_standing_7977">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-9.39095401763916" y="34.921817779541016" z="0.0030628202948719263"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_w_transform_7978">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-83.73809051513672" y="-31.641435623168945" z="0.5"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_close_to_hero_7979">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-10.349519729614258" y="-149.48109436035156" z="0.0016471862327307463"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_w_transform_7980">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="69.96295166015625" y="77.32157897949219" z="0.5"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_w_transform_7983">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-44.901695251464844" y="31.126401901245117" z="0.5"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_w_transform_7986">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="75.11164855957031" y="56.220970153808594" z="0.5"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_w_transform_7987">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-65.00060272216797" y="-76.27523803710938" 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_7962">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_close_to_standing_7963">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_w_transform_7964">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_w_transform_7965">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_close_to_hero_7966">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_w_transform_7967">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_close_to_standing_7969">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_w_transform_7971">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_w_transform_7974">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_w_transform_7975">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_close_to_standing_7976">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_close_to_standing_7977">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_w_transform_7978">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_close_to_hero_7979">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_w_transform_7983">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_w_transform_7986">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_w_transform_7987">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
</Entities>
<Storyboard>
<Init>
<Actions>
<GlobalAction>
<EnvironmentAction>
<Environment name="Environment1">
<TimeOfDay animation="false" dateTime="2019-06-25T12:00:00"/>
<Weather cloudState="free">
<Sun intensity="0.85" azimuth="0" elevation="1.31"/>
<Fog visualRange="100000.0"/>
<Precipitation precipitationType="dry" intensity="0.0"/>
</Weather>
<RoadCondition frictionScaleFactor="1.0"/>
</Environment>
</EnvironmentAction>
</GlobalAction>
<Private entityRef="hero">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-9.4" y="-152.8" z="0.5" h="1.57079632679"/>
</Position>
</TeleportAction>
</PrivateAction>
<PrivateAction>
<ControllerAction>
<AssignControllerAction>
<Controller name="HeroAgent">
<Properties>
<Property name="module" value="external_control"/>
</Properties>
</Controller>
</AssignControllerAction>
<OverrideControllerValueAction>
<Throttle value="0" active="false"/>
<Brake value="0" active="false"/>
<Clutch value="0" active="false"/>
<ParkingBrake value="0" active="false"/>
<SteeringWheel value="0" active="false"/>
<Gear number="0" active="false"/>
</OverrideControllerValueAction>
</ControllerAction>
</PrivateAction>
</Private>
<Private entityRef="adversary">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-9.4" y="-71.0" z="0.5" h="1.57079632679"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="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_7962">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-24.073030471801758" y="-39.513389587402344" z="0.5"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_close_to_standing_7963">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-4.725503921508789" y="26.227033615112305" z="0.003053054679185152"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_w_transform_7964">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="99.41167449951172" y="-7.706654071807861" z="0.5"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_w_transform_7965">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-72.24806213378906" y="64.6197280883789" z="0.5"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_close_to_hero_7966">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-5.875853061676025" y="-149.19371032714844" z="0.0016471862327307463"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_w_transform_7967">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="77.76593780517578" y="41.984466552734375" z="0.5"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_close_to_standing_7969">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-5.131825923919678" y="20.089496612548828" z="0.0030555343255400658"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_w_transform_7971">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="35.249000549316406" y="58.705116271972656" z="0.5"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_w_transform_7974">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="65.00021362304688" y="-29.16636085510254" z="0.5"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_w_transform_7975">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-53.565555572509766" y="99.186767578125" z="0.5"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_close_to_standing_7976">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-3.4274003505706787" y="38.94416809082031" z="0.0030370329041033983"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_close_to_standing_7977">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-9.39095401763916" y="34.921817779541016" z="0.0030628202948719263"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_w_transform_7978">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-83.73809051513672" y="-31.641435623168945" z="0.5"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_close_to_hero_7979">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-10.349519729614258" y="-149.48109436035156" z="0.0016471862327307463"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_w_transform_7983">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-44.901695251464844" y="31.126401901245117" z="0.5"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_w_transform_7986">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="75.11164855957031" y="56.220970153808594" z="0.5"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_w_transform_7987">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-65.00060272216797" y="-76.27523803710938" z="0.5"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
</Actions>
</Init>
<Story name="MyStory">
<Act name="Behavior">
<ManeuverGroup maximumExecutionCount="1" name="ManeuverSequence">
<Actors selectTriggeringEntities="false">
<EntityRef entityRef="adversary"/>
</Actors>
<Maneuver name="LaneChangeSimpleManeuver">
<Event name="AdversaryAccelerates" priority="overwrite">
<Action name="AdversaryAccelerates">
<PrivateAction>
<LongitudinalAction>
<SpeedAction>
<SpeedActionDynamics dynamicsShape="step" value="50" dynamicsDimension="distance"/>
<SpeedActionTarget>
<AbsoluteTargetSpeed value="5.0"/>
</SpeedActionTarget>
</SpeedAction>
</LongitudinalAction>
</PrivateAction>
</Action>
<StartTrigger>
<ConditionGroup>
<Condition name="StartCondition" delay="0" conditionEdge="rising">
<ByEntityCondition>
<TriggeringEntities triggeringEntitiesRule="any">
<EntityRef entityRef="hero"/>
</TriggeringEntities>
<EntityCondition>
<RelativeDistanceCondition entityRef="adversary" relativeDistanceType="cartesianDistance" value="40.0" freespace="false" rule="lessThan"/>
</EntityCondition>
</ByEntityCondition>
</Condition>
</ConditionGroup>
</StartTrigger>
</Event>
<Event name="AdversaryChangesLane" priority="overwrite">
<Action name="AdversaryChangesLane">
<PrivateAction>
<LateralAction>
<LaneChangeAction>
<LaneChangeActionDynamics dynamicsShape="linear" value="25" dynamicsDimension="distance"/>
<LaneChangeTarget>
<RelativeTargetLane entityRef="adversary" value="-1"/>
</LaneChangeTarget>
</LaneChangeAction>
</LateralAction>
</PrivateAction>
</Action>
<StartTrigger>
<ConditionGroup>
<Condition name="AfterAdversaryAccelerates" delay="0" conditionEdge="rising">
<ByValueCondition>
<StoryboardElementStateCondition storyboardElementType="action" storyboardElementRef="AdversaryAccelerates" state="completeState"/>
</ByValueCondition>
</Condition>
</ConditionGroup>
</StartTrigger>
</Event>
</Maneuver>
</ManeuverGroup>
<StartTrigger>
<ConditionGroup>
<Condition name="OverallStartCondition" delay="0" conditionEdge="rising">
<ByEntityCondition>
<TriggeringEntities triggeringEntitiesRule="any">
<EntityRef entityRef="hero"/>
</TriggeringEntities>
<EntityCondition>
<TraveledDistanceCondition value="1.0"/>
</EntityCondition>
</ByEntityCondition>
</Condition>
<Condition name="StartTime" delay="0" conditionEdge="rising">
<ByValueCondition>
<SimulationTimeCondition value="0" rule="equalTo"/>
</ByValueCondition>
</Condition>
</ConditionGroup>
</StartTrigger>
<StopTrigger>
<ConditionGroup>
<Condition name="EndCondition" delay="0" conditionEdge="rising">
<ByEntityCondition>
<TriggeringEntities triggeringEntitiesRule="any">
<EntityRef entityRef="hero"/>
</TriggeringEntities>
<EntityCondition>
<TraveledDistanceCondition value="200.0"/>
</EntityCondition>
</ByEntityCondition>
</Condition>
</ConditionGroup>
</StopTrigger>
</Act>
</Story>
<StopTrigger>
<ConditionGroup>
<Condition name="criteria_RunningStopTest" delay="0" conditionEdge="rising">
<ByValueCondition>
<ParameterCondition parameterRef="" value="" rule="lessThan"/>
</ByValueCondition>
</Condition>
<Condition name="criteria_RunningRedLightTest" delay="0" conditionEdge="rising">
<ByValueCondition>
<ParameterCondition parameterRef="" value="" rule="lessThan"/>
</ByValueCondition>
</Condition>
<Condition name="criteria_WrongLaneTest" delay="0" conditionEdge="rising">
<ByValueCondition>
<ParameterCondition parameterRef="" value="" rule="lessThan"/>
</ByValueCondition>
</Condition>
<Condition name="criteria_OnSidewalkTest" delay="0" conditionEdge="rising">
<ByValueCondition>
<ParameterCondition parameterRef="" value="" rule="lessThan"/>
</ByValueCondition>
</Condition>
<Condition name="criteria_KeepLaneTest" delay="0" conditionEdge="rising">
<ByValueCondition>
<ParameterCondition parameterRef="" value="" rule="lessThan"/>
</ByValueCondition>
</Condition>
<Condition name="criteria_CollisionTest" delay="0" conditionEdge="rising">
<ByValueCondition>
<ParameterCondition parameterRef="" value="" rule="lessThan"/>
</ByValueCondition>
</Condition>
<Condition name="criteria_DrivenDistanceTest" delay="0" conditionEdge="rising">
<ByValueCondition>
<ParameterCondition parameterRef="distance_success" value="100" rule="lessThan"/>
</ByValueCondition>
</Condition>
</ConditionGroup>
</StopTrigger>
</Storyboard>
</OpenSCENARIO>
``` |
i would like to ask you to remove pedestrian actor named pedestrian_w_transform_31812?
```
<?xml version="1.0" ?>
<OpenSCENARIO>
<FileHeader revMajor="1" revMinor="0" date="2020-03-24T12:00:00" description="CARLA:LaneChangeSimple" author=""/>
<ParameterDeclarations/>
<CatalogLocations/>
<RoadNetwork>
<LogicFile filepath="Town04"/>
<SceneGraphFile filepath=""/>
</RoadNetwork>
<Entities>
<ScenarioObject name="hero">
<Vehicle name="vehicle.tesla.model3" vehicleCategory="car">
<ParameterDeclarations/>
<Performance maxSpeed="69.444" maxAcceleration="200" maxDeceleration="10.0"/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2.1" length="4.5" height="1.8"/>
</BoundingBox>
<Axles>
<FrontAxle maxSteering="0.5" wheelDiameter="0.6" trackWidth="1.8" positionX="3.1" positionZ="0.3"/>
<RearAxle maxSteering="0.0" wheelDiameter="0.6" trackWidth="1.8" positionX="0.0" positionZ="0.3"/>
</Axles>
<Properties>
<Property name="type" value="ego_vehicle"/>
</Properties>
</Vehicle>
</ScenarioObject>
<ScenarioObject name="adversary">
<Vehicle name="vehicle.lincoln.mkz_2017" vehicleCategory="car">
<ParameterDeclarations/>
<Performance maxSpeed="69.444" maxAcceleration="200" maxDeceleration="10.0"/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2.1" length="4.5" height="1.8"/>
</BoundingBox>
<Axles>
<FrontAxle maxSteering="0.5" wheelDiameter="0.6" trackWidth="1.8" positionX="3.1" positionZ="0.3"/>
<RearAxle maxSteering="0.0" wheelDiameter="0.6" trackWidth="1.8" positionX="0.0" positionZ="0.3"/>
</Axles>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Vehicle>
</ScenarioObject>
<ScenarioObject name="standing">
<Vehicle name="vehicle.volkswagen.t2" vehicleCategory="car">
<ParameterDeclarations/>
<Performance maxSpeed="69.444" maxAcceleration="200" maxDeceleration="10.0"/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2.1" length="4.5" height="1.8"/>
</BoundingBox>
<Axles>
<FrontAxle maxSteering="0.5" wheelDiameter="0.6" trackWidth="1.8" positionX="3.1" positionZ="0.3"/>
<RearAxle maxSteering="0.0" wheelDiameter="0.6" 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_31802">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_close_to_standing_31803">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_close_to_standing_31804">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_w_transform_31805">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_w_transform_31807">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_w_transform_31809">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_w_transform_31811">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_w_transform_31812">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_close_to_adversary_31813">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_w_transform_31814">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
</Entities>
<Storyboard>
<Init>
<Actions>
<GlobalAction>
<EnvironmentAction>
<Environment name="Environment1">
<TimeOfDay animation="false" dateTime="2019-06-25T12:00:00"/>
<Weather cloudState="free">
<Sun intensity="0.85" azimuth="0" elevation="1.31"/>
<Fog visualRange="100000.0"/>
<Precipitation precipitationType="dry" intensity="0.0"/>
</Weather>
<RoadCondition frictionScaleFactor="1.0"/>
</Environment>
</EnvironmentAction>
</GlobalAction>
<Private entityRef="hero">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-9.4" y="-152.8" z="0.5" h="1.57079632679"/>
</Position>
</TeleportAction>
</PrivateAction>
<PrivateAction>
<ControllerAction>
<AssignControllerAction>
<Controller name="HeroAgent">
<Properties>
<Property name="module" value="external_control"/>
</Properties>
</Controller>
</AssignControllerAction>
<OverrideControllerValueAction>
<Throttle value="0" active="false"/>
<Brake value="0" active="false"/>
<Clutch value="0" active="false"/>
<ParkingBrake value="0" active="false"/>
<SteeringWheel value="0" active="false"/>
<Gear number="0" active="false"/>
</OverrideControllerValueAction>
</ControllerAction>
</PrivateAction>
</Private>
<Private entityRef="adversary">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-9.4" y="-71.0" z="0.5" h="1.57079632679"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="standing">
<PrivateAction>
<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_31802">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-6.4538397789001465" y="38.43675231933594" z="0.003084068186581135"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_close_to_standing_31803">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-10.826951026916504" y="33.43329620361328" z="0.003079986432567239"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_close_to_standing_31804">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-1.8382501602172852" y="26.44894790649414" z="0.0030447004828602076"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_w_transform_31805">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-6.799496173858643" y="8.737454414367676" z="0.5"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_w_transform_31807">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-65.8523941040039" y="-71.9014892578125" z="0.5"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_w_transform_31809">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="70.61380767822266" y="39.56458282470703" z="0.5"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_w_transform_31811">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-84.87337493896484" y="58.935367584228516" z="0.5"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_w_transform_31812">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="41.57346725463867" y="44.230865478515625" z="0.5"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_close_to_adversary_31813">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-12.79599380493164" y="-74.60383605957031" z="0.033807218074798584"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_w_transform_31814">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="74.92286682128906" y="8.998639106750488" 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_31802">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_close_to_standing_31803">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_close_to_standing_31804">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_w_transform_31805">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_w_transform_31807">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_w_transform_31809">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_w_transform_31811">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_close_to_adversary_31813">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_w_transform_31814">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
</Entities>
<Storyboard>
<Init>
<Actions>
<GlobalAction>
<EnvironmentAction>
<Environment name="Environment1">
<TimeOfDay animation="false" dateTime="2019-06-25T12:00:00"/>
<Weather cloudState="free">
<Sun intensity="0.85" azimuth="0" elevation="1.31"/>
<Fog visualRange="100000.0"/>
<Precipitation precipitationType="dry" intensity="0.0"/>
</Weather>
<RoadCondition frictionScaleFactor="1.0"/>
</Environment>
</EnvironmentAction>
</GlobalAction>
<Private entityRef="hero">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-9.4" y="-152.8" z="0.5" h="1.57079632679"/>
</Position>
</TeleportAction>
</PrivateAction>
<PrivateAction>
<ControllerAction>
<AssignControllerAction>
<Controller name="HeroAgent">
<Properties>
<Property name="module" value="external_control"/>
</Properties>
</Controller>
</AssignControllerAction>
<OverrideControllerValueAction>
<Throttle value="0" active="false"/>
<Brake value="0" active="false"/>
<Clutch value="0" active="false"/>
<ParkingBrake value="0" active="false"/>
<SteeringWheel value="0" active="false"/>
<Gear number="0" active="false"/>
</OverrideControllerValueAction>
</ControllerAction>
</PrivateAction>
</Private>
<Private entityRef="adversary">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-9.4" y="-71.0" z="0.5" h="1.57079632679"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="standing">
<PrivateAction>
<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_31802">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-6.4538397789001465" y="38.43675231933594" z="0.003084068186581135"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_close_to_standing_31803">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-10.826951026916504" y="33.43329620361328" z="0.003079986432567239"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_close_to_standing_31804">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-1.8382501602172852" y="26.44894790649414" z="0.0030447004828602076"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_w_transform_31805">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-6.799496173858643" y="8.737454414367676" z="0.5"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_w_transform_31807">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-65.8523941040039" y="-71.9014892578125" z="0.5"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_w_transform_31809">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="70.61380767822266" y="39.56458282470703" z="0.5"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_w_transform_31811">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-84.87337493896484" y="58.935367584228516" z="0.5"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_close_to_adversary_31813">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-12.79599380493164" y="-74.60383605957031" z="0.033807218074798584"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_w_transform_31814">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="74.92286682128906" y="8.998639106750488" 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 (74.05, 22.39, 0.5)?
```
<?xml version="1.0" ?>
<OpenSCENARIO>
<FileHeader revMajor="1" revMinor="0" date="2020-03-24T12:00:00" description="CARLA:LaneChangeSimple" author=""/>
<ParameterDeclarations/>
<CatalogLocations/>
<RoadNetwork>
<LogicFile filepath="Town04"/>
<SceneGraphFile filepath=""/>
</RoadNetwork>
<Entities>
<ScenarioObject name="hero">
<Vehicle name="vehicle.tesla.model3" vehicleCategory="car">
<ParameterDeclarations/>
<Performance maxSpeed="69.444" maxAcceleration="200" maxDeceleration="10.0"/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2.1" length="4.5" height="1.8"/>
</BoundingBox>
<Axles>
<FrontAxle maxSteering="0.5" wheelDiameter="0.6" trackWidth="1.8" positionX="3.1" positionZ="0.3"/>
<RearAxle maxSteering="0.0" wheelDiameter="0.6" trackWidth="1.8" positionX="0.0" positionZ="0.3"/>
</Axles>
<Properties>
<Property name="type" value="ego_vehicle"/>
</Properties>
</Vehicle>
</ScenarioObject>
<ScenarioObject name="adversary">
<Vehicle name="vehicle.lincoln.mkz_2017" vehicleCategory="car">
<ParameterDeclarations/>
<Performance maxSpeed="69.444" maxAcceleration="200" maxDeceleration="10.0"/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2.1" length="4.5" height="1.8"/>
</BoundingBox>
<Axles>
<FrontAxle maxSteering="0.5" wheelDiameter="0.6" trackWidth="1.8" positionX="3.1" positionZ="0.3"/>
<RearAxle maxSteering="0.0" wheelDiameter="0.6" trackWidth="1.8" positionX="0.0" positionZ="0.3"/>
</Axles>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Vehicle>
</ScenarioObject>
<ScenarioObject name="standing">
<Vehicle name="vehicle.volkswagen.t2" vehicleCategory="car">
<ParameterDeclarations/>
<Performance maxSpeed="69.444" maxAcceleration="200" maxDeceleration="10.0"/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2.1" length="4.5" height="1.8"/>
</BoundingBox>
<Axles>
<FrontAxle maxSteering="0.5" wheelDiameter="0.6" trackWidth="1.8" positionX="3.1" positionZ="0.3"/>
<RearAxle maxSteering="0.0" wheelDiameter="0.6" trackWidth="1.8" positionX="0.0" positionZ="0.3"/>
</Axles>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Vehicle>
</ScenarioObject>
<ScenarioObject name="pedestrian_close_to_hero_26812">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_close_to_adversary_26813">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_w_transform_26814">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_w_transform_26815">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_w_transform_26816">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_close_to_standing_26817">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_w_transform_26818">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_close_to_adversary_26819">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_w_transform_26820">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_w_transform_26821">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_close_to_hero_26822">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_close_to_adversary_26823">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_w_transform_26824">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_w_transform_26825">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_close_to_adversary_26826">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_close_to_hero_26827">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_close_to_adversary_26828">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
</Entities>
<Storyboard>
<Init>
<Actions>
<GlobalAction>
<EnvironmentAction>
<Environment name="Environment1">
<TimeOfDay animation="false" dateTime="2019-06-25T12:00:00"/>
<Weather cloudState="free">
<Sun intensity="0.85" azimuth="0" elevation="1.31"/>
<Fog visualRange="100000.0"/>
<Precipitation precipitationType="dry" intensity="0.0"/>
</Weather>
<RoadCondition frictionScaleFactor="1.0"/>
</Environment>
</EnvironmentAction>
</GlobalAction>
<Private entityRef="hero">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-9.4" y="-152.8" z="0.5" h="1.57079632679"/>
</Position>
</TeleportAction>
</PrivateAction>
<PrivateAction>
<ControllerAction>
<AssignControllerAction>
<Controller name="HeroAgent">
<Properties>
<Property name="module" value="external_control"/>
</Properties>
</Controller>
</AssignControllerAction>
<OverrideControllerValueAction>
<Throttle value="0" active="false"/>
<Brake value="0" active="false"/>
<Clutch value="0" active="false"/>
<ParkingBrake value="0" active="false"/>
<SteeringWheel value="0" active="false"/>
<Gear number="0" active="false"/>
</OverrideControllerValueAction>
</ControllerAction>
</PrivateAction>
</Private>
<Private entityRef="adversary">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-9.4" y="-71.0" z="0.5" h="1.57079632679"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="standing">
<PrivateAction>
<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_26812">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-14.43281364440918" y="-143.47366333007812" z="0.0019445419311523438"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_close_to_adversary_26813">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-2.262798309326172" y="-67.56539154052734" z="0.03388328477740288"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_w_transform_26814">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="49.208248138427734" y="-99.13912963867188" z="0.5"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_w_transform_26815">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-50.18955993652344" y="10.782779693603516" z="0.5"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_w_transform_26816">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="94.92662048339844" y="-6.477327823638916" z="0.5"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_close_to_standing_26817">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-16.86939811706543" y="27.294269561767578" z="0.0031180190853774548"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_w_transform_26818">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="68.5601806640625" y="-79.80958557128906" z="0.5"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_close_to_adversary_26819">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-15.539754867553711" y="-69.28153991699219" z="0.033880043774843216"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_w_transform_26820">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="83.99874877929688" y="-41.55364990234375" z="0.5"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_w_transform_26821">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="31.48314094543457" y="65.29645538330078" z="0.5"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_close_to_hero_26822">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-3.6163313388824463" y="-142.9006805419922" z="0.0019445419311523438"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_close_to_adversary_26823">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-14.03836727142334" y="-65.02984619140625" z="0.033869437873363495"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_w_transform_26824">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-61.66371536254883" y="78.69878387451172" z="0.5"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_w_transform_26825">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="80.13676452636719" y="-27.766660690307617" z="0.5"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_close_to_adversary_26826">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-11.644207954406738" y="-71.0270767211914" z="0.03387027606368065"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_close_to_hero_26827">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-13.663188934326172" y="-149.21524047851562" z="0.0019445419311523438"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_close_to_adversary_26828">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-9.902668952941895" y="-74.04537963867188" z="0.03385814651846886"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
</Actions>
</Init>
<Story name="MyStory">
<Act name="Behavior">
<ManeuverGroup maximumExecutionCount="1" name="ManeuverSequence">
<Actors selectTriggeringEntities="false">
<EntityRef entityRef="adversary"/>
</Actors>
<Maneuver name="LaneChangeSimpleManeuver">
<Event name="AdversaryAccelerates" priority="overwrite">
<Action name="AdversaryAccelerates">
<PrivateAction>
<LongitudinalAction>
<SpeedAction>
<SpeedActionDynamics dynamicsShape="step" value="50" dynamicsDimension="distance"/>
<SpeedActionTarget>
<AbsoluteTargetSpeed value="5.0"/>
</SpeedActionTarget>
</SpeedAction>
</LongitudinalAction>
</PrivateAction>
</Action>
<StartTrigger>
<ConditionGroup>
<Condition name="StartCondition" delay="0" conditionEdge="rising">
<ByEntityCondition>
<TriggeringEntities triggeringEntitiesRule="any">
<EntityRef entityRef="hero"/>
</TriggeringEntities>
<EntityCondition>
<RelativeDistanceCondition entityRef="adversary" relativeDistanceType="cartesianDistance" value="40.0" freespace="false" rule="lessThan"/>
</EntityCondition>
</ByEntityCondition>
</Condition>
</ConditionGroup>
</StartTrigger>
</Event>
<Event name="AdversaryChangesLane" priority="overwrite">
<Action name="AdversaryChangesLane">
<PrivateAction>
<LateralAction>
<LaneChangeAction>
<LaneChangeActionDynamics dynamicsShape="linear" value="25" dynamicsDimension="distance"/>
<LaneChangeTarget>
<RelativeTargetLane entityRef="adversary" value="-1"/>
</LaneChangeTarget>
</LaneChangeAction>
</LateralAction>
</PrivateAction>
</Action>
<StartTrigger>
<ConditionGroup>
<Condition name="AfterAdversaryAccelerates" delay="0" conditionEdge="rising">
<ByValueCondition>
<StoryboardElementStateCondition storyboardElementType="action" storyboardElementRef="AdversaryAccelerates" state="completeState"/>
</ByValueCondition>
</Condition>
</ConditionGroup>
</StartTrigger>
</Event>
</Maneuver>
</ManeuverGroup>
<StartTrigger>
<ConditionGroup>
<Condition name="OverallStartCondition" delay="0" conditionEdge="rising">
<ByEntityCondition>
<TriggeringEntities triggeringEntitiesRule="any">
<EntityRef entityRef="hero"/>
</TriggeringEntities>
<EntityCondition>
<TraveledDistanceCondition value="1.0"/>
</EntityCondition>
</ByEntityCondition>
</Condition>
<Condition name="StartTime" delay="0" conditionEdge="rising">
<ByValueCondition>
<SimulationTimeCondition value="0" rule="equalTo"/>
</ByValueCondition>
</Condition>
</ConditionGroup>
</StartTrigger>
<StopTrigger>
<ConditionGroup>
<Condition name="EndCondition" delay="0" conditionEdge="rising">
<ByEntityCondition>
<TriggeringEntities triggeringEntitiesRule="any">
<EntityRef entityRef="hero"/>
</TriggeringEntities>
<EntityCondition>
<TraveledDistanceCondition value="200.0"/>
</EntityCondition>
</ByEntityCondition>
</Condition>
</ConditionGroup>
</StopTrigger>
</Act>
</Story>
<StopTrigger>
<ConditionGroup>
<Condition name="criteria_RunningStopTest" delay="0" conditionEdge="rising">
<ByValueCondition>
<ParameterCondition parameterRef="" value="" rule="lessThan"/>
</ByValueCondition>
</Condition>
<Condition name="criteria_RunningRedLightTest" delay="0" conditionEdge="rising">
<ByValueCondition>
<ParameterCondition parameterRef="" value="" rule="lessThan"/>
</ByValueCondition>
</Condition>
<Condition name="criteria_WrongLaneTest" delay="0" conditionEdge="rising">
<ByValueCondition>
<ParameterCondition parameterRef="" value="" rule="lessThan"/>
</ByValueCondition>
</Condition>
<Condition name="criteria_OnSidewalkTest" delay="0" conditionEdge="rising">
<ByValueCondition>
<ParameterCondition parameterRef="" value="" rule="lessThan"/>
</ByValueCondition>
</Condition>
<Condition name="criteria_KeepLaneTest" delay="0" conditionEdge="rising">
<ByValueCondition>
<ParameterCondition parameterRef="" value="" rule="lessThan"/>
</ByValueCondition>
</Condition>
<Condition name="criteria_CollisionTest" delay="0" conditionEdge="rising">
<ByValueCondition>
<ParameterCondition parameterRef="" value="" rule="lessThan"/>
</ByValueCondition>
</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_26812">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_close_to_adversary_26813">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_w_transform_26814">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_w_transform_26815">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_w_transform_26816">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_close_to_standing_26817">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_w_transform_26818">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_close_to_adversary_26819">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_w_transform_26820">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_w_transform_26821">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_close_to_hero_26822">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_close_to_adversary_26823">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_w_transform_26824">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_w_transform_26825">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_close_to_adversary_26826">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_close_to_hero_26827">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_close_to_adversary_26828">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_w_transform_26830">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
</Entities>
<Storyboard>
<Init>
<Actions>
<GlobalAction>
<EnvironmentAction>
<Environment name="Environment1">
<TimeOfDay animation="false" dateTime="2019-06-25T12:00:00"/>
<Weather cloudState="free">
<Sun intensity="0.85" azimuth="0" elevation="1.31"/>
<Fog visualRange="100000.0"/>
<Precipitation precipitationType="dry" intensity="0.0"/>
</Weather>
<RoadCondition frictionScaleFactor="1.0"/>
</Environment>
</EnvironmentAction>
</GlobalAction>
<Private entityRef="hero">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-9.4" y="-152.8" z="0.5" h="1.57079632679"/>
</Position>
</TeleportAction>
</PrivateAction>
<PrivateAction>
<ControllerAction>
<AssignControllerAction>
<Controller name="HeroAgent">
<Properties>
<Property name="module" value="external_control"/>
</Properties>
</Controller>
</AssignControllerAction>
<OverrideControllerValueAction>
<Throttle value="0" active="false"/>
<Brake value="0" active="false"/>
<Clutch value="0" active="false"/>
<ParkingBrake value="0" active="false"/>
<SteeringWheel value="0" active="false"/>
<Gear number="0" active="false"/>
</OverrideControllerValueAction>
</ControllerAction>
</PrivateAction>
</Private>
<Private entityRef="adversary">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-9.4" y="-71.0" z="0.5" h="1.57079632679"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="standing">
<PrivateAction>
<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_26812">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-14.43281364440918" y="-143.47366333007812" z="0.0019445419311523438"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_close_to_adversary_26813">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-2.262798309326172" y="-67.56539154052734" z="0.03388328477740288"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_w_transform_26814">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="49.208248138427734" y="-99.13912963867188" z="0.5"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_w_transform_26815">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-50.18955993652344" y="10.782779693603516" z="0.5"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_w_transform_26816">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="94.92662048339844" y="-6.477327823638916" z="0.5"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_close_to_standing_26817">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-16.86939811706543" y="27.294269561767578" z="0.0031180190853774548"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_w_transform_26818">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="68.5601806640625" y="-79.80958557128906" z="0.5"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_close_to_adversary_26819">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-15.539754867553711" y="-69.28153991699219" z="0.033880043774843216"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_w_transform_26820">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="83.99874877929688" y="-41.55364990234375" z="0.5"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_w_transform_26821">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="31.48314094543457" y="65.29645538330078" z="0.5"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_close_to_hero_26822">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-3.6163313388824463" y="-142.9006805419922" z="0.0019445419311523438"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_close_to_adversary_26823">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-14.03836727142334" y="-65.02984619140625" z="0.033869437873363495"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_w_transform_26824">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-61.66371536254883" y="78.69878387451172" z="0.5"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_w_transform_26825">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="80.13676452636719" y="-27.766660690307617" z="0.5"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_close_to_adversary_26826">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-11.644207954406738" y="-71.0270767211914" z="0.03387027606368065"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_close_to_hero_26827">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-13.663188934326172" y="-149.21524047851562" z="0.0019445419311523438"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_close_to_adversary_26828">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-9.902668952941895" y="-74.04537963867188" z="0.03385814651846886"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_w_transform_26830">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="74.04674530029297" y="22.39474868774414" 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 remove pedestrian actor named pedestrian_w_transform_23945?
```
<?xml version="1.0" ?>
<OpenSCENARIO>
<FileHeader revMajor="1" revMinor="0" date="2020-03-24T12:00:00" description="CARLA:LaneChangeSimple" author=""/>
<ParameterDeclarations/>
<CatalogLocations/>
<RoadNetwork>
<LogicFile filepath="Town04"/>
<SceneGraphFile filepath=""/>
</RoadNetwork>
<Entities>
<ScenarioObject name="hero">
<Vehicle name="vehicle.tesla.model3" vehicleCategory="car">
<ParameterDeclarations/>
<Performance maxSpeed="69.444" maxAcceleration="200" maxDeceleration="10.0"/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2.1" length="4.5" height="1.8"/>
</BoundingBox>
<Axles>
<FrontAxle maxSteering="0.5" wheelDiameter="0.6" trackWidth="1.8" positionX="3.1" positionZ="0.3"/>
<RearAxle maxSteering="0.0" wheelDiameter="0.6" trackWidth="1.8" positionX="0.0" positionZ="0.3"/>
</Axles>
<Properties>
<Property name="type" value="ego_vehicle"/>
</Properties>
</Vehicle>
</ScenarioObject>
<ScenarioObject name="adversary">
<Vehicle name="vehicle.lincoln.mkz_2017" vehicleCategory="car">
<ParameterDeclarations/>
<Performance maxSpeed="69.444" maxAcceleration="200" maxDeceleration="10.0"/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2.1" length="4.5" height="1.8"/>
</BoundingBox>
<Axles>
<FrontAxle maxSteering="0.5" wheelDiameter="0.6" trackWidth="1.8" positionX="3.1" positionZ="0.3"/>
<RearAxle maxSteering="0.0" wheelDiameter="0.6" trackWidth="1.8" positionX="0.0" positionZ="0.3"/>
</Axles>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Vehicle>
</ScenarioObject>
<ScenarioObject name="standing">
<Vehicle name="vehicle.volkswagen.t2" vehicleCategory="car">
<ParameterDeclarations/>
<Performance maxSpeed="69.444" maxAcceleration="200" maxDeceleration="10.0"/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2.1" length="4.5" height="1.8"/>
</BoundingBox>
<Axles>
<FrontAxle maxSteering="0.5" wheelDiameter="0.6" trackWidth="1.8" positionX="3.1" positionZ="0.3"/>
<RearAxle maxSteering="0.0" wheelDiameter="0.6" 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_23928">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_close_to_standing_23930">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_close_to_hero_23931">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_close_to_hero_23932">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_close_to_standing_23933">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_close_to_hero_23934">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_close_to_adversary_23936">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_close_to_hero_23937">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_w_transform_23938">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_close_to_hero_23939">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_close_to_standing_23940">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_close_to_adversary_23941">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_close_to_standing_23942">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_w_transform_23943">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_close_to_standing_23944">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_w_transform_23945">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_close_to_adversary_23946">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_close_to_standing_23947">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_w_transform_23948">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_w_transform_23949">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_w_transform_23950">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_close_to_adversary_23951">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
</Entities>
<Storyboard>
<Init>
<Actions>
<GlobalAction>
<EnvironmentAction>
<Environment name="Environment1">
<TimeOfDay animation="false" dateTime="2019-06-25T12:00:00"/>
<Weather cloudState="free">
<Sun intensity="0.85" azimuth="0" elevation="1.31"/>
<Fog visualRange="100000.0"/>
<Precipitation precipitationType="dry" intensity="0.0"/>
</Weather>
<RoadCondition frictionScaleFactor="1.0"/>
</Environment>
</EnvironmentAction>
</GlobalAction>
<Private entityRef="hero">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-9.4" y="-152.8" z="0.5" h="1.57079632679"/>
</Position>
</TeleportAction>
</PrivateAction>
<PrivateAction>
<ControllerAction>
<AssignControllerAction>
<Controller name="HeroAgent">
<Properties>
<Property name="module" value="external_control"/>
</Properties>
</Controller>
</AssignControllerAction>
<OverrideControllerValueAction>
<Throttle value="0" active="false"/>
<Brake value="0" active="false"/>
<Clutch value="0" active="false"/>
<ParkingBrake value="0" active="false"/>
<SteeringWheel value="0" active="false"/>
<Gear number="0" active="false"/>
</OverrideControllerValueAction>
</ControllerAction>
</PrivateAction>
</Private>
<Private entityRef="adversary">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-9.4" y="-71.0" z="0.5" h="1.57079632679"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="standing">
<PrivateAction>
<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_23928">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-2.0028114318847656" y="18.032724380493164" z="0.0030424881260842085"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_close_to_standing_23930">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-1.5032033920288086" y="29.4739990234375" z="0.0030748748686164618"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_close_to_hero_23931">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-10.487432479858398" y="-145.12188720703125" z="0.0016471862327307463"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_close_to_hero_23932">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-8.607144355773926" y="-156.58460998535156" z="0.0016471862327307463"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_close_to_standing_23933">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-6.254003524780273" y="23.61029624938965" z="0.003069648751989007"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_close_to_hero_23934">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="7.4457173347473145" y="-154.65855407714844" z="0.0016471862327307463"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_close_to_adversary_23936">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-9.67687702178955" y="-60.38578796386719" z="0.03373477980494499"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_close_to_hero_23937">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="8.443202018737793" y="-141.64529418945312" z="0.0016471862327307463"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_w_transform_23938">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="29.347347259521484" y="58.745025634765625" z="0.5"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_close_to_hero_23939">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-17.777936935424805" y="-151.50181579589844" z="0.0016471862327307463"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_close_to_standing_23940">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-15.584206581115723" y="31.826887130737305" z="0.0030713272280991077"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_close_to_adversary_23941">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-6.1037702560424805" y="-61.9124755859375" z="0.03382045775651932"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_close_to_standing_23942">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-12.661943435668945" y="26.881927490234375" z="0.0030889511108398438"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_w_transform_23943">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="77.9927749633789" y="-18.20537757873535" z="0.5"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_close_to_standing_23944">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-8.836220741271973" y="25.36682891845703" z="0.0030704496894031763"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_w_transform_23945">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-44.31296920776367" y="30.32538604736328" z="0.5"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_close_to_adversary_23946">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-8.761575698852539" y="-63.652278900146484" z="0.03381427749991417"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_close_to_standing_23947">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-16.618276596069336" y="23.590167999267578" z="0.003091964637860656"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_w_transform_23948">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="38.8652458190918" y="47.830135345458984" z="0.5"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_w_transform_23949">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="59.06068420410156" y="0.5622709393501282" z="0.5"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_w_transform_23950">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-41.425193786621094" y="-24.7508487701416" z="0.5"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_close_to_adversary_23951">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-2.040064573287964" y="-74.49137878417969" z="0.033808402717113495"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
</Actions>
</Init>
<Story name="MyStory">
<Act name="Behavior">
<ManeuverGroup maximumExecutionCount="1" name="ManeuverSequence">
<Actors selectTriggeringEntities="false">
<EntityRef entityRef="adversary"/>
</Actors>
<Maneuver name="LaneChangeSimpleManeuver">
<Event name="AdversaryAccelerates" priority="overwrite">
<Action name="AdversaryAccelerates">
<PrivateAction>
<LongitudinalAction>
<SpeedAction>
<SpeedActionDynamics dynamicsShape="step" value="50" dynamicsDimension="distance"/>
<SpeedActionTarget>
<AbsoluteTargetSpeed value="5.0"/>
</SpeedActionTarget>
</SpeedAction>
</LongitudinalAction>
</PrivateAction>
</Action>
<StartTrigger>
<ConditionGroup>
<Condition name="StartCondition" delay="0" conditionEdge="rising">
<ByEntityCondition>
<TriggeringEntities triggeringEntitiesRule="any">
<EntityRef entityRef="hero"/>
</TriggeringEntities>
<EntityCondition>
<RelativeDistanceCondition entityRef="adversary" relativeDistanceType="cartesianDistance" value="40.0" freespace="false" rule="lessThan"/>
</EntityCondition>
</ByEntityCondition>
</Condition>
</ConditionGroup>
</StartTrigger>
</Event>
<Event name="AdversaryChangesLane" priority="overwrite">
<Action name="AdversaryChangesLane">
<PrivateAction>
<LateralAction>
<LaneChangeAction>
<LaneChangeActionDynamics dynamicsShape="linear" value="25" dynamicsDimension="distance"/>
<LaneChangeTarget>
<RelativeTargetLane entityRef="adversary" value="-1"/>
</LaneChangeTarget>
</LaneChangeAction>
</LateralAction>
</PrivateAction>
</Action>
<StartTrigger>
<ConditionGroup>
<Condition name="AfterAdversaryAccelerates" delay="0" conditionEdge="rising">
<ByValueCondition>
<StoryboardElementStateCondition storyboardElementType="action" storyboardElementRef="AdversaryAccelerates" state="completeState"/>
</ByValueCondition>
</Condition>
</ConditionGroup>
</StartTrigger>
</Event>
</Maneuver>
</ManeuverGroup>
<StartTrigger>
<ConditionGroup>
<Condition name="OverallStartCondition" delay="0" conditionEdge="rising">
<ByEntityCondition>
<TriggeringEntities triggeringEntitiesRule="any">
<EntityRef entityRef="hero"/>
</TriggeringEntities>
<EntityCondition>
<TraveledDistanceCondition value="1.0"/>
</EntityCondition>
</ByEntityCondition>
</Condition>
<Condition name="StartTime" delay="0" conditionEdge="rising">
<ByValueCondition>
<SimulationTimeCondition value="0" rule="equalTo"/>
</ByValueCondition>
</Condition>
</ConditionGroup>
</StartTrigger>
<StopTrigger>
<ConditionGroup>
<Condition name="EndCondition" delay="0" conditionEdge="rising">
<ByEntityCondition>
<TriggeringEntities triggeringEntitiesRule="any">
<EntityRef entityRef="hero"/>
</TriggeringEntities>
<EntityCondition>
<TraveledDistanceCondition value="200.0"/>
</EntityCondition>
</ByEntityCondition>
</Condition>
</ConditionGroup>
</StopTrigger>
</Act>
</Story>
<StopTrigger>
<ConditionGroup>
<Condition name="criteria_RunningStopTest" delay="0" conditionEdge="rising">
<ByValueCondition>
<ParameterCondition parameterRef="" value="" rule="lessThan"/>
</ByValueCondition>
</Condition>
<Condition name="criteria_RunningRedLightTest" delay="0" conditionEdge="rising">
<ByValueCondition>
<ParameterCondition parameterRef="" value="" rule="lessThan"/>
</ByValueCondition>
</Condition>
<Condition name="criteria_WrongLaneTest" delay="0" conditionEdge="rising">
<ByValueCondition>
<ParameterCondition parameterRef="" value="" rule="lessThan"/>
</ByValueCondition>
</Condition>
<Condition name="criteria_OnSidewalkTest" delay="0" conditionEdge="rising">
<ByValueCondition>
<ParameterCondition parameterRef="" value="" rule="lessThan"/>
</ByValueCondition>
</Condition>
<Condition name="criteria_KeepLaneTest" delay="0" conditionEdge="rising">
<ByValueCondition>
<ParameterCondition parameterRef="" value="" rule="lessThan"/>
</ByValueCondition>
</Condition>
<Condition name="criteria_CollisionTest" delay="0" conditionEdge="rising">
<ByValueCondition>
<ParameterCondition parameterRef="" value="" rule="lessThan"/>
</ByValueCondition>
</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_23928">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_close_to_standing_23930">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_close_to_hero_23931">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_close_to_hero_23932">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_close_to_standing_23933">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_close_to_hero_23934">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_close_to_adversary_23936">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_close_to_hero_23937">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_w_transform_23938">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_close_to_hero_23939">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_close_to_standing_23940">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_close_to_adversary_23941">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_close_to_standing_23942">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_w_transform_23943">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_close_to_standing_23944">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_close_to_adversary_23946">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_close_to_standing_23947">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_w_transform_23948">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_w_transform_23949">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_w_transform_23950">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_close_to_adversary_23951">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
</Entities>
<Storyboard>
<Init>
<Actions>
<GlobalAction>
<EnvironmentAction>
<Environment name="Environment1">
<TimeOfDay animation="false" dateTime="2019-06-25T12:00:00"/>
<Weather cloudState="free">
<Sun intensity="0.85" azimuth="0" elevation="1.31"/>
<Fog visualRange="100000.0"/>
<Precipitation precipitationType="dry" intensity="0.0"/>
</Weather>
<RoadCondition frictionScaleFactor="1.0"/>
</Environment>
</EnvironmentAction>
</GlobalAction>
<Private entityRef="hero">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-9.4" y="-152.8" z="0.5" h="1.57079632679"/>
</Position>
</TeleportAction>
</PrivateAction>
<PrivateAction>
<ControllerAction>
<AssignControllerAction>
<Controller name="HeroAgent">
<Properties>
<Property name="module" value="external_control"/>
</Properties>
</Controller>
</AssignControllerAction>
<OverrideControllerValueAction>
<Throttle value="0" active="false"/>
<Brake value="0" active="false"/>
<Clutch value="0" active="false"/>
<ParkingBrake value="0" active="false"/>
<SteeringWheel value="0" active="false"/>
<Gear number="0" active="false"/>
</OverrideControllerValueAction>
</ControllerAction>
</PrivateAction>
</Private>
<Private entityRef="adversary">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-9.4" y="-71.0" z="0.5" h="1.57079632679"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="standing">
<PrivateAction>
<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_23928">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-2.0028114318847656" y="18.032724380493164" z="0.0030424881260842085"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_close_to_standing_23930">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-1.5032033920288086" y="29.4739990234375" z="0.0030748748686164618"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_close_to_hero_23931">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-10.487432479858398" y="-145.12188720703125" z="0.0016471862327307463"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_close_to_hero_23932">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-8.607144355773926" y="-156.58460998535156" z="0.0016471862327307463"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_close_to_standing_23933">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-6.254003524780273" y="23.61029624938965" z="0.003069648751989007"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_close_to_hero_23934">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="7.4457173347473145" y="-154.65855407714844" z="0.0016471862327307463"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_close_to_adversary_23936">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-9.67687702178955" y="-60.38578796386719" z="0.03373477980494499"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_close_to_hero_23937">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="8.443202018737793" y="-141.64529418945312" z="0.0016471862327307463"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_w_transform_23938">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="29.347347259521484" y="58.745025634765625" z="0.5"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_close_to_hero_23939">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-17.777936935424805" y="-151.50181579589844" z="0.0016471862327307463"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_close_to_standing_23940">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-15.584206581115723" y="31.826887130737305" z="0.0030713272280991077"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_close_to_adversary_23941">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-6.1037702560424805" y="-61.9124755859375" z="0.03382045775651932"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_close_to_standing_23942">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-12.661943435668945" y="26.881927490234375" z="0.0030889511108398438"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_w_transform_23943">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="77.9927749633789" y="-18.20537757873535" z="0.5"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_close_to_standing_23944">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-8.836220741271973" y="25.36682891845703" z="0.0030704496894031763"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_close_to_adversary_23946">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-8.761575698852539" y="-63.652278900146484" z="0.03381427749991417"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_close_to_standing_23947">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-16.618276596069336" y="23.590167999267578" z="0.003091964637860656"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_w_transform_23948">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="38.8652458190918" y="47.830135345458984" z="0.5"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_w_transform_23949">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="59.06068420410156" y="0.5622709393501282" z="0.5"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_w_transform_23950">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-41.425193786621094" y="-24.7508487701416" z="0.5"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_close_to_adversary_23951">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-2.040064573287964" y="-74.49137878417969" z="0.033808402717113495"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
</Actions>
</Init>
<Story name="MyStory">
<Act name="Behavior">
<ManeuverGroup maximumExecutionCount="1" name="ManeuverSequence">
<Actors selectTriggeringEntities="false">
<EntityRef entityRef="adversary"/>
</Actors>
<Maneuver name="LaneChangeSimpleManeuver">
<Event name="AdversaryAccelerates" priority="overwrite">
<Action name="AdversaryAccelerates">
<PrivateAction>
<LongitudinalAction>
<SpeedAction>
<SpeedActionDynamics dynamicsShape="step" value="50" dynamicsDimension="distance"/>
<SpeedActionTarget>
<AbsoluteTargetSpeed value="5.0"/>
</SpeedActionTarget>
</SpeedAction>
</LongitudinalAction>
</PrivateAction>
</Action>
<StartTrigger>
<ConditionGroup>
<Condition name="StartCondition" delay="0" conditionEdge="rising">
<ByEntityCondition>
<TriggeringEntities triggeringEntitiesRule="any">
<EntityRef entityRef="hero"/>
</TriggeringEntities>
<EntityCondition>
<RelativeDistanceCondition entityRef="adversary" relativeDistanceType="cartesianDistance" value="40.0" freespace="false" rule="lessThan"/>
</EntityCondition>
</ByEntityCondition>
</Condition>
</ConditionGroup>
</StartTrigger>
</Event>
<Event name="AdversaryChangesLane" priority="overwrite">
<Action name="AdversaryChangesLane">
<PrivateAction>
<LateralAction>
<LaneChangeAction>
<LaneChangeActionDynamics dynamicsShape="linear" value="25" dynamicsDimension="distance"/>
<LaneChangeTarget>
<RelativeTargetLane entityRef="adversary" value="-1"/>
</LaneChangeTarget>
</LaneChangeAction>
</LateralAction>
</PrivateAction>
</Action>
<StartTrigger>
<ConditionGroup>
<Condition name="AfterAdversaryAccelerates" delay="0" conditionEdge="rising">
<ByValueCondition>
<StoryboardElementStateCondition storyboardElementType="action" storyboardElementRef="AdversaryAccelerates" state="completeState"/>
</ByValueCondition>
</Condition>
</ConditionGroup>
</StartTrigger>
</Event>
</Maneuver>
</ManeuverGroup>
<StartTrigger>
<ConditionGroup>
<Condition name="OverallStartCondition" delay="0" conditionEdge="rising">
<ByEntityCondition>
<TriggeringEntities triggeringEntitiesRule="any">
<EntityRef entityRef="hero"/>
</TriggeringEntities>
<EntityCondition>
<TraveledDistanceCondition value="1.0"/>
</EntityCondition>
</ByEntityCondition>
</Condition>
<Condition name="StartTime" delay="0" conditionEdge="rising">
<ByValueCondition>
<SimulationTimeCondition value="0" rule="equalTo"/>
</ByValueCondition>
</Condition>
</ConditionGroup>
</StartTrigger>
<StopTrigger>
<ConditionGroup>
<Condition name="EndCondition" delay="0" conditionEdge="rising">
<ByEntityCondition>
<TriggeringEntities triggeringEntitiesRule="any">
<EntityRef entityRef="hero"/>
</TriggeringEntities>
<EntityCondition>
<TraveledDistanceCondition value="200.0"/>
</EntityCondition>
</ByEntityCondition>
</Condition>
</ConditionGroup>
</StopTrigger>
</Act>
</Story>
<StopTrigger>
<ConditionGroup>
<Condition name="criteria_RunningStopTest" delay="0" conditionEdge="rising">
<ByValueCondition>
<ParameterCondition parameterRef="" value="" rule="lessThan"/>
</ByValueCondition>
</Condition>
<Condition name="criteria_RunningRedLightTest" delay="0" conditionEdge="rising">
<ByValueCondition>
<ParameterCondition parameterRef="" value="" rule="lessThan"/>
</ByValueCondition>
</Condition>
<Condition name="criteria_WrongLaneTest" delay="0" conditionEdge="rising">
<ByValueCondition>
<ParameterCondition parameterRef="" value="" rule="lessThan"/>
</ByValueCondition>
</Condition>
<Condition name="criteria_OnSidewalkTest" delay="0" conditionEdge="rising">
<ByValueCondition>
<ParameterCondition parameterRef="" value="" rule="lessThan"/>
</ByValueCondition>
</Condition>
<Condition name="criteria_KeepLaneTest" delay="0" conditionEdge="rising">
<ByValueCondition>
<ParameterCondition parameterRef="" value="" rule="lessThan"/>
</ByValueCondition>
</Condition>
<Condition name="criteria_CollisionTest" delay="0" conditionEdge="rising">
<ByValueCondition>
<ParameterCondition parameterRef="" value="" rule="lessThan"/>
</ByValueCondition>
</Condition>
<Condition name="criteria_DrivenDistanceTest" delay="0" conditionEdge="rising">
<ByValueCondition>
<ParameterCondition parameterRef="distance_success" value="100" rule="lessThan"/>
</ByValueCondition>
</Condition>
</ConditionGroup>
</StopTrigger>
</Storyboard>
</OpenSCENARIO>
``` |
could you add pedestrian close to standing?
```
<?xml version="1.0" ?>
<OpenSCENARIO>
<FileHeader revMajor="1" revMinor="0" date="2020-03-24T12:00:00" description="CARLA:LaneChangeSimple" author=""/>
<ParameterDeclarations/>
<CatalogLocations/>
<RoadNetwork>
<LogicFile filepath="Town04"/>
<SceneGraphFile filepath=""/>
</RoadNetwork>
<Entities>
<ScenarioObject name="hero">
<Vehicle name="vehicle.tesla.model3" vehicleCategory="car">
<ParameterDeclarations/>
<Performance maxSpeed="69.444" maxAcceleration="200" maxDeceleration="10.0"/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2.1" length="4.5" height="1.8"/>
</BoundingBox>
<Axles>
<FrontAxle maxSteering="0.5" wheelDiameter="0.6" trackWidth="1.8" positionX="3.1" positionZ="0.3"/>
<RearAxle maxSteering="0.0" wheelDiameter="0.6" trackWidth="1.8" positionX="0.0" positionZ="0.3"/>
</Axles>
<Properties>
<Property name="type" value="ego_vehicle"/>
</Properties>
</Vehicle>
</ScenarioObject>
<ScenarioObject name="adversary">
<Vehicle name="vehicle.lincoln.mkz_2017" vehicleCategory="car">
<ParameterDeclarations/>
<Performance maxSpeed="69.444" maxAcceleration="200" maxDeceleration="10.0"/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2.1" length="4.5" height="1.8"/>
</BoundingBox>
<Axles>
<FrontAxle maxSteering="0.5" wheelDiameter="0.6" trackWidth="1.8" positionX="3.1" positionZ="0.3"/>
<RearAxle maxSteering="0.0" wheelDiameter="0.6" trackWidth="1.8" positionX="0.0" positionZ="0.3"/>
</Axles>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Vehicle>
</ScenarioObject>
<ScenarioObject name="standing">
<Vehicle name="vehicle.volkswagen.t2" vehicleCategory="car">
<ParameterDeclarations/>
<Performance maxSpeed="69.444" maxAcceleration="200" maxDeceleration="10.0"/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2.1" length="4.5" height="1.8"/>
</BoundingBox>
<Axles>
<FrontAxle maxSteering="0.5" wheelDiameter="0.6" trackWidth="1.8" positionX="3.1" positionZ="0.3"/>
<RearAxle maxSteering="0.0" wheelDiameter="0.6" trackWidth="1.8" positionX="0.0" positionZ="0.3"/>
</Axles>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Vehicle>
</ScenarioObject>
<ScenarioObject name="pedestrian_close_to_adversary_21372">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_w_transform_21373">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_close_to_hero_21374">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_close_to_standing_21375">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_close_to_adversary_21376">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_w_transform_21377">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_w_transform_21378">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_close_to_hero_21379">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_w_transform_21380">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_close_to_standing_21381">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
</Entities>
<Storyboard>
<Init>
<Actions>
<GlobalAction>
<EnvironmentAction>
<Environment name="Environment1">
<TimeOfDay animation="false" dateTime="2019-06-25T12:00:00"/>
<Weather cloudState="free">
<Sun intensity="0.85" azimuth="0" elevation="1.31"/>
<Fog visualRange="100000.0"/>
<Precipitation precipitationType="dry" intensity="0.0"/>
</Weather>
<RoadCondition frictionScaleFactor="1.0"/>
</Environment>
</EnvironmentAction>
</GlobalAction>
<Private entityRef="hero">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-9.4" y="-152.8" z="0.5" h="1.57079632679"/>
</Position>
</TeleportAction>
</PrivateAction>
<PrivateAction>
<ControllerAction>
<AssignControllerAction>
<Controller name="HeroAgent">
<Properties>
<Property name="module" value="external_control"/>
</Properties>
</Controller>
</AssignControllerAction>
<OverrideControllerValueAction>
<Throttle value="0" active="false"/>
<Brake value="0" active="false"/>
<Clutch value="0" active="false"/>
<ParkingBrake value="0" active="false"/>
<SteeringWheel value="0" active="false"/>
<Gear number="0" active="false"/>
</OverrideControllerValueAction>
</ControllerAction>
</PrivateAction>
</Private>
<Private entityRef="adversary">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-9.4" y="-71.0" z="0.5" h="1.57079632679"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="standing">
<PrivateAction>
<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_21372">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-6.40047550201416" y="-77.3943862915039" z="0.033787764608860016"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_w_transform_21373">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-17.610427856445312" y="-61.49503707885742" z="0.5"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_close_to_hero_21374">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="5.892465114593506" y="-148.6652069091797" z="0.0020974730141460896"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_close_to_standing_21375">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-5.023068904876709" y="34.513397216796875" z="0.0030516432598233223"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_close_to_adversary_21376">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-5.723031044006348" y="-64.45954895019531" z="0.033793412148952484"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_w_transform_21377">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="36.90463638305664" y="-7.34802770614624" z="0.5"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_w_transform_21378">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-44.57882308959961" y="95.43016052246094" z="0.5"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_close_to_hero_21379">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-3.6772618293762207" y="-146.174560546875" z="0.0020974730141460896"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_w_transform_21380">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="59.040283203125" y="-81.6593017578125" z="0.5"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_close_to_standing_21381">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-11.583593368530273" y="26.550153732299805" z="0.0031019209418445826"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
</Actions>
</Init>
<Story name="MyStory">
<Act name="Behavior">
<ManeuverGroup maximumExecutionCount="1" name="ManeuverSequence">
<Actors selectTriggeringEntities="false">
<EntityRef entityRef="adversary"/>
</Actors>
<Maneuver name="LaneChangeSimpleManeuver">
<Event name="AdversaryAccelerates" priority="overwrite">
<Action name="AdversaryAccelerates">
<PrivateAction>
<LongitudinalAction>
<SpeedAction>
<SpeedActionDynamics dynamicsShape="step" value="50" dynamicsDimension="distance"/>
<SpeedActionTarget>
<AbsoluteTargetSpeed value="5.0"/>
</SpeedActionTarget>
</SpeedAction>
</LongitudinalAction>
</PrivateAction>
</Action>
<StartTrigger>
<ConditionGroup>
<Condition name="StartCondition" delay="0" conditionEdge="rising">
<ByEntityCondition>
<TriggeringEntities triggeringEntitiesRule="any">
<EntityRef entityRef="hero"/>
</TriggeringEntities>
<EntityCondition>
<RelativeDistanceCondition entityRef="adversary" relativeDistanceType="cartesianDistance" value="40.0" freespace="false" rule="lessThan"/>
</EntityCondition>
</ByEntityCondition>
</Condition>
</ConditionGroup>
</StartTrigger>
</Event>
<Event name="AdversaryChangesLane" priority="overwrite">
<Action name="AdversaryChangesLane">
<PrivateAction>
<LateralAction>
<LaneChangeAction>
<LaneChangeActionDynamics dynamicsShape="linear" value="25" dynamicsDimension="distance"/>
<LaneChangeTarget>
<RelativeTargetLane entityRef="adversary" value="-1"/>
</LaneChangeTarget>
</LaneChangeAction>
</LateralAction>
</PrivateAction>
</Action>
<StartTrigger>
<ConditionGroup>
<Condition name="AfterAdversaryAccelerates" delay="0" conditionEdge="rising">
<ByValueCondition>
<StoryboardElementStateCondition storyboardElementType="action" storyboardElementRef="AdversaryAccelerates" state="completeState"/>
</ByValueCondition>
</Condition>
</ConditionGroup>
</StartTrigger>
</Event>
</Maneuver>
</ManeuverGroup>
<StartTrigger>
<ConditionGroup>
<Condition name="OverallStartCondition" delay="0" conditionEdge="rising">
<ByEntityCondition>
<TriggeringEntities triggeringEntitiesRule="any">
<EntityRef entityRef="hero"/>
</TriggeringEntities>
<EntityCondition>
<TraveledDistanceCondition value="1.0"/>
</EntityCondition>
</ByEntityCondition>
</Condition>
<Condition name="StartTime" delay="0" conditionEdge="rising">
<ByValueCondition>
<SimulationTimeCondition value="0" rule="equalTo"/>
</ByValueCondition>
</Condition>
</ConditionGroup>
</StartTrigger>
<StopTrigger>
<ConditionGroup>
<Condition name="EndCondition" delay="0" conditionEdge="rising">
<ByEntityCondition>
<TriggeringEntities triggeringEntitiesRule="any">
<EntityRef entityRef="hero"/>
</TriggeringEntities>
<EntityCondition>
<TraveledDistanceCondition value="200.0"/>
</EntityCondition>
</ByEntityCondition>
</Condition>
</ConditionGroup>
</StopTrigger>
</Act>
</Story>
<StopTrigger>
<ConditionGroup>
<Condition name="criteria_RunningStopTest" delay="0" conditionEdge="rising">
<ByValueCondition>
<ParameterCondition parameterRef="" value="" rule="lessThan"/>
</ByValueCondition>
</Condition>
<Condition name="criteria_RunningRedLightTest" delay="0" conditionEdge="rising">
<ByValueCondition>
<ParameterCondition parameterRef="" value="" rule="lessThan"/>
</ByValueCondition>
</Condition>
<Condition name="criteria_WrongLaneTest" delay="0" conditionEdge="rising">
<ByValueCondition>
<ParameterCondition parameterRef="" value="" rule="lessThan"/>
</ByValueCondition>
</Condition>
<Condition name="criteria_OnSidewalkTest" delay="0" conditionEdge="rising">
<ByValueCondition>
<ParameterCondition parameterRef="" value="" rule="lessThan"/>
</ByValueCondition>
</Condition>
<Condition name="criteria_KeepLaneTest" delay="0" conditionEdge="rising">
<ByValueCondition>
<ParameterCondition parameterRef="" value="" rule="lessThan"/>
</ByValueCondition>
</Condition>
<Condition name="criteria_CollisionTest" delay="0" conditionEdge="rising">
<ByValueCondition>
<ParameterCondition parameterRef="" value="" rule="lessThan"/>
</ByValueCondition>
</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_21372">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_w_transform_21373">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_close_to_hero_21374">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_close_to_standing_21375">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_close_to_adversary_21376">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_w_transform_21377">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_w_transform_21378">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_close_to_hero_21379">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_w_transform_21380">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_close_to_standing_21381">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_close_to_standing_21382">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
</Entities>
<Storyboard>
<Init>
<Actions>
<GlobalAction>
<EnvironmentAction>
<Environment name="Environment1">
<TimeOfDay animation="false" dateTime="2019-06-25T12:00:00"/>
<Weather cloudState="free">
<Sun intensity="0.85" azimuth="0" elevation="1.31"/>
<Fog visualRange="100000.0"/>
<Precipitation precipitationType="dry" intensity="0.0"/>
</Weather>
<RoadCondition frictionScaleFactor="1.0"/>
</Environment>
</EnvironmentAction>
</GlobalAction>
<Private entityRef="hero">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-9.4" y="-152.8" z="0.5" h="1.57079632679"/>
</Position>
</TeleportAction>
</PrivateAction>
<PrivateAction>
<ControllerAction>
<AssignControllerAction>
<Controller name="HeroAgent">
<Properties>
<Property name="module" value="external_control"/>
</Properties>
</Controller>
</AssignControllerAction>
<OverrideControllerValueAction>
<Throttle value="0" active="false"/>
<Brake value="0" active="false"/>
<Clutch value="0" active="false"/>
<ParkingBrake value="0" active="false"/>
<SteeringWheel value="0" active="false"/>
<Gear number="0" active="false"/>
</OverrideControllerValueAction>
</ControllerAction>
</PrivateAction>
</Private>
<Private entityRef="adversary">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-9.4" y="-71.0" z="0.5" h="1.57079632679"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="standing">
<PrivateAction>
<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_21372">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-6.40047550201416" y="-77.3943862915039" z="0.033787764608860016"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_w_transform_21373">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-17.610427856445312" y="-61.49503707885742" z="0.5"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_close_to_hero_21374">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="5.892465114593506" y="-148.6652069091797" z="0.0020974730141460896"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_close_to_standing_21375">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-5.023068904876709" y="34.513397216796875" z="0.0030516432598233223"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_close_to_adversary_21376">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-5.723031044006348" y="-64.45954895019531" z="0.033793412148952484"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_w_transform_21377">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="36.90463638305664" y="-7.34802770614624" z="0.5"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_w_transform_21378">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-44.57882308959961" y="95.43016052246094" z="0.5"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_close_to_hero_21379">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-3.6772618293762207" y="-146.174560546875" z="0.0020974730141460896"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_w_transform_21380">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="59.040283203125" y="-81.6593017578125" z="0.5"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_close_to_standing_21381">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-11.583593368530273" y="26.550153732299805" z="0.0031019209418445826"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_close_to_standing_21382">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-6.302452564239502" y="19.457382202148438" z="0.003099059918895364"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
</Actions>
</Init>
<Story name="MyStory">
<Act name="Behavior">
<ManeuverGroup maximumExecutionCount="1" name="ManeuverSequence">
<Actors selectTriggeringEntities="false">
<EntityRef entityRef="adversary"/>
</Actors>
<Maneuver name="LaneChangeSimpleManeuver">
<Event name="AdversaryAccelerates" priority="overwrite">
<Action name="AdversaryAccelerates">
<PrivateAction>
<LongitudinalAction>
<SpeedAction>
<SpeedActionDynamics dynamicsShape="step" value="50" dynamicsDimension="distance"/>
<SpeedActionTarget>
<AbsoluteTargetSpeed value="5.0"/>
</SpeedActionTarget>
</SpeedAction>
</LongitudinalAction>
</PrivateAction>
</Action>
<StartTrigger>
<ConditionGroup>
<Condition name="StartCondition" delay="0" conditionEdge="rising">
<ByEntityCondition>
<TriggeringEntities triggeringEntitiesRule="any">
<EntityRef entityRef="hero"/>
</TriggeringEntities>
<EntityCondition>
<RelativeDistanceCondition entityRef="adversary" relativeDistanceType="cartesianDistance" value="40.0" freespace="false" rule="lessThan"/>
</EntityCondition>
</ByEntityCondition>
</Condition>
</ConditionGroup>
</StartTrigger>
</Event>
<Event name="AdversaryChangesLane" priority="overwrite">
<Action name="AdversaryChangesLane">
<PrivateAction>
<LateralAction>
<LaneChangeAction>
<LaneChangeActionDynamics dynamicsShape="linear" value="25" dynamicsDimension="distance"/>
<LaneChangeTarget>
<RelativeTargetLane entityRef="adversary" value="-1"/>
</LaneChangeTarget>
</LaneChangeAction>
</LateralAction>
</PrivateAction>
</Action>
<StartTrigger>
<ConditionGroup>
<Condition name="AfterAdversaryAccelerates" delay="0" conditionEdge="rising">
<ByValueCondition>
<StoryboardElementStateCondition storyboardElementType="action" storyboardElementRef="AdversaryAccelerates" state="completeState"/>
</ByValueCondition>
</Condition>
</ConditionGroup>
</StartTrigger>
</Event>
</Maneuver>
</ManeuverGroup>
<StartTrigger>
<ConditionGroup>
<Condition name="OverallStartCondition" delay="0" conditionEdge="rising">
<ByEntityCondition>
<TriggeringEntities triggeringEntitiesRule="any">
<EntityRef entityRef="hero"/>
</TriggeringEntities>
<EntityCondition>
<TraveledDistanceCondition value="1.0"/>
</EntityCondition>
</ByEntityCondition>
</Condition>
<Condition name="StartTime" delay="0" conditionEdge="rising">
<ByValueCondition>
<SimulationTimeCondition value="0" rule="equalTo"/>
</ByValueCondition>
</Condition>
</ConditionGroup>
</StartTrigger>
<StopTrigger>
<ConditionGroup>
<Condition name="EndCondition" delay="0" conditionEdge="rising">
<ByEntityCondition>
<TriggeringEntities triggeringEntitiesRule="any">
<EntityRef entityRef="hero"/>
</TriggeringEntities>
<EntityCondition>
<TraveledDistanceCondition value="200.0"/>
</EntityCondition>
</ByEntityCondition>
</Condition>
</ConditionGroup>
</StopTrigger>
</Act>
</Story>
<StopTrigger>
<ConditionGroup>
<Condition name="criteria_RunningStopTest" delay="0" conditionEdge="rising">
<ByValueCondition>
<ParameterCondition parameterRef="" value="" rule="lessThan"/>
</ByValueCondition>
</Condition>
<Condition name="criteria_RunningRedLightTest" delay="0" conditionEdge="rising">
<ByValueCondition>
<ParameterCondition parameterRef="" value="" rule="lessThan"/>
</ByValueCondition>
</Condition>
<Condition name="criteria_WrongLaneTest" delay="0" conditionEdge="rising">
<ByValueCondition>
<ParameterCondition parameterRef="" value="" rule="lessThan"/>
</ByValueCondition>
</Condition>
<Condition name="criteria_OnSidewalkTest" delay="0" conditionEdge="rising">
<ByValueCondition>
<ParameterCondition parameterRef="" value="" rule="lessThan"/>
</ByValueCondition>
</Condition>
<Condition name="criteria_KeepLaneTest" delay="0" conditionEdge="rising">
<ByValueCondition>
<ParameterCondition parameterRef="" value="" rule="lessThan"/>
</ByValueCondition>
</Condition>
<Condition name="criteria_CollisionTest" delay="0" conditionEdge="rising">
<ByValueCondition>
<ParameterCondition parameterRef="" value="" rule="lessThan"/>
</ByValueCondition>
</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 (69.6, 34.35, 0.5)?
```
<?xml version="1.0" ?>
<OpenSCENARIO>
<FileHeader revMajor="1" revMinor="0" date="2020-03-24T12:00:00" description="CARLA:LaneChangeSimple" author=""/>
<ParameterDeclarations/>
<CatalogLocations/>
<RoadNetwork>
<LogicFile filepath="Town04"/>
<SceneGraphFile filepath=""/>
</RoadNetwork>
<Entities>
<ScenarioObject name="hero">
<Vehicle name="vehicle.tesla.model3" vehicleCategory="car">
<ParameterDeclarations/>
<Performance maxSpeed="69.444" maxAcceleration="200" maxDeceleration="10.0"/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2.1" length="4.5" height="1.8"/>
</BoundingBox>
<Axles>
<FrontAxle maxSteering="0.5" wheelDiameter="0.6" trackWidth="1.8" positionX="3.1" positionZ="0.3"/>
<RearAxle maxSteering="0.0" wheelDiameter="0.6" trackWidth="1.8" positionX="0.0" positionZ="0.3"/>
</Axles>
<Properties>
<Property name="type" value="ego_vehicle"/>
</Properties>
</Vehicle>
</ScenarioObject>
<ScenarioObject name="adversary">
<Vehicle name="vehicle.lincoln.mkz_2017" vehicleCategory="car">
<ParameterDeclarations/>
<Performance maxSpeed="69.444" maxAcceleration="200" maxDeceleration="10.0"/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2.1" length="4.5" height="1.8"/>
</BoundingBox>
<Axles>
<FrontAxle maxSteering="0.5" wheelDiameter="0.6" trackWidth="1.8" positionX="3.1" positionZ="0.3"/>
<RearAxle maxSteering="0.0" wheelDiameter="0.6" trackWidth="1.8" positionX="0.0" positionZ="0.3"/>
</Axles>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Vehicle>
</ScenarioObject>
<ScenarioObject name="standing">
<Vehicle name="vehicle.volkswagen.t2" vehicleCategory="car">
<ParameterDeclarations/>
<Performance maxSpeed="69.444" maxAcceleration="200" maxDeceleration="10.0"/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2.1" length="4.5" height="1.8"/>
</BoundingBox>
<Axles>
<FrontAxle maxSteering="0.5" wheelDiameter="0.6" trackWidth="1.8" positionX="3.1" positionZ="0.3"/>
<RearAxle maxSteering="0.0" wheelDiameter="0.6" trackWidth="1.8" positionX="0.0" positionZ="0.3"/>
</Axles>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Vehicle>
</ScenarioObject>
<ScenarioObject name="pedestrian_close_to_adversary_7315">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_close_to_standing_7316">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_w_transform_7317">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_w_transform_7319">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_w_transform_7320">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_w_transform_7321">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_w_transform_7322">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_close_to_standing_7323">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_w_transform_7325">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_close_to_standing_7326">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_w_transform_7327">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_w_transform_7328">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_close_to_hero_7329">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_w_transform_7330">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_close_to_standing_7331">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_close_to_standing_7332">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_w_transform_7333">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_close_to_hero_7334">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_w_transform_7335">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_w_transform_7336">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_w_transform_7337">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_close_to_hero_7338">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_w_transform_7339">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_close_to_adversary_7340">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
</Entities>
<Storyboard>
<Init>
<Actions>
<GlobalAction>
<EnvironmentAction>
<Environment name="Environment1">
<TimeOfDay animation="false" dateTime="2019-06-25T12:00:00"/>
<Weather cloudState="free">
<Sun intensity="0.85" azimuth="0" elevation="1.31"/>
<Fog visualRange="100000.0"/>
<Precipitation precipitationType="dry" intensity="0.0"/>
</Weather>
<RoadCondition frictionScaleFactor="1.0"/>
</Environment>
</EnvironmentAction>
</GlobalAction>
<Private entityRef="hero">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-9.4" y="-152.8" z="0.5" h="1.57079632679"/>
</Position>
</TeleportAction>
</PrivateAction>
<PrivateAction>
<ControllerAction>
<AssignControllerAction>
<Controller name="HeroAgent">
<Properties>
<Property name="module" value="external_control"/>
</Properties>
</Controller>
</AssignControllerAction>
<OverrideControllerValueAction>
<Throttle value="0" active="false"/>
<Brake value="0" active="false"/>
<Clutch value="0" active="false"/>
<ParkingBrake value="0" active="false"/>
<SteeringWheel value="0" active="false"/>
<Gear number="0" active="false"/>
</OverrideControllerValueAction>
</ControllerAction>
</PrivateAction>
</Private>
<Private entityRef="adversary">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-9.4" y="-71.0" z="0.5" h="1.57079632679"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="standing">
<PrivateAction>
<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_7315">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-6.212612628936768" y="-69.06664276123047" z="0.03368720784783363"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_close_to_standing_7316">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-16.887495040893555" y="35.13165283203125" z="0.003035697853192687"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_w_transform_7317">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-61.10027313232422" y="34.75965881347656" z="0.5"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_w_transform_7319">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-57.800140380859375" y="-3.928840398788452" z="0.5"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_w_transform_7320">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="76.68450164794922" y="-83.5453872680664" z="0.5"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_w_transform_7321">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="19.60953140258789" y="45.66559982299805" z="0.5"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_w_transform_7322">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="57.44193649291992" y="-5.568584442138672" z="0.5"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_close_to_standing_7323">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="1.7619869709014893" y="32.743167877197266" z="0.0030527496710419655"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_w_transform_7325">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="59.14522171020508" y="-73.86896514892578" z="0.5"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_close_to_standing_7326">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-6.1884636878967285" y="23.745851516723633" z="0.003046569647267461"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_w_transform_7327">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-93.79686737060547" y="-11.622455596923828" z="0.5"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_w_transform_7328">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-74.99817657470703" y="48.49812316894531" z="0.5"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_close_to_hero_7329">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-10.592778205871582" y="-144.045654296875" z="0.0013900374760851264"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_w_transform_7330">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="19.97864532470703" y="52.72874069213867" z="0.5"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_close_to_standing_7331">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-16.771228790283203" y="38.73421859741211" z="0.0030948638450354338"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_close_to_standing_7332">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-5.882357597351074" y="26.26420783996582" z="0.003065032884478569"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_w_transform_7333">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-93.13835906982422" y="-35.98295974731445" z="0.5"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_close_to_hero_7334">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-17.948575973510742" y="-147.43130493164062" z="0.0013900374760851264"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_w_transform_7335">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="13.10023307800293" y="-54.07490921020508" z="0.5"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_w_transform_7336">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="79.08477020263672" y="47.154541015625" z="0.5"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_w_transform_7337">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="60.01966094970703" y="-63.16887664794922" z="0.5"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_close_to_hero_7338">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-17.2711238861084" y="-153.29322814941406" z="0.0013900374760851264"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_w_transform_7339">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-8.106917381286621" y="82.31455993652344" z="0.5"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_close_to_adversary_7340">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-9.312304496765137" y="-63.519954681396484" z="0.033793412148952484"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
</Actions>
</Init>
<Story name="MyStory">
<Act name="Behavior">
<ManeuverGroup maximumExecutionCount="1" name="ManeuverSequence">
<Actors selectTriggeringEntities="false">
<EntityRef entityRef="adversary"/>
</Actors>
<Maneuver name="LaneChangeSimpleManeuver">
<Event name="AdversaryAccelerates" priority="overwrite">
<Action name="AdversaryAccelerates">
<PrivateAction>
<LongitudinalAction>
<SpeedAction>
<SpeedActionDynamics dynamicsShape="step" value="50" dynamicsDimension="distance"/>
<SpeedActionTarget>
<AbsoluteTargetSpeed value="5.0"/>
</SpeedActionTarget>
</SpeedAction>
</LongitudinalAction>
</PrivateAction>
</Action>
<StartTrigger>
<ConditionGroup>
<Condition name="StartCondition" delay="0" conditionEdge="rising">
<ByEntityCondition>
<TriggeringEntities triggeringEntitiesRule="any">
<EntityRef entityRef="hero"/>
</TriggeringEntities>
<EntityCondition>
<RelativeDistanceCondition entityRef="adversary" relativeDistanceType="cartesianDistance" value="40.0" freespace="false" rule="lessThan"/>
</EntityCondition>
</ByEntityCondition>
</Condition>
</ConditionGroup>
</StartTrigger>
</Event>
<Event name="AdversaryChangesLane" priority="overwrite">
<Action name="AdversaryChangesLane">
<PrivateAction>
<LateralAction>
<LaneChangeAction>
<LaneChangeActionDynamics dynamicsShape="linear" value="25" dynamicsDimension="distance"/>
<LaneChangeTarget>
<RelativeTargetLane entityRef="adversary" value="-1"/>
</LaneChangeTarget>
</LaneChangeAction>
</LateralAction>
</PrivateAction>
</Action>
<StartTrigger>
<ConditionGroup>
<Condition name="AfterAdversaryAccelerates" delay="0" conditionEdge="rising">
<ByValueCondition>
<StoryboardElementStateCondition storyboardElementType="action" storyboardElementRef="AdversaryAccelerates" state="completeState"/>
</ByValueCondition>
</Condition>
</ConditionGroup>
</StartTrigger>
</Event>
</Maneuver>
</ManeuverGroup>
<StartTrigger>
<ConditionGroup>
<Condition name="OverallStartCondition" delay="0" conditionEdge="rising">
<ByEntityCondition>
<TriggeringEntities triggeringEntitiesRule="any">
<EntityRef entityRef="hero"/>
</TriggeringEntities>
<EntityCondition>
<TraveledDistanceCondition value="1.0"/>
</EntityCondition>
</ByEntityCondition>
</Condition>
<Condition name="StartTime" delay="0" conditionEdge="rising">
<ByValueCondition>
<SimulationTimeCondition value="0" rule="equalTo"/>
</ByValueCondition>
</Condition>
</ConditionGroup>
</StartTrigger>
<StopTrigger>
<ConditionGroup>
<Condition name="EndCondition" delay="0" conditionEdge="rising">
<ByEntityCondition>
<TriggeringEntities triggeringEntitiesRule="any">
<EntityRef entityRef="hero"/>
</TriggeringEntities>
<EntityCondition>
<TraveledDistanceCondition value="200.0"/>
</EntityCondition>
</ByEntityCondition>
</Condition>
</ConditionGroup>
</StopTrigger>
</Act>
</Story>
<StopTrigger>
<ConditionGroup>
<Condition name="criteria_RunningStopTest" delay="0" conditionEdge="rising">
<ByValueCondition>
<ParameterCondition parameterRef="" value="" rule="lessThan"/>
</ByValueCondition>
</Condition>
<Condition name="criteria_RunningRedLightTest" delay="0" conditionEdge="rising">
<ByValueCondition>
<ParameterCondition parameterRef="" value="" rule="lessThan"/>
</ByValueCondition>
</Condition>
<Condition name="criteria_WrongLaneTest" delay="0" conditionEdge="rising">
<ByValueCondition>
<ParameterCondition parameterRef="" value="" rule="lessThan"/>
</ByValueCondition>
</Condition>
<Condition name="criteria_OnSidewalkTest" delay="0" conditionEdge="rising">
<ByValueCondition>
<ParameterCondition parameterRef="" value="" rule="lessThan"/>
</ByValueCondition>
</Condition>
<Condition name="criteria_KeepLaneTest" delay="0" conditionEdge="rising">
<ByValueCondition>
<ParameterCondition parameterRef="" value="" rule="lessThan"/>
</ByValueCondition>
</Condition>
<Condition name="criteria_CollisionTest" delay="0" conditionEdge="rising">
<ByValueCondition>
<ParameterCondition parameterRef="" value="" rule="lessThan"/>
</ByValueCondition>
</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>
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<Properties>
<Property name="type" value="ego_vehicle"/>
</Properties>
</Vehicle>
</ScenarioObject>
<ScenarioObject name="adversary">
<Vehicle name="vehicle.lincoln.mkz_2017" vehicleCategory="car">
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<Performance maxSpeed="69.444" maxAcceleration="200" maxDeceleration="10.0"/>
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</Axles>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Vehicle>
</ScenarioObject>
<ScenarioObject name="standing">
<Vehicle name="vehicle.volkswagen.t2" vehicleCategory="car">
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<Performance maxSpeed="69.444" maxAcceleration="200" maxDeceleration="10.0"/>
<BoundingBox>
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<Properties>
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</Properties>
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<ScenarioObject name="pedestrian_close_to_adversary_7315">
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<Property name="module" value="external_control"/>
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<Maneuver name="LaneChangeSimpleManeuver">
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</SpeedAction>
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</Action>
<StartTrigger>
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<Condition name="StartCondition" delay="0" conditionEdge="rising">
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<TriggeringEntities triggeringEntitiesRule="any">
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<RelativeDistanceCondition entityRef="adversary" relativeDistanceType="cartesianDistance" value="40.0" freespace="false" rule="lessThan"/>
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<Event name="AdversaryChangesLane" priority="overwrite">
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<StartTrigger>
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<Condition name="AfterAdversaryAccelerates" delay="0" conditionEdge="rising">
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<StoryboardElementStateCondition storyboardElementType="action" storyboardElementRef="AdversaryAccelerates" state="completeState"/>
</ByValueCondition>
</Condition>
</ConditionGroup>
</StartTrigger>
</Event>
</Maneuver>
</ManeuverGroup>
<StartTrigger>
<ConditionGroup>
<Condition name="OverallStartCondition" delay="0" conditionEdge="rising">
<ByEntityCondition>
<TriggeringEntities triggeringEntitiesRule="any">
<EntityRef entityRef="hero"/>
</TriggeringEntities>
<EntityCondition>
<TraveledDistanceCondition value="1.0"/>
</EntityCondition>
</ByEntityCondition>
</Condition>
<Condition name="StartTime" delay="0" conditionEdge="rising">
<ByValueCondition>
<SimulationTimeCondition value="0" rule="equalTo"/>
</ByValueCondition>
</Condition>
</ConditionGroup>
</StartTrigger>
<StopTrigger>
<ConditionGroup>
<Condition name="EndCondition" delay="0" conditionEdge="rising">
<ByEntityCondition>
<TriggeringEntities triggeringEntitiesRule="any">
<EntityRef entityRef="hero"/>
</TriggeringEntities>
<EntityCondition>
<TraveledDistanceCondition value="200.0"/>
</EntityCondition>
</ByEntityCondition>
</Condition>
</ConditionGroup>
</StopTrigger>
</Act>
</Story>
<StopTrigger>
<ConditionGroup>
<Condition name="criteria_RunningStopTest" delay="0" conditionEdge="rising">
<ByValueCondition>
<ParameterCondition parameterRef="" value="" rule="lessThan"/>
</ByValueCondition>
</Condition>
<Condition name="criteria_RunningRedLightTest" delay="0" conditionEdge="rising">
<ByValueCondition>
<ParameterCondition parameterRef="" value="" rule="lessThan"/>
</ByValueCondition>
</Condition>
<Condition name="criteria_WrongLaneTest" delay="0" conditionEdge="rising">
<ByValueCondition>
<ParameterCondition parameterRef="" value="" rule="lessThan"/>
</ByValueCondition>
</Condition>
<Condition name="criteria_OnSidewalkTest" delay="0" conditionEdge="rising">
<ByValueCondition>
<ParameterCondition parameterRef="" value="" rule="lessThan"/>
</ByValueCondition>
</Condition>
<Condition name="criteria_KeepLaneTest" delay="0" conditionEdge="rising">
<ByValueCondition>
<ParameterCondition parameterRef="" value="" rule="lessThan"/>
</ByValueCondition>
</Condition>
<Condition name="criteria_CollisionTest" delay="0" conditionEdge="rising">
<ByValueCondition>
<ParameterCondition parameterRef="" value="" rule="lessThan"/>
</ByValueCondition>
</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>
<ScenarioObject name="pedestrian_close_to_standing_14616">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_close_to_hero_14617">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_close_to_hero_14618">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_close_to_adversary_14619">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_close_to_hero_14620">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_close_to_hero_14621">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_w_transform_14622">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_w_transform_14623">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_w_transform_14624">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_close_to_adversary_14625">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
</Entities>
<Storyboard>
<Init>
<Actions>
<GlobalAction>
<EnvironmentAction>
<Environment name="Environment1">
<TimeOfDay animation="false" dateTime="2019-06-25T12:00:00"/>
<Weather cloudState="free">
<Sun intensity="0.85" azimuth="0" elevation="1.31"/>
<Fog visualRange="100000.0"/>
<Precipitation precipitationType="dry" intensity="0.0"/>
</Weather>
<RoadCondition frictionScaleFactor="1.0"/>
</Environment>
</EnvironmentAction>
</GlobalAction>
<Private entityRef="hero">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-9.4" y="-152.8" z="0.5" h="1.57079632679"/>
</Position>
</TeleportAction>
</PrivateAction>
<PrivateAction>
<ControllerAction>
<AssignControllerAction>
<Controller name="HeroAgent">
<Properties>
<Property name="module" value="external_control"/>
</Properties>
</Controller>
</AssignControllerAction>
<OverrideControllerValueAction>
<Throttle value="0" active="false"/>
<Brake value="0" active="false"/>
<Clutch value="0" active="false"/>
<ParkingBrake value="0" active="false"/>
<SteeringWheel value="0" active="false"/>
<Gear number="0" active="false"/>
</OverrideControllerValueAction>
</ControllerAction>
</PrivateAction>
</Private>
<Private entityRef="adversary">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-9.4" y="-71.0" z="0.5" h="1.57079632679"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="standing">
<PrivateAction>
<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_14616">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-15.404289245605469" y="37.87152862548828" z="0.003131065284833312"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_close_to_hero_14617">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-2.2090651988983154" y="-158.2367401123047" z="0.0018838500836864114"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_close_to_hero_14618">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-9.694766998291016" y="-160.75643920898438" z="0.0018838500836864114"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_close_to_adversary_14619">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-15.020492553710938" y="-75.68254089355469" z="0.033854711800813675"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_close_to_hero_14620">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-10.185148239135742" y="-148.74313354492188" z="0.0018838500836864114"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_close_to_hero_14621">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-22.461944580078125" y="-146.2854461669922" z="0.0018838500836864114"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_w_transform_14622">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-67.89495849609375" y="-90.96959686279297" z="0.5"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_w_transform_14623">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="42.151119232177734" y="81.63732147216797" z="0.5"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_w_transform_14624">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="82.62598419189453" y="-83.83184814453125" z="0.5"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_close_to_adversary_14625">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-11.955422401428223" y="-61.74345016479492" z="0.03384136036038399"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
</Actions>
</Init>
<Story name="MyStory">
<Act name="Behavior">
<ManeuverGroup maximumExecutionCount="1" name="ManeuverSequence">
<Actors selectTriggeringEntities="false">
<EntityRef entityRef="adversary"/>
</Actors>
<Maneuver name="LaneChangeSimpleManeuver">
<Event name="AdversaryAccelerates" priority="overwrite">
<Action name="AdversaryAccelerates">
<PrivateAction>
<LongitudinalAction>
<SpeedAction>
<SpeedActionDynamics dynamicsShape="step" value="50" dynamicsDimension="distance"/>
<SpeedActionTarget>
<AbsoluteTargetSpeed value="5.0"/>
</SpeedActionTarget>
</SpeedAction>
</LongitudinalAction>
</PrivateAction>
</Action>
<StartTrigger>
<ConditionGroup>
<Condition name="StartCondition" delay="0" conditionEdge="rising">
<ByEntityCondition>
<TriggeringEntities triggeringEntitiesRule="any">
<EntityRef entityRef="hero"/>
</TriggeringEntities>
<EntityCondition>
<RelativeDistanceCondition entityRef="adversary" relativeDistanceType="cartesianDistance" value="40.0" freespace="false" rule="lessThan"/>
</EntityCondition>
</ByEntityCondition>
</Condition>
</ConditionGroup>
</StartTrigger>
</Event>
<Event name="AdversaryChangesLane" priority="overwrite">
<Action name="AdversaryChangesLane">
<PrivateAction>
<LateralAction>
<LaneChangeAction>
<LaneChangeActionDynamics dynamicsShape="linear" value="25" dynamicsDimension="distance"/>
<LaneChangeTarget>
<RelativeTargetLane entityRef="adversary" value="-1"/>
</LaneChangeTarget>
</LaneChangeAction>
</LateralAction>
</PrivateAction>
</Action>
<StartTrigger>
<ConditionGroup>
<Condition name="AfterAdversaryAccelerates" delay="0" conditionEdge="rising">
<ByValueCondition>
<StoryboardElementStateCondition storyboardElementType="action" storyboardElementRef="AdversaryAccelerates" state="completeState"/>
</ByValueCondition>
</Condition>
</ConditionGroup>
</StartTrigger>
</Event>
</Maneuver>
</ManeuverGroup>
<StartTrigger>
<ConditionGroup>
<Condition name="OverallStartCondition" delay="0" conditionEdge="rising">
<ByEntityCondition>
<TriggeringEntities triggeringEntitiesRule="any">
<EntityRef entityRef="hero"/>
</TriggeringEntities>
<EntityCondition>
<TraveledDistanceCondition value="1.0"/>
</EntityCondition>
</ByEntityCondition>
</Condition>
<Condition name="StartTime" delay="0" conditionEdge="rising">
<ByValueCondition>
<SimulationTimeCondition value="0" rule="equalTo"/>
</ByValueCondition>
</Condition>
</ConditionGroup>
</StartTrigger>
<StopTrigger>
<ConditionGroup>
<Condition name="EndCondition" delay="0" conditionEdge="rising">
<ByEntityCondition>
<TriggeringEntities triggeringEntitiesRule="any">
<EntityRef entityRef="hero"/>
</TriggeringEntities>
<EntityCondition>
<TraveledDistanceCondition value="200.0"/>
</EntityCondition>
</ByEntityCondition>
</Condition>
</ConditionGroup>
</StopTrigger>
</Act>
</Story>
<StopTrigger>
<ConditionGroup>
<Condition name="criteria_RunningStopTest" delay="0" conditionEdge="rising">
<ByValueCondition>
<ParameterCondition parameterRef="" value="" rule="lessThan"/>
</ByValueCondition>
</Condition>
<Condition name="criteria_RunningRedLightTest" delay="0" conditionEdge="rising">
<ByValueCondition>
<ParameterCondition parameterRef="" value="" rule="lessThan"/>
</ByValueCondition>
</Condition>
<Condition name="criteria_WrongLaneTest" delay="0" conditionEdge="rising">
<ByValueCondition>
<ParameterCondition parameterRef="" value="" rule="lessThan"/>
</ByValueCondition>
</Condition>
<Condition name="criteria_OnSidewalkTest" delay="0" conditionEdge="rising">
<ByValueCondition>
<ParameterCondition parameterRef="" value="" rule="lessThan"/>
</ByValueCondition>
</Condition>
<Condition name="criteria_KeepLaneTest" delay="0" conditionEdge="rising">
<ByValueCondition>
<ParameterCondition parameterRef="" value="" rule="lessThan"/>
</ByValueCondition>
</Condition>
<Condition name="criteria_CollisionTest" delay="0" conditionEdge="rising">
<ByValueCondition>
<ParameterCondition parameterRef="" value="" rule="lessThan"/>
</ByValueCondition>
</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_14616">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_close_to_hero_14617">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_close_to_hero_14618">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_close_to_adversary_14619">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_close_to_hero_14620">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_close_to_hero_14621">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_w_transform_14622">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_w_transform_14623">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_w_transform_14624">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_close_to_adversary_14625">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_close_to_hero_14626">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
</Entities>
<Storyboard>
<Init>
<Actions>
<GlobalAction>
<EnvironmentAction>
<Environment name="Environment1">
<TimeOfDay animation="false" dateTime="2019-06-25T12:00:00"/>
<Weather cloudState="free">
<Sun intensity="0.85" azimuth="0" elevation="1.31"/>
<Fog visualRange="100000.0"/>
<Precipitation precipitationType="dry" intensity="0.0"/>
</Weather>
<RoadCondition frictionScaleFactor="1.0"/>
</Environment>
</EnvironmentAction>
</GlobalAction>
<Private entityRef="hero">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-9.4" y="-152.8" z="0.5" h="1.57079632679"/>
</Position>
</TeleportAction>
</PrivateAction>
<PrivateAction>
<ControllerAction>
<AssignControllerAction>
<Controller name="HeroAgent">
<Properties>
<Property name="module" value="external_control"/>
</Properties>
</Controller>
</AssignControllerAction>
<OverrideControllerValueAction>
<Throttle value="0" active="false"/>
<Brake value="0" active="false"/>
<Clutch value="0" active="false"/>
<ParkingBrake value="0" active="false"/>
<SteeringWheel value="0" active="false"/>
<Gear number="0" active="false"/>
</OverrideControllerValueAction>
</ControllerAction>
</PrivateAction>
</Private>
<Private entityRef="adversary">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-9.4" y="-71.0" z="0.5" h="1.57079632679"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="standing">
<PrivateAction>
<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_14616">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-15.404289245605469" y="37.87152862548828" z="0.003131065284833312"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_close_to_hero_14617">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-2.2090651988983154" y="-158.2367401123047" z="0.0018838500836864114"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_close_to_hero_14618">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-9.694766998291016" y="-160.75643920898438" z="0.0018838500836864114"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_close_to_adversary_14619">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-15.020492553710938" y="-75.68254089355469" z="0.033854711800813675"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_close_to_hero_14620">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-10.185148239135742" y="-148.74313354492188" z="0.0018838500836864114"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_close_to_hero_14621">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-22.461944580078125" y="-146.2854461669922" z="0.0018838500836864114"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_w_transform_14622">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-67.89495849609375" y="-90.96959686279297" z="0.5"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_w_transform_14623">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="42.151119232177734" y="81.63732147216797" z="0.5"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_w_transform_14624">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="82.62598419189453" y="-83.83184814453125" z="0.5"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_close_to_adversary_14625">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-11.955422401428223" y="-61.74345016479492" z="0.03384136036038399"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_close_to_hero_14626">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-1.2420110702514648" y="-157.3843994140625" 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 lead you to add pedestrian at location (-1.02, -16.0, 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_6865">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_close_to_adversary_6866">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
</Entities>
<Storyboard>
<Init>
<Actions>
<GlobalAction>
<EnvironmentAction>
<Environment name="Environment1">
<TimeOfDay animation="false" dateTime="2019-06-25T12:00:00"/>
<Weather cloudState="free">
<Sun intensity="0.85" azimuth="0" elevation="1.31"/>
<Fog visualRange="100000.0"/>
<Precipitation precipitationType="dry" intensity="0.0"/>
</Weather>
<RoadCondition frictionScaleFactor="1.0"/>
</Environment>
</EnvironmentAction>
</GlobalAction>
<Private entityRef="hero">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-9.4" y="-152.8" z="0.5" h="1.57079632679"/>
</Position>
</TeleportAction>
</PrivateAction>
<PrivateAction>
<ControllerAction>
<AssignControllerAction>
<Controller name="HeroAgent">
<Properties>
<Property name="module" value="external_control"/>
</Properties>
</Controller>
</AssignControllerAction>
<OverrideControllerValueAction>
<Throttle value="0" active="false"/>
<Brake value="0" active="false"/>
<Clutch value="0" active="false"/>
<ParkingBrake value="0" active="false"/>
<SteeringWheel value="0" active="false"/>
<Gear number="0" active="false"/>
</OverrideControllerValueAction>
</ControllerAction>
</PrivateAction>
</Private>
<Private entityRef="adversary">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-9.4" y="-71.0" z="0.5" h="1.57079632679"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="standing">
<PrivateAction>
<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_6865">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-14.115897178649902" y="-76.85545349121094" z="0.033775556832551956"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_close_to_adversary_6866">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="5.3979716300964355" y="-66.0145263671875" z="0.03380477800965309"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
</Actions>
</Init>
<Story name="MyStory">
<Act name="Behavior">
<ManeuverGroup maximumExecutionCount="1" name="ManeuverSequence">
<Actors selectTriggeringEntities="false">
<EntityRef entityRef="adversary"/>
</Actors>
<Maneuver name="LaneChangeSimpleManeuver">
<Event name="AdversaryAccelerates" priority="overwrite">
<Action name="AdversaryAccelerates">
<PrivateAction>
<LongitudinalAction>
<SpeedAction>
<SpeedActionDynamics dynamicsShape="step" value="50" dynamicsDimension="distance"/>
<SpeedActionTarget>
<AbsoluteTargetSpeed value="5.0"/>
</SpeedActionTarget>
</SpeedAction>
</LongitudinalAction>
</PrivateAction>
</Action>
<StartTrigger>
<ConditionGroup>
<Condition name="StartCondition" delay="0" conditionEdge="rising">
<ByEntityCondition>
<TriggeringEntities triggeringEntitiesRule="any">
<EntityRef entityRef="hero"/>
</TriggeringEntities>
<EntityCondition>
<RelativeDistanceCondition entityRef="adversary" relativeDistanceType="cartesianDistance" value="40.0" freespace="false" rule="lessThan"/>
</EntityCondition>
</ByEntityCondition>
</Condition>
</ConditionGroup>
</StartTrigger>
</Event>
<Event name="AdversaryChangesLane" priority="overwrite">
<Action name="AdversaryChangesLane">
<PrivateAction>
<LateralAction>
<LaneChangeAction>
<LaneChangeActionDynamics dynamicsShape="linear" value="25" dynamicsDimension="distance"/>
<LaneChangeTarget>
<RelativeTargetLane entityRef="adversary" value="-1"/>
</LaneChangeTarget>
</LaneChangeAction>
</LateralAction>
</PrivateAction>
</Action>
<StartTrigger>
<ConditionGroup>
<Condition name="AfterAdversaryAccelerates" delay="0" conditionEdge="rising">
<ByValueCondition>
<StoryboardElementStateCondition storyboardElementType="action" storyboardElementRef="AdversaryAccelerates" state="completeState"/>
</ByValueCondition>
</Condition>
</ConditionGroup>
</StartTrigger>
</Event>
</Maneuver>
</ManeuverGroup>
<StartTrigger>
<ConditionGroup>
<Condition name="OverallStartCondition" delay="0" conditionEdge="rising">
<ByEntityCondition>
<TriggeringEntities triggeringEntitiesRule="any">
<EntityRef entityRef="hero"/>
</TriggeringEntities>
<EntityCondition>
<TraveledDistanceCondition value="1.0"/>
</EntityCondition>
</ByEntityCondition>
</Condition>
<Condition name="StartTime" delay="0" conditionEdge="rising">
<ByValueCondition>
<SimulationTimeCondition value="0" rule="equalTo"/>
</ByValueCondition>
</Condition>
</ConditionGroup>
</StartTrigger>
<StopTrigger>
<ConditionGroup>
<Condition name="EndCondition" delay="0" conditionEdge="rising">
<ByEntityCondition>
<TriggeringEntities triggeringEntitiesRule="any">
<EntityRef entityRef="hero"/>
</TriggeringEntities>
<EntityCondition>
<TraveledDistanceCondition value="200.0"/>
</EntityCondition>
</ByEntityCondition>
</Condition>
</ConditionGroup>
</StopTrigger>
</Act>
</Story>
<StopTrigger>
<ConditionGroup>
<Condition name="criteria_RunningStopTest" delay="0" conditionEdge="rising">
<ByValueCondition>
<ParameterCondition parameterRef="" value="" rule="lessThan"/>
</ByValueCondition>
</Condition>
<Condition name="criteria_RunningRedLightTest" delay="0" conditionEdge="rising">
<ByValueCondition>
<ParameterCondition parameterRef="" value="" rule="lessThan"/>
</ByValueCondition>
</Condition>
<Condition name="criteria_WrongLaneTest" delay="0" conditionEdge="rising">
<ByValueCondition>
<ParameterCondition parameterRef="" value="" rule="lessThan"/>
</ByValueCondition>
</Condition>
<Condition name="criteria_OnSidewalkTest" delay="0" conditionEdge="rising">
<ByValueCondition>
<ParameterCondition parameterRef="" value="" rule="lessThan"/>
</ByValueCondition>
</Condition>
<Condition name="criteria_KeepLaneTest" delay="0" conditionEdge="rising">
<ByValueCondition>
<ParameterCondition parameterRef="" value="" rule="lessThan"/>
</ByValueCondition>
</Condition>
<Condition name="criteria_CollisionTest" delay="0" conditionEdge="rising">
<ByValueCondition>
<ParameterCondition parameterRef="" value="" rule="lessThan"/>
</ByValueCondition>
</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_6865">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_close_to_adversary_6866">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_w_transform_6867">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
</Entities>
<Storyboard>
<Init>
<Actions>
<GlobalAction>
<EnvironmentAction>
<Environment name="Environment1">
<TimeOfDay animation="false" dateTime="2019-06-25T12:00:00"/>
<Weather cloudState="free">
<Sun intensity="0.85" azimuth="0" elevation="1.31"/>
<Fog visualRange="100000.0"/>
<Precipitation precipitationType="dry" intensity="0.0"/>
</Weather>
<RoadCondition frictionScaleFactor="1.0"/>
</Environment>
</EnvironmentAction>
</GlobalAction>
<Private entityRef="hero">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-9.4" y="-152.8" z="0.5" h="1.57079632679"/>
</Position>
</TeleportAction>
</PrivateAction>
<PrivateAction>
<ControllerAction>
<AssignControllerAction>
<Controller name="HeroAgent">
<Properties>
<Property name="module" value="external_control"/>
</Properties>
</Controller>
</AssignControllerAction>
<OverrideControllerValueAction>
<Throttle value="0" active="false"/>
<Brake value="0" active="false"/>
<Clutch value="0" active="false"/>
<ParkingBrake value="0" active="false"/>
<SteeringWheel value="0" active="false"/>
<Gear number="0" active="false"/>
</OverrideControllerValueAction>
</ControllerAction>
</PrivateAction>
</Private>
<Private entityRef="adversary">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-9.4" y="-71.0" z="0.5" h="1.57079632679"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="standing">
<PrivateAction>
<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_6865">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-14.115897178649902" y="-76.85545349121094" z="0.033775556832551956"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_close_to_adversary_6866">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="5.3979716300964355" y="-66.0145263671875" z="0.03380477800965309"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_w_transform_6867">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-1.023045301437378" y="-16.003543853759766" 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 remove pedestrian actor named pedestrian_close_to_standing_6454?
```
<?xml version="1.0" ?>
<OpenSCENARIO>
<FileHeader revMajor="1" revMinor="0" date="2020-03-24T12:00:00" description="CARLA:LaneChangeSimple" author=""/>
<ParameterDeclarations/>
<CatalogLocations/>
<RoadNetwork>
<LogicFile filepath="Town04"/>
<SceneGraphFile filepath=""/>
</RoadNetwork>
<Entities>
<ScenarioObject name="hero">
<Vehicle name="vehicle.tesla.model3" vehicleCategory="car">
<ParameterDeclarations/>
<Performance maxSpeed="69.444" maxAcceleration="200" maxDeceleration="10.0"/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2.1" length="4.5" height="1.8"/>
</BoundingBox>
<Axles>
<FrontAxle maxSteering="0.5" wheelDiameter="0.6" trackWidth="1.8" positionX="3.1" positionZ="0.3"/>
<RearAxle maxSteering="0.0" wheelDiameter="0.6" trackWidth="1.8" positionX="0.0" positionZ="0.3"/>
</Axles>
<Properties>
<Property name="type" value="ego_vehicle"/>
</Properties>
</Vehicle>
</ScenarioObject>
<ScenarioObject name="adversary">
<Vehicle name="vehicle.lincoln.mkz_2017" vehicleCategory="car">
<ParameterDeclarations/>
<Performance maxSpeed="69.444" maxAcceleration="200" maxDeceleration="10.0"/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2.1" length="4.5" height="1.8"/>
</BoundingBox>
<Axles>
<FrontAxle maxSteering="0.5" wheelDiameter="0.6" trackWidth="1.8" positionX="3.1" positionZ="0.3"/>
<RearAxle maxSteering="0.0" wheelDiameter="0.6" trackWidth="1.8" positionX="0.0" positionZ="0.3"/>
</Axles>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Vehicle>
</ScenarioObject>
<ScenarioObject name="standing">
<Vehicle name="vehicle.volkswagen.t2" vehicleCategory="car">
<ParameterDeclarations/>
<Performance maxSpeed="69.444" maxAcceleration="200" maxDeceleration="10.0"/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2.1" length="4.5" height="1.8"/>
</BoundingBox>
<Axles>
<FrontAxle maxSteering="0.5" wheelDiameter="0.6" trackWidth="1.8" positionX="3.1" positionZ="0.3"/>
<RearAxle maxSteering="0.0" wheelDiameter="0.6" 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_6452">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_close_to_hero_6453">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_close_to_standing_6454">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_close_to_adversary_6455">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_w_transform_6456">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_w_transform_6457">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_w_transform_6458">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_close_to_standing_6459">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_close_to_adversary_6460">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_close_to_standing_6461">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_close_to_adversary_6463">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_w_transform_6464">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_close_to_standing_6465">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_close_to_adversary_6466">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_close_to_adversary_6467">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_close_to_hero_6468">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
</Entities>
<Storyboard>
<Init>
<Actions>
<GlobalAction>
<EnvironmentAction>
<Environment name="Environment1">
<TimeOfDay animation="false" dateTime="2019-06-25T12:00:00"/>
<Weather cloudState="free">
<Sun intensity="0.85" azimuth="0" elevation="1.31"/>
<Fog visualRange="100000.0"/>
<Precipitation precipitationType="dry" intensity="0.0"/>
</Weather>
<RoadCondition frictionScaleFactor="1.0"/>
</Environment>
</EnvironmentAction>
</GlobalAction>
<Private entityRef="hero">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-9.4" y="-152.8" z="0.5" h="1.57079632679"/>
</Position>
</TeleportAction>
</PrivateAction>
<PrivateAction>
<ControllerAction>
<AssignControllerAction>
<Controller name="HeroAgent">
<Properties>
<Property name="module" value="external_control"/>
</Properties>
</Controller>
</AssignControllerAction>
<OverrideControllerValueAction>
<Throttle value="0" active="false"/>
<Brake value="0" active="false"/>
<Clutch value="0" active="false"/>
<ParkingBrake value="0" active="false"/>
<SteeringWheel value="0" active="false"/>
<Gear number="0" active="false"/>
</OverrideControllerValueAction>
</ControllerAction>
</PrivateAction>
</Private>
<Private entityRef="adversary">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-9.4" y="-71.0" z="0.5" h="1.57079632679"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="standing">
<PrivateAction>
<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_6452">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-7.1772260665893555" y="26.04364585876465" z="0.0031032562255859375"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_close_to_hero_6453">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-8.818974494934082" y="-152.603515625" z="0.0014652633108198643"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_close_to_standing_6454">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-10.803003311157227" y="32.943092346191406" z="0.003030128311365843"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_close_to_adversary_6455">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="5.034905910491943" y="-67.09378814697266" z="0.03376937657594681"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_w_transform_6456">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-36.32112121582031" y="65.28340911865234" z="0.5"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_w_transform_6457">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-48.87742233276367" y="19.3776912689209" z="0.5"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_w_transform_6458">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="63.881126403808594" y="62.830360412597656" z="0.5"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_close_to_standing_6459">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-5.600232124328613" y="30.777803421020508" z="0.0030760574154555798"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_close_to_adversary_6460">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-9.4047212600708" y="-62.603702545166016" z="0.03382278233766556"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_close_to_standing_6461">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="7.247821807861328" y="24.022476196289062" z="0.0030792998149991035"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_close_to_adversary_6463">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-15.598372459411621" y="-79.49410247802734" z="0.033774640411138535"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_w_transform_6464">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="81.68456268310547" y="66.25119018554688" z="0.5"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_close_to_standing_6465">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-12.432973861694336" y="32.45487976074219" z="0.003040046663954854"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_close_to_adversary_6466">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-6.71879768371582" y="-61.7393798828125" z="0.033784713596105576"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_close_to_adversary_6467">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-9.888570785522461" y="-72.19574737548828" z="0.03376239538192749"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_close_to_hero_6468">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-13.8298921585083" y="-160.5047607421875" z="0.0014652633108198643"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
</Actions>
</Init>
<Story name="MyStory">
<Act name="Behavior">
<ManeuverGroup maximumExecutionCount="1" name="ManeuverSequence">
<Actors selectTriggeringEntities="false">
<EntityRef entityRef="adversary"/>
</Actors>
<Maneuver name="LaneChangeSimpleManeuver">
<Event name="AdversaryAccelerates" priority="overwrite">
<Action name="AdversaryAccelerates">
<PrivateAction>
<LongitudinalAction>
<SpeedAction>
<SpeedActionDynamics dynamicsShape="step" value="50" dynamicsDimension="distance"/>
<SpeedActionTarget>
<AbsoluteTargetSpeed value="5.0"/>
</SpeedActionTarget>
</SpeedAction>
</LongitudinalAction>
</PrivateAction>
</Action>
<StartTrigger>
<ConditionGroup>
<Condition name="StartCondition" delay="0" conditionEdge="rising">
<ByEntityCondition>
<TriggeringEntities triggeringEntitiesRule="any">
<EntityRef entityRef="hero"/>
</TriggeringEntities>
<EntityCondition>
<RelativeDistanceCondition entityRef="adversary" relativeDistanceType="cartesianDistance" value="40.0" freespace="false" rule="lessThan"/>
</EntityCondition>
</ByEntityCondition>
</Condition>
</ConditionGroup>
</StartTrigger>
</Event>
<Event name="AdversaryChangesLane" priority="overwrite">
<Action name="AdversaryChangesLane">
<PrivateAction>
<LateralAction>
<LaneChangeAction>
<LaneChangeActionDynamics dynamicsShape="linear" value="25" dynamicsDimension="distance"/>
<LaneChangeTarget>
<RelativeTargetLane entityRef="adversary" value="-1"/>
</LaneChangeTarget>
</LaneChangeAction>
</LateralAction>
</PrivateAction>
</Action>
<StartTrigger>
<ConditionGroup>
<Condition name="AfterAdversaryAccelerates" delay="0" conditionEdge="rising">
<ByValueCondition>
<StoryboardElementStateCondition storyboardElementType="action" storyboardElementRef="AdversaryAccelerates" state="completeState"/>
</ByValueCondition>
</Condition>
</ConditionGroup>
</StartTrigger>
</Event>
</Maneuver>
</ManeuverGroup>
<StartTrigger>
<ConditionGroup>
<Condition name="OverallStartCondition" delay="0" conditionEdge="rising">
<ByEntityCondition>
<TriggeringEntities triggeringEntitiesRule="any">
<EntityRef entityRef="hero"/>
</TriggeringEntities>
<EntityCondition>
<TraveledDistanceCondition value="1.0"/>
</EntityCondition>
</ByEntityCondition>
</Condition>
<Condition name="StartTime" delay="0" conditionEdge="rising">
<ByValueCondition>
<SimulationTimeCondition value="0" rule="equalTo"/>
</ByValueCondition>
</Condition>
</ConditionGroup>
</StartTrigger>
<StopTrigger>
<ConditionGroup>
<Condition name="EndCondition" delay="0" conditionEdge="rising">
<ByEntityCondition>
<TriggeringEntities triggeringEntitiesRule="any">
<EntityRef entityRef="hero"/>
</TriggeringEntities>
<EntityCondition>
<TraveledDistanceCondition value="200.0"/>
</EntityCondition>
</ByEntityCondition>
</Condition>
</ConditionGroup>
</StopTrigger>
</Act>
</Story>
<StopTrigger>
<ConditionGroup>
<Condition name="criteria_RunningStopTest" delay="0" conditionEdge="rising">
<ByValueCondition>
<ParameterCondition parameterRef="" value="" rule="lessThan"/>
</ByValueCondition>
</Condition>
<Condition name="criteria_RunningRedLightTest" delay="0" conditionEdge="rising">
<ByValueCondition>
<ParameterCondition parameterRef="" value="" rule="lessThan"/>
</ByValueCondition>
</Condition>
<Condition name="criteria_WrongLaneTest" delay="0" conditionEdge="rising">
<ByValueCondition>
<ParameterCondition parameterRef="" value="" rule="lessThan"/>
</ByValueCondition>
</Condition>
<Condition name="criteria_OnSidewalkTest" delay="0" conditionEdge="rising">
<ByValueCondition>
<ParameterCondition parameterRef="" value="" rule="lessThan"/>
</ByValueCondition>
</Condition>
<Condition name="criteria_KeepLaneTest" delay="0" conditionEdge="rising">
<ByValueCondition>
<ParameterCondition parameterRef="" value="" rule="lessThan"/>
</ByValueCondition>
</Condition>
<Condition name="criteria_CollisionTest" delay="0" conditionEdge="rising">
<ByValueCondition>
<ParameterCondition parameterRef="" value="" rule="lessThan"/>
</ByValueCondition>
</Condition>
<Condition name="criteria_DrivenDistanceTest" delay="0" conditionEdge="rising">
<ByValueCondition>
<ParameterCondition parameterRef="distance_success" value="100" rule="lessThan"/>
</ByValueCondition>
</Condition>
</ConditionGroup>
</StopTrigger>
</Storyboard>
</OpenSCENARIO>
``` | Here is the result:
```
<?xml version="1.0" ?>
<OpenSCENARIO>
<FileHeader revMajor="1" revMinor="0" date="2020-03-24T12:00:00" description="CARLA:LaneChangeSimple" author=""/>
<ParameterDeclarations/>
<CatalogLocations/>
<RoadNetwork>
<LogicFile filepath="Town04"/>
<SceneGraphFile filepath=""/>
</RoadNetwork>
<Entities>
<ScenarioObject name="hero">
<Vehicle name="vehicle.tesla.model3" vehicleCategory="car">
<ParameterDeclarations/>
<Performance maxSpeed="69.444" maxAcceleration="200" maxDeceleration="10.0"/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2.1" length="4.5" height="1.8"/>
</BoundingBox>
<Axles>
<FrontAxle maxSteering="0.5" wheelDiameter="0.6" trackWidth="1.8" positionX="3.1" positionZ="0.3"/>
<RearAxle maxSteering="0.0" wheelDiameter="0.6" trackWidth="1.8" positionX="0.0" positionZ="0.3"/>
</Axles>
<Properties>
<Property name="type" value="ego_vehicle"/>
</Properties>
</Vehicle>
</ScenarioObject>
<ScenarioObject name="adversary">
<Vehicle name="vehicle.lincoln.mkz_2017" vehicleCategory="car">
<ParameterDeclarations/>
<Performance maxSpeed="69.444" maxAcceleration="200" maxDeceleration="10.0"/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2.1" length="4.5" height="1.8"/>
</BoundingBox>
<Axles>
<FrontAxle maxSteering="0.5" wheelDiameter="0.6" trackWidth="1.8" positionX="3.1" positionZ="0.3"/>
<RearAxle maxSteering="0.0" wheelDiameter="0.6" trackWidth="1.8" positionX="0.0" positionZ="0.3"/>
</Axles>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Vehicle>
</ScenarioObject>
<ScenarioObject name="standing">
<Vehicle name="vehicle.volkswagen.t2" vehicleCategory="car">
<ParameterDeclarations/>
<Performance maxSpeed="69.444" maxAcceleration="200" maxDeceleration="10.0"/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2.1" length="4.5" height="1.8"/>
</BoundingBox>
<Axles>
<FrontAxle maxSteering="0.5" wheelDiameter="0.6" trackWidth="1.8" positionX="3.1" positionZ="0.3"/>
<RearAxle maxSteering="0.0" wheelDiameter="0.6" trackWidth="1.8" positionX="0.0" positionZ="0.3"/>
</Axles>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Vehicle>
</ScenarioObject>
<ScenarioObject name="pedestrian_close_to_standing_6452">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_close_to_hero_6453">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_close_to_adversary_6455">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_w_transform_6456">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_w_transform_6457">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_w_transform_6458">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_close_to_standing_6459">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_close_to_adversary_6460">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_close_to_standing_6461">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_close_to_adversary_6463">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_w_transform_6464">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_close_to_standing_6465">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_close_to_adversary_6466">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_close_to_adversary_6467">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_close_to_hero_6468">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
</Entities>
<Storyboard>
<Init>
<Actions>
<GlobalAction>
<EnvironmentAction>
<Environment name="Environment1">
<TimeOfDay animation="false" dateTime="2019-06-25T12:00:00"/>
<Weather cloudState="free">
<Sun intensity="0.85" azimuth="0" elevation="1.31"/>
<Fog visualRange="100000.0"/>
<Precipitation precipitationType="dry" intensity="0.0"/>
</Weather>
<RoadCondition frictionScaleFactor="1.0"/>
</Environment>
</EnvironmentAction>
</GlobalAction>
<Private entityRef="hero">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-9.4" y="-152.8" z="0.5" h="1.57079632679"/>
</Position>
</TeleportAction>
</PrivateAction>
<PrivateAction>
<ControllerAction>
<AssignControllerAction>
<Controller name="HeroAgent">
<Properties>
<Property name="module" value="external_control"/>
</Properties>
</Controller>
</AssignControllerAction>
<OverrideControllerValueAction>
<Throttle value="0" active="false"/>
<Brake value="0" active="false"/>
<Clutch value="0" active="false"/>
<ParkingBrake value="0" active="false"/>
<SteeringWheel value="0" active="false"/>
<Gear number="0" active="false"/>
</OverrideControllerValueAction>
</ControllerAction>
</PrivateAction>
</Private>
<Private entityRef="adversary">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-9.4" y="-71.0" z="0.5" h="1.57079632679"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="standing">
<PrivateAction>
<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_6452">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-7.1772260665893555" y="26.04364585876465" z="0.0031032562255859375"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_close_to_hero_6453">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-8.818974494934082" y="-152.603515625" z="0.0014652633108198643"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_close_to_adversary_6455">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="5.034905910491943" y="-67.09378814697266" z="0.03376937657594681"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_w_transform_6456">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-36.32112121582031" y="65.28340911865234" z="0.5"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_w_transform_6457">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-48.87742233276367" y="19.3776912689209" z="0.5"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_w_transform_6458">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="63.881126403808594" y="62.830360412597656" z="0.5"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_close_to_standing_6459">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-5.600232124328613" y="30.777803421020508" z="0.0030760574154555798"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_close_to_adversary_6460">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-9.4047212600708" y="-62.603702545166016" z="0.03382278233766556"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_close_to_standing_6461">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="7.247821807861328" y="24.022476196289062" z="0.0030792998149991035"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_close_to_adversary_6463">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-15.598372459411621" y="-79.49410247802734" z="0.033774640411138535"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_w_transform_6464">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="81.68456268310547" y="66.25119018554688" z="0.5"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_close_to_standing_6465">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-12.432973861694336" y="32.45487976074219" z="0.003040046663954854"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_close_to_adversary_6466">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-6.71879768371582" y="-61.7393798828125" z="0.033784713596105576"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_close_to_adversary_6467">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-9.888570785522461" y="-72.19574737548828" z="0.03376239538192749"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_close_to_hero_6468">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-13.8298921585083" y="-160.5047607421875" 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 request you to add pedestrian close to hero?
```
<?xml version="1.0" ?>
<OpenSCENARIO>
<FileHeader revMajor="1" revMinor="0" date="2020-03-24T12:00:00" description="CARLA:LaneChangeSimple" author=""/>
<ParameterDeclarations/>
<CatalogLocations/>
<RoadNetwork>
<LogicFile filepath="Town04"/>
<SceneGraphFile filepath=""/>
</RoadNetwork>
<Entities>
<ScenarioObject name="hero">
<Vehicle name="vehicle.tesla.model3" vehicleCategory="car">
<ParameterDeclarations/>
<Performance maxSpeed="69.444" maxAcceleration="200" maxDeceleration="10.0"/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2.1" length="4.5" height="1.8"/>
</BoundingBox>
<Axles>
<FrontAxle maxSteering="0.5" wheelDiameter="0.6" trackWidth="1.8" positionX="3.1" positionZ="0.3"/>
<RearAxle maxSteering="0.0" wheelDiameter="0.6" trackWidth="1.8" positionX="0.0" positionZ="0.3"/>
</Axles>
<Properties>
<Property name="type" value="ego_vehicle"/>
</Properties>
</Vehicle>
</ScenarioObject>
<ScenarioObject name="adversary">
<Vehicle name="vehicle.lincoln.mkz_2017" vehicleCategory="car">
<ParameterDeclarations/>
<Performance maxSpeed="69.444" maxAcceleration="200" maxDeceleration="10.0"/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2.1" length="4.5" height="1.8"/>
</BoundingBox>
<Axles>
<FrontAxle maxSteering="0.5" wheelDiameter="0.6" trackWidth="1.8" positionX="3.1" positionZ="0.3"/>
<RearAxle maxSteering="0.0" wheelDiameter="0.6" trackWidth="1.8" positionX="0.0" positionZ="0.3"/>
</Axles>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Vehicle>
</ScenarioObject>
<ScenarioObject name="standing">
<Vehicle name="vehicle.volkswagen.t2" vehicleCategory="car">
<ParameterDeclarations/>
<Performance maxSpeed="69.444" maxAcceleration="200" maxDeceleration="10.0"/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2.1" length="4.5" height="1.8"/>
</BoundingBox>
<Axles>
<FrontAxle maxSteering="0.5" wheelDiameter="0.6" trackWidth="1.8" positionX="3.1" positionZ="0.3"/>
<RearAxle maxSteering="0.0" wheelDiameter="0.6" trackWidth="1.8" positionX="0.0" positionZ="0.3"/>
</Axles>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Vehicle>
</ScenarioObject>
<ScenarioObject name="pedestrian_close_to_standing_19822">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_close_to_adversary_19823">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_w_transform_19824">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_close_to_standing_19825">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_w_transform_19826">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_close_to_hero_19827">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_close_to_standing_19828">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_close_to_adversary_19829">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_close_to_standing_19830">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</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_w_transform_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_close_to_standing_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_close_to_standing_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>
</Entities>
<Storyboard>
<Init>
<Actions>
<GlobalAction>
<EnvironmentAction>
<Environment name="Environment1">
<TimeOfDay animation="false" dateTime="2019-06-25T12:00:00"/>
<Weather cloudState="free">
<Sun intensity="0.85" azimuth="0" elevation="1.31"/>
<Fog visualRange="100000.0"/>
<Precipitation precipitationType="dry" intensity="0.0"/>
</Weather>
<RoadCondition frictionScaleFactor="1.0"/>
</Environment>
</EnvironmentAction>
</GlobalAction>
<Private entityRef="hero">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-9.4" y="-152.8" z="0.5" h="1.57079632679"/>
</Position>
</TeleportAction>
</PrivateAction>
<PrivateAction>
<ControllerAction>
<AssignControllerAction>
<Controller name="HeroAgent">
<Properties>
<Property name="module" value="external_control"/>
</Properties>
</Controller>
</AssignControllerAction>
<OverrideControllerValueAction>
<Throttle value="0" active="false"/>
<Brake value="0" active="false"/>
<Clutch value="0" active="false"/>
<ParkingBrake value="0" active="false"/>
<SteeringWheel value="0" active="false"/>
<Gear number="0" active="false"/>
</OverrideControllerValueAction>
</ControllerAction>
</PrivateAction>
</Private>
<Private entityRef="adversary">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-9.4" y="-71.0" z="0.5" h="1.57079632679"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="standing">
<PrivateAction>
<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_19822">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-14.147019386291504" y="21.689191818237305" z="0.003033294575288892"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_close_to_adversary_19823">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-15.11103343963623" y="-68.79869842529297" z="0.0337163545191288"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_w_transform_19824">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-16.956960678100586" y="86.72492980957031" z="0.5"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_close_to_standing_19825">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-16.73367691040039" y="22.073158264160156" z="0.0030211256816983223"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_w_transform_19826">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="32.63629150390625" y="25.0489501953125" z="0.5"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_close_to_hero_19827">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-8.719799041748047" y="-156.8495330810547" z="0.0014652633108198643"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_close_to_standing_19828">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-12.235328674316406" y="38.66126251220703" z="0.00307884206995368"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_close_to_adversary_19829">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-8.711424827575684" y="-77.88899993896484" z="0.033817023038864136"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_close_to_standing_19830">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="0.963059663772583" y="31.13551139831543" z="0.003115158062428236"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_close_to_standing_19831">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-7.057701110839844" y="26.455415725708008" z="0.00312431319616735"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_w_transform_19832">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="87.10315704345703" y="4.788784980773926" z="0.5"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_close_to_standing_19833">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-6.02284049987793" y="28.076988220214844" z="0.0030662536155432463"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_close_to_standing_19834">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-1.347454309463501" y="30.77935791015625" z="0.003071861108765006"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
</Actions>
</Init>
<Story name="MyStory">
<Act name="Behavior">
<ManeuverGroup maximumExecutionCount="1" name="ManeuverSequence">
<Actors selectTriggeringEntities="false">
<EntityRef entityRef="adversary"/>
</Actors>
<Maneuver name="LaneChangeSimpleManeuver">
<Event name="AdversaryAccelerates" priority="overwrite">
<Action name="AdversaryAccelerates">
<PrivateAction>
<LongitudinalAction>
<SpeedAction>
<SpeedActionDynamics dynamicsShape="step" value="50" dynamicsDimension="distance"/>
<SpeedActionTarget>
<AbsoluteTargetSpeed value="5.0"/>
</SpeedActionTarget>
</SpeedAction>
</LongitudinalAction>
</PrivateAction>
</Action>
<StartTrigger>
<ConditionGroup>
<Condition name="StartCondition" delay="0" conditionEdge="rising">
<ByEntityCondition>
<TriggeringEntities triggeringEntitiesRule="any">
<EntityRef entityRef="hero"/>
</TriggeringEntities>
<EntityCondition>
<RelativeDistanceCondition entityRef="adversary" relativeDistanceType="cartesianDistance" value="40.0" freespace="false" rule="lessThan"/>
</EntityCondition>
</ByEntityCondition>
</Condition>
</ConditionGroup>
</StartTrigger>
</Event>
<Event name="AdversaryChangesLane" priority="overwrite">
<Action name="AdversaryChangesLane">
<PrivateAction>
<LateralAction>
<LaneChangeAction>
<LaneChangeActionDynamics dynamicsShape="linear" value="25" dynamicsDimension="distance"/>
<LaneChangeTarget>
<RelativeTargetLane entityRef="adversary" value="-1"/>
</LaneChangeTarget>
</LaneChangeAction>
</LateralAction>
</PrivateAction>
</Action>
<StartTrigger>
<ConditionGroup>
<Condition name="AfterAdversaryAccelerates" delay="0" conditionEdge="rising">
<ByValueCondition>
<StoryboardElementStateCondition storyboardElementType="action" storyboardElementRef="AdversaryAccelerates" state="completeState"/>
</ByValueCondition>
</Condition>
</ConditionGroup>
</StartTrigger>
</Event>
</Maneuver>
</ManeuverGroup>
<StartTrigger>
<ConditionGroup>
<Condition name="OverallStartCondition" delay="0" conditionEdge="rising">
<ByEntityCondition>
<TriggeringEntities triggeringEntitiesRule="any">
<EntityRef entityRef="hero"/>
</TriggeringEntities>
<EntityCondition>
<TraveledDistanceCondition value="1.0"/>
</EntityCondition>
</ByEntityCondition>
</Condition>
<Condition name="StartTime" delay="0" conditionEdge="rising">
<ByValueCondition>
<SimulationTimeCondition value="0" rule="equalTo"/>
</ByValueCondition>
</Condition>
</ConditionGroup>
</StartTrigger>
<StopTrigger>
<ConditionGroup>
<Condition name="EndCondition" delay="0" conditionEdge="rising">
<ByEntityCondition>
<TriggeringEntities triggeringEntitiesRule="any">
<EntityRef entityRef="hero"/>
</TriggeringEntities>
<EntityCondition>
<TraveledDistanceCondition value="200.0"/>
</EntityCondition>
</ByEntityCondition>
</Condition>
</ConditionGroup>
</StopTrigger>
</Act>
</Story>
<StopTrigger>
<ConditionGroup>
<Condition name="criteria_RunningStopTest" delay="0" conditionEdge="rising">
<ByValueCondition>
<ParameterCondition parameterRef="" value="" rule="lessThan"/>
</ByValueCondition>
</Condition>
<Condition name="criteria_RunningRedLightTest" delay="0" conditionEdge="rising">
<ByValueCondition>
<ParameterCondition parameterRef="" value="" rule="lessThan"/>
</ByValueCondition>
</Condition>
<Condition name="criteria_WrongLaneTest" delay="0" conditionEdge="rising">
<ByValueCondition>
<ParameterCondition parameterRef="" value="" rule="lessThan"/>
</ByValueCondition>
</Condition>
<Condition name="criteria_OnSidewalkTest" delay="0" conditionEdge="rising">
<ByValueCondition>
<ParameterCondition parameterRef="" value="" rule="lessThan"/>
</ByValueCondition>
</Condition>
<Condition name="criteria_KeepLaneTest" delay="0" conditionEdge="rising">
<ByValueCondition>
<ParameterCondition parameterRef="" value="" rule="lessThan"/>
</ByValueCondition>
</Condition>
<Condition name="criteria_CollisionTest" delay="0" conditionEdge="rising">
<ByValueCondition>
<ParameterCondition parameterRef="" value="" rule="lessThan"/>
</ByValueCondition>
</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_19822">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_close_to_adversary_19823">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_w_transform_19824">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_close_to_standing_19825">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_w_transform_19826">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_close_to_hero_19827">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_close_to_standing_19828">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_close_to_adversary_19829">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_close_to_standing_19830">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</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_w_transform_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_close_to_standing_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_close_to_standing_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_close_to_hero_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>
</Entities>
<Storyboard>
<Init>
<Actions>
<GlobalAction>
<EnvironmentAction>
<Environment name="Environment1">
<TimeOfDay animation="false" dateTime="2019-06-25T12:00:00"/>
<Weather cloudState="free">
<Sun intensity="0.85" azimuth="0" elevation="1.31"/>
<Fog visualRange="100000.0"/>
<Precipitation precipitationType="dry" intensity="0.0"/>
</Weather>
<RoadCondition frictionScaleFactor="1.0"/>
</Environment>
</EnvironmentAction>
</GlobalAction>
<Private entityRef="hero">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-9.4" y="-152.8" z="0.5" h="1.57079632679"/>
</Position>
</TeleportAction>
</PrivateAction>
<PrivateAction>
<ControllerAction>
<AssignControllerAction>
<Controller name="HeroAgent">
<Properties>
<Property name="module" value="external_control"/>
</Properties>
</Controller>
</AssignControllerAction>
<OverrideControllerValueAction>
<Throttle value="0" active="false"/>
<Brake value="0" active="false"/>
<Clutch value="0" active="false"/>
<ParkingBrake value="0" active="false"/>
<SteeringWheel value="0" active="false"/>
<Gear number="0" active="false"/>
</OverrideControllerValueAction>
</ControllerAction>
</PrivateAction>
</Private>
<Private entityRef="adversary">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-9.4" y="-71.0" z="0.5" h="1.57079632679"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="standing">
<PrivateAction>
<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_19822">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-14.147019386291504" y="21.689191818237305" z="0.003033294575288892"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_close_to_adversary_19823">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-15.11103343963623" y="-68.79869842529297" z="0.0337163545191288"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_w_transform_19824">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-16.956960678100586" y="86.72492980957031" z="0.5"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_close_to_standing_19825">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-16.73367691040039" y="22.073158264160156" z="0.0030211256816983223"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_w_transform_19826">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="32.63629150390625" y="25.0489501953125" z="0.5"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_close_to_hero_19827">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-8.719799041748047" y="-156.8495330810547" z="0.0014652633108198643"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_close_to_standing_19828">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-12.235328674316406" y="38.66126251220703" z="0.00307884206995368"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_close_to_adversary_19829">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-8.711424827575684" y="-77.88899993896484" z="0.033817023038864136"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_close_to_standing_19830">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="0.963059663772583" y="31.13551139831543" z="0.003115158062428236"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_close_to_standing_19831">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-7.057701110839844" y="26.455415725708008" z="0.00312431319616735"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_w_transform_19832">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="87.10315704345703" y="4.788784980773926" z="0.5"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_close_to_standing_19833">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-6.02284049987793" y="28.076988220214844" z="0.0030662536155432463"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_close_to_standing_19834">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-1.347454309463501" y="30.77935791015625" z="0.003071861108765006"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_close_to_hero_19835">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-10.803140640258789" y="-153.76217651367188" 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 want you to add pedestrian at location (-51.86, -75.14, 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_11152">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_w_transform_11153">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_close_to_hero_11154">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_close_to_adversary_11155">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_close_to_standing_11156">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_w_transform_11157">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_close_to_standing_11158">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_w_transform_11159">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_w_transform_11160">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
</Entities>
<Storyboard>
<Init>
<Actions>
<GlobalAction>
<EnvironmentAction>
<Environment name="Environment1">
<TimeOfDay animation="false" dateTime="2019-06-25T12:00:00"/>
<Weather cloudState="free">
<Sun intensity="0.85" azimuth="0" elevation="1.31"/>
<Fog visualRange="100000.0"/>
<Precipitation precipitationType="dry" intensity="0.0"/>
</Weather>
<RoadCondition frictionScaleFactor="1.0"/>
</Environment>
</EnvironmentAction>
</GlobalAction>
<Private entityRef="hero">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-9.4" y="-152.8" z="0.5" h="1.57079632679"/>
</Position>
</TeleportAction>
</PrivateAction>
<PrivateAction>
<ControllerAction>
<AssignControllerAction>
<Controller name="HeroAgent">
<Properties>
<Property name="module" value="external_control"/>
</Properties>
</Controller>
</AssignControllerAction>
<OverrideControllerValueAction>
<Throttle value="0" active="false"/>
<Brake value="0" active="false"/>
<Clutch value="0" active="false"/>
<ParkingBrake value="0" active="false"/>
<SteeringWheel value="0" active="false"/>
<Gear number="0" active="false"/>
</OverrideControllerValueAction>
</ControllerAction>
</PrivateAction>
</Private>
<Private entityRef="adversary">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-9.4" y="-71.0" z="0.5" h="1.57079632679"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="standing">
<PrivateAction>
<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_11152">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-24.744993209838867" y="24.138338088989258" z="0.003094367915764451"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_w_transform_11153">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="49.260555267333984" y="91.31458282470703" z="0.5"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_close_to_hero_11154">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-5.81540060043335" y="-149.0909423828125" z="0.0020974730141460896"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_close_to_adversary_11155">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="0.4870407283306122" y="-78.94602966308594" z="0.033775635063648224"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_close_to_standing_11156">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-3.153439998626709" y="38.43840789794922" z="0.003072891151532531"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_w_transform_11157">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-21.764936447143555" y="-34.92182159423828" z="0.5"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_close_to_standing_11158">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-2.3805463314056396" y="20.184463500976562" z="0.0030830001924186945"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_w_transform_11159">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-95.80011749267578" y="-82.27843475341797" z="0.5"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_w_transform_11160">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-73.41068267822266" y="96.47452545166016" 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_11152">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_w_transform_11153">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_close_to_hero_11154">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_close_to_adversary_11155">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_close_to_standing_11156">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_w_transform_11157">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_close_to_standing_11158">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_w_transform_11159">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_w_transform_11160">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_w_transform_11161">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
</Entities>
<Storyboard>
<Init>
<Actions>
<GlobalAction>
<EnvironmentAction>
<Environment name="Environment1">
<TimeOfDay animation="false" dateTime="2019-06-25T12:00:00"/>
<Weather cloudState="free">
<Sun intensity="0.85" azimuth="0" elevation="1.31"/>
<Fog visualRange="100000.0"/>
<Precipitation precipitationType="dry" intensity="0.0"/>
</Weather>
<RoadCondition frictionScaleFactor="1.0"/>
</Environment>
</EnvironmentAction>
</GlobalAction>
<Private entityRef="hero">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-9.4" y="-152.8" z="0.5" h="1.57079632679"/>
</Position>
</TeleportAction>
</PrivateAction>
<PrivateAction>
<ControllerAction>
<AssignControllerAction>
<Controller name="HeroAgent">
<Properties>
<Property name="module" value="external_control"/>
</Properties>
</Controller>
</AssignControllerAction>
<OverrideControllerValueAction>
<Throttle value="0" active="false"/>
<Brake value="0" active="false"/>
<Clutch value="0" active="false"/>
<ParkingBrake value="0" active="false"/>
<SteeringWheel value="0" active="false"/>
<Gear number="0" active="false"/>
</OverrideControllerValueAction>
</ControllerAction>
</PrivateAction>
</Private>
<Private entityRef="adversary">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-9.4" y="-71.0" z="0.5" h="1.57079632679"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="standing">
<PrivateAction>
<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_11152">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-24.744993209838867" y="24.138338088989258" z="0.003094367915764451"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_w_transform_11153">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="49.260555267333984" y="91.31458282470703" z="0.5"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_close_to_hero_11154">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-5.81540060043335" y="-149.0909423828125" z="0.0020974730141460896"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_close_to_adversary_11155">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="0.4870407283306122" y="-78.94602966308594" z="0.033775635063648224"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_close_to_standing_11156">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-3.153439998626709" y="38.43840789794922" z="0.003072891151532531"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_w_transform_11157">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-21.764936447143555" y="-34.92182159423828" z="0.5"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_close_to_standing_11158">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-2.3805463314056396" y="20.184463500976562" z="0.0030830001924186945"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_w_transform_11159">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-95.80011749267578" y="-82.27843475341797" z="0.5"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_w_transform_11160">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-73.41068267822266" y="96.47452545166016" z="0.5"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_w_transform_11161">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-51.85886001586914" y="-75.14340209960938" z="0.5"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
</Actions>
</Init>
<Story name="MyStory">
<Act name="Behavior">
<ManeuverGroup maximumExecutionCount="1" name="ManeuverSequence">
<Actors selectTriggeringEntities="false">
<EntityRef entityRef="adversary"/>
</Actors>
<Maneuver name="LaneChangeSimpleManeuver">
<Event name="AdversaryAccelerates" priority="overwrite">
<Action name="AdversaryAccelerates">
<PrivateAction>
<LongitudinalAction>
<SpeedAction>
<SpeedActionDynamics dynamicsShape="step" value="50" dynamicsDimension="distance"/>
<SpeedActionTarget>
<AbsoluteTargetSpeed value="5.0"/>
</SpeedActionTarget>
</SpeedAction>
</LongitudinalAction>
</PrivateAction>
</Action>
<StartTrigger>
<ConditionGroup>
<Condition name="StartCondition" delay="0" conditionEdge="rising">
<ByEntityCondition>
<TriggeringEntities triggeringEntitiesRule="any">
<EntityRef entityRef="hero"/>
</TriggeringEntities>
<EntityCondition>
<RelativeDistanceCondition entityRef="adversary" relativeDistanceType="cartesianDistance" value="40.0" freespace="false" rule="lessThan"/>
</EntityCondition>
</ByEntityCondition>
</Condition>
</ConditionGroup>
</StartTrigger>
</Event>
<Event name="AdversaryChangesLane" priority="overwrite">
<Action name="AdversaryChangesLane">
<PrivateAction>
<LateralAction>
<LaneChangeAction>
<LaneChangeActionDynamics dynamicsShape="linear" value="25" dynamicsDimension="distance"/>
<LaneChangeTarget>
<RelativeTargetLane entityRef="adversary" value="-1"/>
</LaneChangeTarget>
</LaneChangeAction>
</LateralAction>
</PrivateAction>
</Action>
<StartTrigger>
<ConditionGroup>
<Condition name="AfterAdversaryAccelerates" delay="0" conditionEdge="rising">
<ByValueCondition>
<StoryboardElementStateCondition storyboardElementType="action" storyboardElementRef="AdversaryAccelerates" state="completeState"/>
</ByValueCondition>
</Condition>
</ConditionGroup>
</StartTrigger>
</Event>
</Maneuver>
</ManeuverGroup>
<StartTrigger>
<ConditionGroup>
<Condition name="OverallStartCondition" delay="0" conditionEdge="rising">
<ByEntityCondition>
<TriggeringEntities triggeringEntitiesRule="any">
<EntityRef entityRef="hero"/>
</TriggeringEntities>
<EntityCondition>
<TraveledDistanceCondition value="1.0"/>
</EntityCondition>
</ByEntityCondition>
</Condition>
<Condition name="StartTime" delay="0" conditionEdge="rising">
<ByValueCondition>
<SimulationTimeCondition value="0" rule="equalTo"/>
</ByValueCondition>
</Condition>
</ConditionGroup>
</StartTrigger>
<StopTrigger>
<ConditionGroup>
<Condition name="EndCondition" delay="0" conditionEdge="rising">
<ByEntityCondition>
<TriggeringEntities triggeringEntitiesRule="any">
<EntityRef entityRef="hero"/>
</TriggeringEntities>
<EntityCondition>
<TraveledDistanceCondition value="200.0"/>
</EntityCondition>
</ByEntityCondition>
</Condition>
</ConditionGroup>
</StopTrigger>
</Act>
</Story>
<StopTrigger>
<ConditionGroup>
<Condition name="criteria_RunningStopTest" delay="0" conditionEdge="rising">
<ByValueCondition>
<ParameterCondition parameterRef="" value="" rule="lessThan"/>
</ByValueCondition>
</Condition>
<Condition name="criteria_RunningRedLightTest" delay="0" conditionEdge="rising">
<ByValueCondition>
<ParameterCondition parameterRef="" value="" rule="lessThan"/>
</ByValueCondition>
</Condition>
<Condition name="criteria_WrongLaneTest" delay="0" conditionEdge="rising">
<ByValueCondition>
<ParameterCondition parameterRef="" value="" rule="lessThan"/>
</ByValueCondition>
</Condition>
<Condition name="criteria_OnSidewalkTest" delay="0" conditionEdge="rising">
<ByValueCondition>
<ParameterCondition parameterRef="" value="" rule="lessThan"/>
</ByValueCondition>
</Condition>
<Condition name="criteria_KeepLaneTest" delay="0" conditionEdge="rising">
<ByValueCondition>
<ParameterCondition parameterRef="" value="" rule="lessThan"/>
</ByValueCondition>
</Condition>
<Condition name="criteria_CollisionTest" delay="0" conditionEdge="rising">
<ByValueCondition>
<ParameterCondition parameterRef="" value="" rule="lessThan"/>
</ByValueCondition>
</Condition>
<Condition name="criteria_DrivenDistanceTest" delay="0" conditionEdge="rising">
<ByValueCondition>
<ParameterCondition parameterRef="distance_success" value="100" rule="lessThan"/>
</ByValueCondition>
</Condition>
</ConditionGroup>
</StopTrigger>
</Storyboard>
</OpenSCENARIO>
``` |
add pedestrian close to 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_20597">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_w_transform_20599">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
</Entities>
<Storyboard>
<Init>
<Actions>
<GlobalAction>
<EnvironmentAction>
<Environment name="Environment1">
<TimeOfDay animation="false" dateTime="2019-06-25T12:00:00"/>
<Weather cloudState="free">
<Sun intensity="0.85" azimuth="0" elevation="1.31"/>
<Fog visualRange="100000.0"/>
<Precipitation precipitationType="dry" intensity="0.0"/>
</Weather>
<RoadCondition frictionScaleFactor="1.0"/>
</Environment>
</EnvironmentAction>
</GlobalAction>
<Private entityRef="hero">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-9.4" y="-152.8" z="0.5" h="1.57079632679"/>
</Position>
</TeleportAction>
</PrivateAction>
<PrivateAction>
<ControllerAction>
<AssignControllerAction>
<Controller name="HeroAgent">
<Properties>
<Property name="module" value="external_control"/>
</Properties>
</Controller>
</AssignControllerAction>
<OverrideControllerValueAction>
<Throttle value="0" active="false"/>
<Brake value="0" active="false"/>
<Clutch value="0" active="false"/>
<ParkingBrake value="0" active="false"/>
<SteeringWheel value="0" active="false"/>
<Gear number="0" active="false"/>
</OverrideControllerValueAction>
</ControllerAction>
</PrivateAction>
</Private>
<Private entityRef="adversary">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-9.4" y="-71.0" z="0.5" h="1.57079632679"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="standing">
<PrivateAction>
<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_20597">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-12.884735107421875" y="-77.79205322265625" z="0.033759575337171555"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_w_transform_20599">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-90.01317596435547" y="93.8608627319336" 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_20597">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_w_transform_20599">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_close_to_hero_20600">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
</Entities>
<Storyboard>
<Init>
<Actions>
<GlobalAction>
<EnvironmentAction>
<Environment name="Environment1">
<TimeOfDay animation="false" dateTime="2019-06-25T12:00:00"/>
<Weather cloudState="free">
<Sun intensity="0.85" azimuth="0" elevation="1.31"/>
<Fog visualRange="100000.0"/>
<Precipitation precipitationType="dry" intensity="0.0"/>
</Weather>
<RoadCondition frictionScaleFactor="1.0"/>
</Environment>
</EnvironmentAction>
</GlobalAction>
<Private entityRef="hero">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-9.4" y="-152.8" z="0.5" h="1.57079632679"/>
</Position>
</TeleportAction>
</PrivateAction>
<PrivateAction>
<ControllerAction>
<AssignControllerAction>
<Controller name="HeroAgent">
<Properties>
<Property name="module" value="external_control"/>
</Properties>
</Controller>
</AssignControllerAction>
<OverrideControllerValueAction>
<Throttle value="0" active="false"/>
<Brake value="0" active="false"/>
<Clutch value="0" active="false"/>
<ParkingBrake value="0" active="false"/>
<SteeringWheel value="0" active="false"/>
<Gear number="0" active="false"/>
</OverrideControllerValueAction>
</ControllerAction>
</PrivateAction>
</Private>
<Private entityRef="adversary">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-9.4" y="-71.0" z="0.5" h="1.57079632679"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="standing">
<PrivateAction>
<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_20597">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-12.884735107421875" y="-77.79205322265625" z="0.033759575337171555"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_w_transform_20599">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-90.01317596435547" y="93.8608627319336" z="0.5"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_close_to_hero_20600">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-15.117561340332031" y="-157.17019653320312" 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 command you to add pedestrian at location (48.22, 91.5, 0.5)?
```
<?xml version="1.0" ?>
<OpenSCENARIO>
<FileHeader revMajor="1" revMinor="0" date="2020-03-24T12:00:00" description="CARLA:LaneChangeSimple" author=""/>
<ParameterDeclarations/>
<CatalogLocations/>
<RoadNetwork>
<LogicFile filepath="Town04"/>
<SceneGraphFile filepath=""/>
</RoadNetwork>
<Entities>
<ScenarioObject name="hero">
<Vehicle name="vehicle.tesla.model3" vehicleCategory="car">
<ParameterDeclarations/>
<Performance maxSpeed="69.444" maxAcceleration="200" maxDeceleration="10.0"/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2.1" length="4.5" height="1.8"/>
</BoundingBox>
<Axles>
<FrontAxle maxSteering="0.5" wheelDiameter="0.6" trackWidth="1.8" positionX="3.1" positionZ="0.3"/>
<RearAxle maxSteering="0.0" wheelDiameter="0.6" trackWidth="1.8" positionX="0.0" positionZ="0.3"/>
</Axles>
<Properties>
<Property name="type" value="ego_vehicle"/>
</Properties>
</Vehicle>
</ScenarioObject>
<ScenarioObject name="adversary">
<Vehicle name="vehicle.lincoln.mkz_2017" vehicleCategory="car">
<ParameterDeclarations/>
<Performance maxSpeed="69.444" maxAcceleration="200" maxDeceleration="10.0"/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2.1" length="4.5" height="1.8"/>
</BoundingBox>
<Axles>
<FrontAxle maxSteering="0.5" wheelDiameter="0.6" trackWidth="1.8" positionX="3.1" positionZ="0.3"/>
<RearAxle maxSteering="0.0" wheelDiameter="0.6" trackWidth="1.8" positionX="0.0" positionZ="0.3"/>
</Axles>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Vehicle>
</ScenarioObject>
<ScenarioObject name="standing">
<Vehicle name="vehicle.volkswagen.t2" vehicleCategory="car">
<ParameterDeclarations/>
<Performance maxSpeed="69.444" maxAcceleration="200" maxDeceleration="10.0"/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2.1" length="4.5" height="1.8"/>
</BoundingBox>
<Axles>
<FrontAxle maxSteering="0.5" wheelDiameter="0.6" trackWidth="1.8" positionX="3.1" positionZ="0.3"/>
<RearAxle maxSteering="0.0" wheelDiameter="0.6" trackWidth="1.8" positionX="0.0" positionZ="0.3"/>
</Axles>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Vehicle>
</ScenarioObject>
<ScenarioObject name="pedestrian_close_to_standing_20414">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_w_transform_20415">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_close_to_hero_20416">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_w_transform_20417">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_close_to_adversary_20418">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_w_transform_20419">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_w_transform_20420">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_w_transform_20421">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_close_to_adversary_20422">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_close_to_adversary_20423">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_close_to_standing_20424">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_close_to_standing_20425">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_w_transform_20426">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_w_transform_20427">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_close_to_standing_20428">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_close_to_standing_20429">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_w_transform_20430">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_w_transform_20431">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
</Entities>
<Storyboard>
<Init>
<Actions>
<GlobalAction>
<EnvironmentAction>
<Environment name="Environment1">
<TimeOfDay animation="false" dateTime="2019-06-25T12:00:00"/>
<Weather cloudState="free">
<Sun intensity="0.85" azimuth="0" elevation="1.31"/>
<Fog visualRange="100000.0"/>
<Precipitation precipitationType="dry" intensity="0.0"/>
</Weather>
<RoadCondition frictionScaleFactor="1.0"/>
</Environment>
</EnvironmentAction>
</GlobalAction>
<Private entityRef="hero">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-9.4" y="-152.8" z="0.5" h="1.57079632679"/>
</Position>
</TeleportAction>
</PrivateAction>
<PrivateAction>
<ControllerAction>
<AssignControllerAction>
<Controller name="HeroAgent">
<Properties>
<Property name="module" value="external_control"/>
</Properties>
</Controller>
</AssignControllerAction>
<OverrideControllerValueAction>
<Throttle value="0" active="false"/>
<Brake value="0" active="false"/>
<Clutch value="0" active="false"/>
<ParkingBrake value="0" active="false"/>
<SteeringWheel value="0" active="false"/>
<Gear number="0" active="false"/>
</OverrideControllerValueAction>
</ControllerAction>
</PrivateAction>
</Private>
<Private entityRef="adversary">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-9.4" y="-71.0" z="0.5" h="1.57079632679"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="standing">
<PrivateAction>
<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_20414">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-2.3348636627197266" y="29.364519119262695" z="0.0030990217346698046"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_w_transform_20415">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="10.002779006958008" y="-79.47537994384766" z="0.5"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_close_to_hero_20416">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-14.183001518249512" y="-151.69903564453125" z="0.0014652633108198643"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_w_transform_20417">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="44.4730110168457" y="76.0543441772461" z="0.5"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_close_to_adversary_20418">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-18.155757904052734" y="-61.35932540893555" z="0.03374778851866722"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_w_transform_20419">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="75.06326293945312" y="-29.046283721923828" z="0.5"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_w_transform_20420">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="10.498620986938477" y="89.6424331665039" z="0.5"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_w_transform_20421">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="65.35419464111328" y="19.738004684448242" z="0.5"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_close_to_adversary_20422">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-16.72254753112793" y="-62.49521255493164" z="0.03383544832468033"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_close_to_adversary_20423">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-1.3476784229278564" y="-63.57243728637695" z="0.03384532779455185"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_close_to_standing_20424">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-11.423624038696289" y="22.100303649902344" z="0.003070030128583312"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_close_to_standing_20425">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-9.328746795654297" y="20.194211959838867" z="0.0030327225103974342"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_w_transform_20426">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-15.785802841186523" y="-6.860751628875732" z="0.5"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_w_transform_20427">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-81.70700073242188" y="68.41862487792969" z="0.5"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_close_to_standing_20428">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-15.5061616897583" y="25.72954559326172" z="0.003072662279009819"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_close_to_standing_20429">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-1.281896710395813" y="23.919607162475586" z="0.0030771635938435793"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_w_transform_20430">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="21.90381622314453" y="80.20985412597656" z="0.5"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_w_transform_20431">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="53.36287307739258" y="-63.43262481689453" 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_20414">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_w_transform_20415">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_close_to_hero_20416">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_w_transform_20417">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_close_to_adversary_20418">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_w_transform_20419">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_w_transform_20420">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_w_transform_20421">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_close_to_adversary_20422">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_close_to_adversary_20423">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_close_to_standing_20424">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_close_to_standing_20425">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_w_transform_20426">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_w_transform_20427">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_close_to_standing_20428">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_close_to_standing_20429">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_w_transform_20430">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_w_transform_20431">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_w_transform_20432">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
</Entities>
<Storyboard>
<Init>
<Actions>
<GlobalAction>
<EnvironmentAction>
<Environment name="Environment1">
<TimeOfDay animation="false" dateTime="2019-06-25T12:00:00"/>
<Weather cloudState="free">
<Sun intensity="0.85" azimuth="0" elevation="1.31"/>
<Fog visualRange="100000.0"/>
<Precipitation precipitationType="dry" intensity="0.0"/>
</Weather>
<RoadCondition frictionScaleFactor="1.0"/>
</Environment>
</EnvironmentAction>
</GlobalAction>
<Private entityRef="hero">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-9.4" y="-152.8" z="0.5" h="1.57079632679"/>
</Position>
</TeleportAction>
</PrivateAction>
<PrivateAction>
<ControllerAction>
<AssignControllerAction>
<Controller name="HeroAgent">
<Properties>
<Property name="module" value="external_control"/>
</Properties>
</Controller>
</AssignControllerAction>
<OverrideControllerValueAction>
<Throttle value="0" active="false"/>
<Brake value="0" active="false"/>
<Clutch value="0" active="false"/>
<ParkingBrake value="0" active="false"/>
<SteeringWheel value="0" active="false"/>
<Gear number="0" active="false"/>
</OverrideControllerValueAction>
</ControllerAction>
</PrivateAction>
</Private>
<Private entityRef="adversary">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-9.4" y="-71.0" z="0.5" h="1.57079632679"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="standing">
<PrivateAction>
<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_20414">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-2.3348636627197266" y="29.364519119262695" z="0.0030990217346698046"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_w_transform_20415">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="10.002779006958008" y="-79.47537994384766" z="0.5"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_close_to_hero_20416">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-14.183001518249512" y="-151.69903564453125" z="0.0014652633108198643"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_w_transform_20417">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="44.4730110168457" y="76.0543441772461" z="0.5"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_close_to_adversary_20418">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-18.155757904052734" y="-61.35932540893555" z="0.03374778851866722"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_w_transform_20419">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="75.06326293945312" y="-29.046283721923828" z="0.5"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_w_transform_20420">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="10.498620986938477" y="89.6424331665039" z="0.5"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_w_transform_20421">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="65.35419464111328" y="19.738004684448242" z="0.5"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_close_to_adversary_20422">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-16.72254753112793" y="-62.49521255493164" z="0.03383544832468033"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_close_to_adversary_20423">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-1.3476784229278564" y="-63.57243728637695" z="0.03384532779455185"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_close_to_standing_20424">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-11.423624038696289" y="22.100303649902344" z="0.003070030128583312"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_close_to_standing_20425">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-9.328746795654297" y="20.194211959838867" z="0.0030327225103974342"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_w_transform_20426">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-15.785802841186523" y="-6.860751628875732" z="0.5"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_w_transform_20427">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-81.70700073242188" y="68.41862487792969" z="0.5"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_close_to_standing_20428">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-15.5061616897583" y="25.72954559326172" z="0.003072662279009819"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_close_to_standing_20429">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-1.281896710395813" y="23.919607162475586" z="0.0030771635938435793"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_w_transform_20430">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="21.90381622314453" y="80.20985412597656" z="0.5"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_w_transform_20431">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="53.36287307739258" y="-63.43262481689453" z="0.5"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_w_transform_20432">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="48.21947479248047" y="91.4961929321289" 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 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_15805">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_w_transform_15806">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
</Entities>
<Storyboard>
<Init>
<Actions>
<GlobalAction>
<EnvironmentAction>
<Environment name="Environment1">
<TimeOfDay animation="false" dateTime="2019-06-25T12:00:00"/>
<Weather cloudState="free">
<Sun intensity="0.85" azimuth="0" elevation="1.31"/>
<Fog visualRange="100000.0"/>
<Precipitation precipitationType="dry" intensity="0.0"/>
</Weather>
<RoadCondition frictionScaleFactor="1.0"/>
</Environment>
</EnvironmentAction>
</GlobalAction>
<Private entityRef="hero">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-9.4" y="-152.8" z="0.5" h="1.57079632679"/>
</Position>
</TeleportAction>
</PrivateAction>
<PrivateAction>
<ControllerAction>
<AssignControllerAction>
<Controller name="HeroAgent">
<Properties>
<Property name="module" value="external_control"/>
</Properties>
</Controller>
</AssignControllerAction>
<OverrideControllerValueAction>
<Throttle value="0" active="false"/>
<Brake value="0" active="false"/>
<Clutch value="0" active="false"/>
<ParkingBrake value="0" active="false"/>
<SteeringWheel value="0" active="false"/>
<Gear number="0" active="false"/>
</OverrideControllerValueAction>
</ControllerAction>
</PrivateAction>
</Private>
<Private entityRef="adversary">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-9.4" y="-71.0" z="0.5" h="1.57079632679"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="standing">
<PrivateAction>
<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_15805">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-1.78284752368927" y="34.5455436706543" z="0.003083534073084593"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_w_transform_15806">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-47.67753982543945" y="-22.188961029052734" 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_15805">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_w_transform_15806">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_close_to_standing_15807">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
</Entities>
<Storyboard>
<Init>
<Actions>
<GlobalAction>
<EnvironmentAction>
<Environment name="Environment1">
<TimeOfDay animation="false" dateTime="2019-06-25T12:00:00"/>
<Weather cloudState="free">
<Sun intensity="0.85" azimuth="0" elevation="1.31"/>
<Fog visualRange="100000.0"/>
<Precipitation precipitationType="dry" intensity="0.0"/>
</Weather>
<RoadCondition frictionScaleFactor="1.0"/>
</Environment>
</EnvironmentAction>
</GlobalAction>
<Private entityRef="hero">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-9.4" y="-152.8" z="0.5" h="1.57079632679"/>
</Position>
</TeleportAction>
</PrivateAction>
<PrivateAction>
<ControllerAction>
<AssignControllerAction>
<Controller name="HeroAgent">
<Properties>
<Property name="module" value="external_control"/>
</Properties>
</Controller>
</AssignControllerAction>
<OverrideControllerValueAction>
<Throttle value="0" active="false"/>
<Brake value="0" active="false"/>
<Clutch value="0" active="false"/>
<ParkingBrake value="0" active="false"/>
<SteeringWheel value="0" active="false"/>
<Gear number="0" active="false"/>
</OverrideControllerValueAction>
</ControllerAction>
</PrivateAction>
</Private>
<Private entityRef="adversary">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-9.4" y="-71.0" z="0.5" h="1.57079632679"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="standing">
<PrivateAction>
<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_15805">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-1.78284752368927" y="34.5455436706543" z="0.003083534073084593"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_w_transform_15806">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-47.67753982543945" y="-22.188961029052734" z="0.5"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_close_to_standing_15807">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-2.841918706893921" y="21.31705665588379" z="0.003108825534582138"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
</Actions>
</Init>
<Story name="MyStory">
<Act name="Behavior">
<ManeuverGroup maximumExecutionCount="1" name="ManeuverSequence">
<Actors selectTriggeringEntities="false">
<EntityRef entityRef="adversary"/>
</Actors>
<Maneuver name="LaneChangeSimpleManeuver">
<Event name="AdversaryAccelerates" priority="overwrite">
<Action name="AdversaryAccelerates">
<PrivateAction>
<LongitudinalAction>
<SpeedAction>
<SpeedActionDynamics dynamicsShape="step" value="50" dynamicsDimension="distance"/>
<SpeedActionTarget>
<AbsoluteTargetSpeed value="5.0"/>
</SpeedActionTarget>
</SpeedAction>
</LongitudinalAction>
</PrivateAction>
</Action>
<StartTrigger>
<ConditionGroup>
<Condition name="StartCondition" delay="0" conditionEdge="rising">
<ByEntityCondition>
<TriggeringEntities triggeringEntitiesRule="any">
<EntityRef entityRef="hero"/>
</TriggeringEntities>
<EntityCondition>
<RelativeDistanceCondition entityRef="adversary" relativeDistanceType="cartesianDistance" value="40.0" freespace="false" rule="lessThan"/>
</EntityCondition>
</ByEntityCondition>
</Condition>
</ConditionGroup>
</StartTrigger>
</Event>
<Event name="AdversaryChangesLane" priority="overwrite">
<Action name="AdversaryChangesLane">
<PrivateAction>
<LateralAction>
<LaneChangeAction>
<LaneChangeActionDynamics dynamicsShape="linear" value="25" dynamicsDimension="distance"/>
<LaneChangeTarget>
<RelativeTargetLane entityRef="adversary" value="-1"/>
</LaneChangeTarget>
</LaneChangeAction>
</LateralAction>
</PrivateAction>
</Action>
<StartTrigger>
<ConditionGroup>
<Condition name="AfterAdversaryAccelerates" delay="0" conditionEdge="rising">
<ByValueCondition>
<StoryboardElementStateCondition storyboardElementType="action" storyboardElementRef="AdversaryAccelerates" state="completeState"/>
</ByValueCondition>
</Condition>
</ConditionGroup>
</StartTrigger>
</Event>
</Maneuver>
</ManeuverGroup>
<StartTrigger>
<ConditionGroup>
<Condition name="OverallStartCondition" delay="0" conditionEdge="rising">
<ByEntityCondition>
<TriggeringEntities triggeringEntitiesRule="any">
<EntityRef entityRef="hero"/>
</TriggeringEntities>
<EntityCondition>
<TraveledDistanceCondition value="1.0"/>
</EntityCondition>
</ByEntityCondition>
</Condition>
<Condition name="StartTime" delay="0" conditionEdge="rising">
<ByValueCondition>
<SimulationTimeCondition value="0" rule="equalTo"/>
</ByValueCondition>
</Condition>
</ConditionGroup>
</StartTrigger>
<StopTrigger>
<ConditionGroup>
<Condition name="EndCondition" delay="0" conditionEdge="rising">
<ByEntityCondition>
<TriggeringEntities triggeringEntitiesRule="any">
<EntityRef entityRef="hero"/>
</TriggeringEntities>
<EntityCondition>
<TraveledDistanceCondition value="200.0"/>
</EntityCondition>
</ByEntityCondition>
</Condition>
</ConditionGroup>
</StopTrigger>
</Act>
</Story>
<StopTrigger>
<ConditionGroup>
<Condition name="criteria_RunningStopTest" delay="0" conditionEdge="rising">
<ByValueCondition>
<ParameterCondition parameterRef="" value="" rule="lessThan"/>
</ByValueCondition>
</Condition>
<Condition name="criteria_RunningRedLightTest" delay="0" conditionEdge="rising">
<ByValueCondition>
<ParameterCondition parameterRef="" value="" rule="lessThan"/>
</ByValueCondition>
</Condition>
<Condition name="criteria_WrongLaneTest" delay="0" conditionEdge="rising">
<ByValueCondition>
<ParameterCondition parameterRef="" value="" rule="lessThan"/>
</ByValueCondition>
</Condition>
<Condition name="criteria_OnSidewalkTest" delay="0" conditionEdge="rising">
<ByValueCondition>
<ParameterCondition parameterRef="" value="" rule="lessThan"/>
</ByValueCondition>
</Condition>
<Condition name="criteria_KeepLaneTest" delay="0" conditionEdge="rising">
<ByValueCondition>
<ParameterCondition parameterRef="" value="" rule="lessThan"/>
</ByValueCondition>
</Condition>
<Condition name="criteria_CollisionTest" delay="0" conditionEdge="rising">
<ByValueCondition>
<ParameterCondition parameterRef="" value="" rule="lessThan"/>
</ByValueCondition>
</Condition>
<Condition name="criteria_DrivenDistanceTest" delay="0" conditionEdge="rising">
<ByValueCondition>
<ParameterCondition parameterRef="distance_success" value="100" rule="lessThan"/>
</ByValueCondition>
</Condition>
</ConditionGroup>
</StopTrigger>
</Storyboard>
</OpenSCENARIO>
``` |
please add pedestrian close to standing?
```
<?xml version="1.0" ?>
<OpenSCENARIO>
<FileHeader revMajor="1" revMinor="0" date="2020-03-24T12:00:00" description="CARLA:LaneChangeSimple" author=""/>
<ParameterDeclarations/>
<CatalogLocations/>
<RoadNetwork>
<LogicFile filepath="Town04"/>
<SceneGraphFile filepath=""/>
</RoadNetwork>
<Entities>
<ScenarioObject name="hero">
<Vehicle name="vehicle.tesla.model3" vehicleCategory="car">
<ParameterDeclarations/>
<Performance maxSpeed="69.444" maxAcceleration="200" maxDeceleration="10.0"/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2.1" length="4.5" height="1.8"/>
</BoundingBox>
<Axles>
<FrontAxle maxSteering="0.5" wheelDiameter="0.6" trackWidth="1.8" positionX="3.1" positionZ="0.3"/>
<RearAxle maxSteering="0.0" wheelDiameter="0.6" trackWidth="1.8" positionX="0.0" positionZ="0.3"/>
</Axles>
<Properties>
<Property name="type" value="ego_vehicle"/>
</Properties>
</Vehicle>
</ScenarioObject>
<ScenarioObject name="adversary">
<Vehicle name="vehicle.lincoln.mkz_2017" vehicleCategory="car">
<ParameterDeclarations/>
<Performance maxSpeed="69.444" maxAcceleration="200" maxDeceleration="10.0"/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2.1" length="4.5" height="1.8"/>
</BoundingBox>
<Axles>
<FrontAxle maxSteering="0.5" wheelDiameter="0.6" trackWidth="1.8" positionX="3.1" positionZ="0.3"/>
<RearAxle maxSteering="0.0" wheelDiameter="0.6" trackWidth="1.8" positionX="0.0" positionZ="0.3"/>
</Axles>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Vehicle>
</ScenarioObject>
<ScenarioObject name="standing">
<Vehicle name="vehicle.volkswagen.t2" vehicleCategory="car">
<ParameterDeclarations/>
<Performance maxSpeed="69.444" maxAcceleration="200" maxDeceleration="10.0"/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2.1" length="4.5" height="1.8"/>
</BoundingBox>
<Axles>
<FrontAxle maxSteering="0.5" wheelDiameter="0.6" trackWidth="1.8" positionX="3.1" positionZ="0.3"/>
<RearAxle maxSteering="0.0" wheelDiameter="0.6" trackWidth="1.8" positionX="0.0" positionZ="0.3"/>
</Axles>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Vehicle>
</ScenarioObject>
<ScenarioObject name="pedestrian_close_to_standing_27734">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_w_transform_27735">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_close_to_adversary_27736">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_close_to_standing_27737">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_w_transform_27738">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_close_to_hero_27739">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_close_to_standing_27740">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_close_to_hero_27741">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_close_to_adversary_27742">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
</Entities>
<Storyboard>
<Init>
<Actions>
<GlobalAction>
<EnvironmentAction>
<Environment name="Environment1">
<TimeOfDay animation="false" dateTime="2019-06-25T12:00:00"/>
<Weather cloudState="free">
<Sun intensity="0.85" azimuth="0" elevation="1.31"/>
<Fog visualRange="100000.0"/>
<Precipitation precipitationType="dry" intensity="0.0"/>
</Weather>
<RoadCondition frictionScaleFactor="1.0"/>
</Environment>
</EnvironmentAction>
</GlobalAction>
<Private entityRef="hero">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-9.4" y="-152.8" z="0.5" h="1.57079632679"/>
</Position>
</TeleportAction>
</PrivateAction>
<PrivateAction>
<ControllerAction>
<AssignControllerAction>
<Controller name="HeroAgent">
<Properties>
<Property name="module" value="external_control"/>
</Properties>
</Controller>
</AssignControllerAction>
<OverrideControllerValueAction>
<Throttle value="0" active="false"/>
<Brake value="0" active="false"/>
<Clutch value="0" active="false"/>
<ParkingBrake value="0" active="false"/>
<SteeringWheel value="0" active="false"/>
<Gear number="0" active="false"/>
</OverrideControllerValueAction>
</ControllerAction>
</PrivateAction>
</Private>
<Private entityRef="adversary">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-9.4" y="-71.0" z="0.5" h="1.57079632679"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="standing">
<PrivateAction>
<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_27734">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-13.911046028137207" y="29.624000549316406" z="0.0030472183134406805"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_w_transform_27735">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-71.34654998779297" y="64.43095397949219" z="0.5"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_close_to_adversary_27736">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-5.732491970062256" y="-76.7116470336914" z="0.033817023038864136"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_close_to_standing_27737">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="7.190191268920898" y="26.379249572753906" z="0.003059463342651725"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_w_transform_27738">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="89.38406372070312" y="96.88555145263672" z="0.5"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_close_to_hero_27739">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-14.428401947021484" y="-254.37025451660156" z="0.001678848173469305"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_close_to_standing_27740">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-8.372403144836426" y="22.553489685058594" z="0.0030255126766860485"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_close_to_hero_27741">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-4.391619682312012" y="-239.54273986816406" z="0.001678848173469305"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_close_to_adversary_27742">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="1.9635157585144043" y="-67.1050033569336" z="0.03374321013689041"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
</Actions>
</Init>
<Story name="MyStory">
<Act name="Behavior">
<ManeuverGroup maximumExecutionCount="1" name="ManeuverSequence">
<Actors selectTriggeringEntities="false">
<EntityRef entityRef="adversary"/>
</Actors>
<Maneuver name="LaneChangeSimpleManeuver">
<Event name="AdversaryAccelerates" priority="overwrite">
<Action name="AdversaryAccelerates">
<PrivateAction>
<LongitudinalAction>
<SpeedAction>
<SpeedActionDynamics dynamicsShape="step" value="50" dynamicsDimension="distance"/>
<SpeedActionTarget>
<AbsoluteTargetSpeed value="5.0"/>
</SpeedActionTarget>
</SpeedAction>
</LongitudinalAction>
</PrivateAction>
</Action>
<StartTrigger>
<ConditionGroup>
<Condition name="StartCondition" delay="0" conditionEdge="rising">
<ByEntityCondition>
<TriggeringEntities triggeringEntitiesRule="any">
<EntityRef entityRef="hero"/>
</TriggeringEntities>
<EntityCondition>
<RelativeDistanceCondition entityRef="adversary" relativeDistanceType="cartesianDistance" value="40.0" freespace="false" rule="lessThan"/>
</EntityCondition>
</ByEntityCondition>
</Condition>
</ConditionGroup>
</StartTrigger>
</Event>
<Event name="AdversaryChangesLane" priority="overwrite">
<Action name="AdversaryChangesLane">
<PrivateAction>
<LateralAction>
<LaneChangeAction>
<LaneChangeActionDynamics dynamicsShape="linear" value="25" dynamicsDimension="distance"/>
<LaneChangeTarget>
<RelativeTargetLane entityRef="adversary" value="-1"/>
</LaneChangeTarget>
</LaneChangeAction>
</LateralAction>
</PrivateAction>
</Action>
<StartTrigger>
<ConditionGroup>
<Condition name="AfterAdversaryAccelerates" delay="0" conditionEdge="rising">
<ByValueCondition>
<StoryboardElementStateCondition storyboardElementType="action" storyboardElementRef="AdversaryAccelerates" state="completeState"/>
</ByValueCondition>
</Condition>
</ConditionGroup>
</StartTrigger>
</Event>
</Maneuver>
</ManeuverGroup>
<StartTrigger>
<ConditionGroup>
<Condition name="OverallStartCondition" delay="0" conditionEdge="rising">
<ByEntityCondition>
<TriggeringEntities triggeringEntitiesRule="any">
<EntityRef entityRef="hero"/>
</TriggeringEntities>
<EntityCondition>
<TraveledDistanceCondition value="1.0"/>
</EntityCondition>
</ByEntityCondition>
</Condition>
<Condition name="StartTime" delay="0" conditionEdge="rising">
<ByValueCondition>
<SimulationTimeCondition value="0" rule="equalTo"/>
</ByValueCondition>
</Condition>
</ConditionGroup>
</StartTrigger>
<StopTrigger>
<ConditionGroup>
<Condition name="EndCondition" delay="0" conditionEdge="rising">
<ByEntityCondition>
<TriggeringEntities triggeringEntitiesRule="any">
<EntityRef entityRef="hero"/>
</TriggeringEntities>
<EntityCondition>
<TraveledDistanceCondition value="200.0"/>
</EntityCondition>
</ByEntityCondition>
</Condition>
</ConditionGroup>
</StopTrigger>
</Act>
</Story>
<StopTrigger>
<ConditionGroup>
<Condition name="criteria_RunningStopTest" delay="0" conditionEdge="rising">
<ByValueCondition>
<ParameterCondition parameterRef="" value="" rule="lessThan"/>
</ByValueCondition>
</Condition>
<Condition name="criteria_RunningRedLightTest" delay="0" conditionEdge="rising">
<ByValueCondition>
<ParameterCondition parameterRef="" value="" rule="lessThan"/>
</ByValueCondition>
</Condition>
<Condition name="criteria_WrongLaneTest" delay="0" conditionEdge="rising">
<ByValueCondition>
<ParameterCondition parameterRef="" value="" rule="lessThan"/>
</ByValueCondition>
</Condition>
<Condition name="criteria_OnSidewalkTest" delay="0" conditionEdge="rising">
<ByValueCondition>
<ParameterCondition parameterRef="" value="" rule="lessThan"/>
</ByValueCondition>
</Condition>
<Condition name="criteria_KeepLaneTest" delay="0" conditionEdge="rising">
<ByValueCondition>
<ParameterCondition parameterRef="" value="" rule="lessThan"/>
</ByValueCondition>
</Condition>
<Condition name="criteria_CollisionTest" delay="0" conditionEdge="rising">
<ByValueCondition>
<ParameterCondition parameterRef="" value="" rule="lessThan"/>
</ByValueCondition>
</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_27734">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_w_transform_27735">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_close_to_adversary_27736">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_close_to_standing_27737">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_w_transform_27738">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_close_to_hero_27739">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_close_to_standing_27740">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_close_to_hero_27741">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_close_to_adversary_27742">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_close_to_standing_27743">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
</Entities>
<Storyboard>
<Init>
<Actions>
<GlobalAction>
<EnvironmentAction>
<Environment name="Environment1">
<TimeOfDay animation="false" dateTime="2019-06-25T12:00:00"/>
<Weather cloudState="free">
<Sun intensity="0.85" azimuth="0" elevation="1.31"/>
<Fog visualRange="100000.0"/>
<Precipitation precipitationType="dry" intensity="0.0"/>
</Weather>
<RoadCondition frictionScaleFactor="1.0"/>
</Environment>
</EnvironmentAction>
</GlobalAction>
<Private entityRef="hero">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-9.4" y="-152.8" z="0.5" h="1.57079632679"/>
</Position>
</TeleportAction>
</PrivateAction>
<PrivateAction>
<ControllerAction>
<AssignControllerAction>
<Controller name="HeroAgent">
<Properties>
<Property name="module" value="external_control"/>
</Properties>
</Controller>
</AssignControllerAction>
<OverrideControllerValueAction>
<Throttle value="0" active="false"/>
<Brake value="0" active="false"/>
<Clutch value="0" active="false"/>
<ParkingBrake value="0" active="false"/>
<SteeringWheel value="0" active="false"/>
<Gear number="0" active="false"/>
</OverrideControllerValueAction>
</ControllerAction>
</PrivateAction>
</Private>
<Private entityRef="adversary">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-9.4" y="-71.0" z="0.5" h="1.57079632679"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="standing">
<PrivateAction>
<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_27734">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-13.911046028137207" y="29.624000549316406" z="0.0030472183134406805"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_w_transform_27735">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-71.34654998779297" y="64.43095397949219" z="0.5"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_close_to_adversary_27736">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-5.732491970062256" y="-76.7116470336914" z="0.033817023038864136"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_close_to_standing_27737">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="7.190191268920898" y="26.379249572753906" z="0.003059463342651725"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_w_transform_27738">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="89.38406372070312" y="96.88555145263672" z="0.5"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_close_to_hero_27739">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-14.428401947021484" y="-254.37025451660156" z="0.001678848173469305"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_close_to_standing_27740">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-8.372403144836426" y="22.553489685058594" z="0.0030255126766860485"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_close_to_hero_27741">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-4.391619682312012" y="-239.54273986816406" z="0.001678848173469305"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_close_to_adversary_27742">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="1.9635157585144043" y="-67.1050033569336" z="0.03374321013689041"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_close_to_standing_27743">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-15.768094062805176" y="38.49409103393555" z="0.003046836704015732"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
</Actions>
</Init>
<Story name="MyStory">
<Act name="Behavior">
<ManeuverGroup maximumExecutionCount="1" name="ManeuverSequence">
<Actors selectTriggeringEntities="false">
<EntityRef entityRef="adversary"/>
</Actors>
<Maneuver name="LaneChangeSimpleManeuver">
<Event name="AdversaryAccelerates" priority="overwrite">
<Action name="AdversaryAccelerates">
<PrivateAction>
<LongitudinalAction>
<SpeedAction>
<SpeedActionDynamics dynamicsShape="step" value="50" dynamicsDimension="distance"/>
<SpeedActionTarget>
<AbsoluteTargetSpeed value="5.0"/>
</SpeedActionTarget>
</SpeedAction>
</LongitudinalAction>
</PrivateAction>
</Action>
<StartTrigger>
<ConditionGroup>
<Condition name="StartCondition" delay="0" conditionEdge="rising">
<ByEntityCondition>
<TriggeringEntities triggeringEntitiesRule="any">
<EntityRef entityRef="hero"/>
</TriggeringEntities>
<EntityCondition>
<RelativeDistanceCondition entityRef="adversary" relativeDistanceType="cartesianDistance" value="40.0" freespace="false" rule="lessThan"/>
</EntityCondition>
</ByEntityCondition>
</Condition>
</ConditionGroup>
</StartTrigger>
</Event>
<Event name="AdversaryChangesLane" priority="overwrite">
<Action name="AdversaryChangesLane">
<PrivateAction>
<LateralAction>
<LaneChangeAction>
<LaneChangeActionDynamics dynamicsShape="linear" value="25" dynamicsDimension="distance"/>
<LaneChangeTarget>
<RelativeTargetLane entityRef="adversary" value="-1"/>
</LaneChangeTarget>
</LaneChangeAction>
</LateralAction>
</PrivateAction>
</Action>
<StartTrigger>
<ConditionGroup>
<Condition name="AfterAdversaryAccelerates" delay="0" conditionEdge="rising">
<ByValueCondition>
<StoryboardElementStateCondition storyboardElementType="action" storyboardElementRef="AdversaryAccelerates" state="completeState"/>
</ByValueCondition>
</Condition>
</ConditionGroup>
</StartTrigger>
</Event>
</Maneuver>
</ManeuverGroup>
<StartTrigger>
<ConditionGroup>
<Condition name="OverallStartCondition" delay="0" conditionEdge="rising">
<ByEntityCondition>
<TriggeringEntities triggeringEntitiesRule="any">
<EntityRef entityRef="hero"/>
</TriggeringEntities>
<EntityCondition>
<TraveledDistanceCondition value="1.0"/>
</EntityCondition>
</ByEntityCondition>
</Condition>
<Condition name="StartTime" delay="0" conditionEdge="rising">
<ByValueCondition>
<SimulationTimeCondition value="0" rule="equalTo"/>
</ByValueCondition>
</Condition>
</ConditionGroup>
</StartTrigger>
<StopTrigger>
<ConditionGroup>
<Condition name="EndCondition" delay="0" conditionEdge="rising">
<ByEntityCondition>
<TriggeringEntities triggeringEntitiesRule="any">
<EntityRef entityRef="hero"/>
</TriggeringEntities>
<EntityCondition>
<TraveledDistanceCondition value="200.0"/>
</EntityCondition>
</ByEntityCondition>
</Condition>
</ConditionGroup>
</StopTrigger>
</Act>
</Story>
<StopTrigger>
<ConditionGroup>
<Condition name="criteria_RunningStopTest" delay="0" conditionEdge="rising">
<ByValueCondition>
<ParameterCondition parameterRef="" value="" rule="lessThan"/>
</ByValueCondition>
</Condition>
<Condition name="criteria_RunningRedLightTest" delay="0" conditionEdge="rising">
<ByValueCondition>
<ParameterCondition parameterRef="" value="" rule="lessThan"/>
</ByValueCondition>
</Condition>
<Condition name="criteria_WrongLaneTest" delay="0" conditionEdge="rising">
<ByValueCondition>
<ParameterCondition parameterRef="" value="" rule="lessThan"/>
</ByValueCondition>
</Condition>
<Condition name="criteria_OnSidewalkTest" delay="0" conditionEdge="rising">
<ByValueCondition>
<ParameterCondition parameterRef="" value="" rule="lessThan"/>
</ByValueCondition>
</Condition>
<Condition name="criteria_KeepLaneTest" delay="0" conditionEdge="rising">
<ByValueCondition>
<ParameterCondition parameterRef="" value="" rule="lessThan"/>
</ByValueCondition>
</Condition>
<Condition name="criteria_CollisionTest" delay="0" conditionEdge="rising">
<ByValueCondition>
<ParameterCondition parameterRef="" value="" rule="lessThan"/>
</ByValueCondition>
</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_close_to_adversary_23372?
```
<?xml version="1.0" ?>
<OpenSCENARIO>
<FileHeader revMajor="1" revMinor="0" date="2020-03-24T12:00:00" description="CARLA:LaneChangeSimple" author=""/>
<ParameterDeclarations/>
<CatalogLocations/>
<RoadNetwork>
<LogicFile filepath="Town04"/>
<SceneGraphFile filepath=""/>
</RoadNetwork>
<Entities>
<ScenarioObject name="hero">
<Vehicle name="vehicle.tesla.model3" vehicleCategory="car">
<ParameterDeclarations/>
<Performance maxSpeed="69.444" maxAcceleration="200" maxDeceleration="10.0"/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2.1" length="4.5" height="1.8"/>
</BoundingBox>
<Axles>
<FrontAxle maxSteering="0.5" wheelDiameter="0.6" trackWidth="1.8" positionX="3.1" positionZ="0.3"/>
<RearAxle maxSteering="0.0" wheelDiameter="0.6" trackWidth="1.8" positionX="0.0" positionZ="0.3"/>
</Axles>
<Properties>
<Property name="type" value="ego_vehicle"/>
</Properties>
</Vehicle>
</ScenarioObject>
<ScenarioObject name="adversary">
<Vehicle name="vehicle.lincoln.mkz_2017" vehicleCategory="car">
<ParameterDeclarations/>
<Performance maxSpeed="69.444" maxAcceleration="200" maxDeceleration="10.0"/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2.1" length="4.5" height="1.8"/>
</BoundingBox>
<Axles>
<FrontAxle maxSteering="0.5" wheelDiameter="0.6" trackWidth="1.8" positionX="3.1" positionZ="0.3"/>
<RearAxle maxSteering="0.0" wheelDiameter="0.6" trackWidth="1.8" positionX="0.0" positionZ="0.3"/>
</Axles>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Vehicle>
</ScenarioObject>
<ScenarioObject name="standing">
<Vehicle name="vehicle.volkswagen.t2" vehicleCategory="car">
<ParameterDeclarations/>
<Performance maxSpeed="69.444" maxAcceleration="200" maxDeceleration="10.0"/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2.1" length="4.5" height="1.8"/>
</BoundingBox>
<Axles>
<FrontAxle maxSteering="0.5" wheelDiameter="0.6" trackWidth="1.8" positionX="3.1" positionZ="0.3"/>
<RearAxle maxSteering="0.0" wheelDiameter="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_23366">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_w_transform_23367">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_close_to_adversary_23368">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_close_to_hero_23369">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_w_transform_23370">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_w_transform_23371">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_close_to_adversary_23372">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_w_transform_23373">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_close_to_adversary_23374">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_w_transform_23375">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_close_to_adversary_23376">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_w_transform_23377">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_w_transform_23378">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_close_to_standing_23379">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_close_to_standing_23381">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_w_transform_23382">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
</Entities>
<Storyboard>
<Init>
<Actions>
<GlobalAction>
<EnvironmentAction>
<Environment name="Environment1">
<TimeOfDay animation="false" dateTime="2019-06-25T12:00:00"/>
<Weather cloudState="free">
<Sun intensity="0.85" azimuth="0" elevation="1.31"/>
<Fog visualRange="100000.0"/>
<Precipitation precipitationType="dry" intensity="0.0"/>
</Weather>
<RoadCondition frictionScaleFactor="1.0"/>
</Environment>
</EnvironmentAction>
</GlobalAction>
<Private entityRef="hero">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-9.4" y="-152.8" z="0.5" h="1.57079632679"/>
</Position>
</TeleportAction>
</PrivateAction>
<PrivateAction>
<ControllerAction>
<AssignControllerAction>
<Controller name="HeroAgent">
<Properties>
<Property name="module" value="external_control"/>
</Properties>
</Controller>
</AssignControllerAction>
<OverrideControllerValueAction>
<Throttle value="0" active="false"/>
<Brake value="0" active="false"/>
<Clutch value="0" active="false"/>
<ParkingBrake value="0" active="false"/>
<SteeringWheel value="0" active="false"/>
<Gear number="0" active="false"/>
</OverrideControllerValueAction>
</ControllerAction>
</PrivateAction>
</Private>
<Private entityRef="adversary">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-9.4" y="-71.0" z="0.5" h="1.57079632679"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="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_23366">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="92.1409912109375" y="56.75544357299805" z="0.5"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_w_transform_23367">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-81.2321548461914" y="-30.802371978759766" z="0.5"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_close_to_adversary_23368">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-2.816769599914551" y="-69.48883819580078" z="0.0338093563914299"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_close_to_hero_23369">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-15.764153480529785" y="-244.53627014160156" z="0.001678848173469305"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_w_transform_23370">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="48.21063232421875" y="-33.313785552978516" z="0.5"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_w_transform_23371">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-56.38211441040039" y="-45.82960891723633" z="0.5"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_close_to_adversary_23372">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-24.914581298828125" y="-64.90989685058594" z="0.033753279596567154"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_w_transform_23373">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-96.84049987792969" y="78.33970642089844" z="0.5"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_close_to_adversary_23374">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-7.018359184265137" y="-87.56121063232422" z="0.03378124162554741"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_w_transform_23375">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-65.8854751586914" y="-29.865320205688477" z="0.5"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_close_to_adversary_23376">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-9.946709632873535" y="-75.15583801269531" z="0.03377040848135948"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_w_transform_23377">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-89.25060272216797" y="-12.139092445373535" z="0.5"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_w_transform_23378">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="22.464752197265625" y="83.01864624023438" z="0.5"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_close_to_standing_23379">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-7.208669662475586" y="19.99454689025879" z="0.0029850387945771217"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_close_to_standing_23381">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-6.293970584869385" y="38.961978912353516" z="0.0030360030941665173"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_w_transform_23382">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-23.485925674438477" y="-5.574246406555176" 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_23366">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_w_transform_23367">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_close_to_adversary_23368">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_close_to_hero_23369">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_w_transform_23370">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_w_transform_23371">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_w_transform_23373">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_close_to_adversary_23374">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_w_transform_23375">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_close_to_adversary_23376">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_w_transform_23377">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_w_transform_23378">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_close_to_standing_23379">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_close_to_standing_23381">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_w_transform_23382">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
</Entities>
<Storyboard>
<Init>
<Actions>
<GlobalAction>
<EnvironmentAction>
<Environment name="Environment1">
<TimeOfDay animation="false" dateTime="2019-06-25T12:00:00"/>
<Weather cloudState="free">
<Sun intensity="0.85" azimuth="0" elevation="1.31"/>
<Fog visualRange="100000.0"/>
<Precipitation precipitationType="dry" intensity="0.0"/>
</Weather>
<RoadCondition frictionScaleFactor="1.0"/>
</Environment>
</EnvironmentAction>
</GlobalAction>
<Private entityRef="hero">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-9.4" y="-152.8" z="0.5" h="1.57079632679"/>
</Position>
</TeleportAction>
</PrivateAction>
<PrivateAction>
<ControllerAction>
<AssignControllerAction>
<Controller name="HeroAgent">
<Properties>
<Property name="module" value="external_control"/>
</Properties>
</Controller>
</AssignControllerAction>
<OverrideControllerValueAction>
<Throttle value="0" active="false"/>
<Brake value="0" active="false"/>
<Clutch value="0" active="false"/>
<ParkingBrake value="0" active="false"/>
<SteeringWheel value="0" active="false"/>
<Gear number="0" active="false"/>
</OverrideControllerValueAction>
</ControllerAction>
</PrivateAction>
</Private>
<Private entityRef="adversary">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-9.4" y="-71.0" z="0.5" h="1.57079632679"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="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_23366">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="92.1409912109375" y="56.75544357299805" z="0.5"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_w_transform_23367">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-81.2321548461914" y="-30.802371978759766" z="0.5"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_close_to_adversary_23368">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-2.816769599914551" y="-69.48883819580078" z="0.0338093563914299"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_close_to_hero_23369">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-15.764153480529785" y="-244.53627014160156" z="0.001678848173469305"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_w_transform_23370">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="48.21063232421875" y="-33.313785552978516" z="0.5"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_w_transform_23371">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-56.38211441040039" y="-45.82960891723633" z="0.5"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_w_transform_23373">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-96.84049987792969" y="78.33970642089844" z="0.5"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_close_to_adversary_23374">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-7.018359184265137" y="-87.56121063232422" z="0.03378124162554741"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_w_transform_23375">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-65.8854751586914" y="-29.865320205688477" z="0.5"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_close_to_adversary_23376">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-9.946709632873535" y="-75.15583801269531" z="0.03377040848135948"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_w_transform_23377">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-89.25060272216797" y="-12.139092445373535" z="0.5"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_w_transform_23378">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="22.464752197265625" y="83.01864624023438" z="0.5"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_close_to_standing_23379">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-7.208669662475586" y="19.99454689025879" z="0.0029850387945771217"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_close_to_standing_23381">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-6.293970584869385" y="38.961978912353516" z="0.0030360030941665173"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_w_transform_23382">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-23.485925674438477" y="-5.574246406555176" 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 remove pedestrian actor named pedestrian_close_to_hero_12109?
```
<?xml version="1.0" ?>
<OpenSCENARIO>
<FileHeader revMajor="1" revMinor="0" date="2020-03-24T12:00:00" description="CARLA:LaneChangeSimple" author=""/>
<ParameterDeclarations/>
<CatalogLocations/>
<RoadNetwork>
<LogicFile filepath="Town04"/>
<SceneGraphFile filepath=""/>
</RoadNetwork>
<Entities>
<ScenarioObject name="hero">
<Vehicle name="vehicle.tesla.model3" vehicleCategory="car">
<ParameterDeclarations/>
<Performance maxSpeed="69.444" maxAcceleration="200" maxDeceleration="10.0"/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2.1" length="4.5" height="1.8"/>
</BoundingBox>
<Axles>
<FrontAxle maxSteering="0.5" wheelDiameter="0.6" trackWidth="1.8" positionX="3.1" positionZ="0.3"/>
<RearAxle maxSteering="0.0" wheelDiameter="0.6" trackWidth="1.8" positionX="0.0" positionZ="0.3"/>
</Axles>
<Properties>
<Property name="type" value="ego_vehicle"/>
</Properties>
</Vehicle>
</ScenarioObject>
<ScenarioObject name="adversary">
<Vehicle name="vehicle.lincoln.mkz_2017" vehicleCategory="car">
<ParameterDeclarations/>
<Performance maxSpeed="69.444" maxAcceleration="200" maxDeceleration="10.0"/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2.1" length="4.5" height="1.8"/>
</BoundingBox>
<Axles>
<FrontAxle maxSteering="0.5" wheelDiameter="0.6" trackWidth="1.8" positionX="3.1" positionZ="0.3"/>
<RearAxle maxSteering="0.0" wheelDiameter="0.6" trackWidth="1.8" positionX="0.0" positionZ="0.3"/>
</Axles>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Vehicle>
</ScenarioObject>
<ScenarioObject name="standing">
<Vehicle name="vehicle.volkswagen.t2" vehicleCategory="car">
<ParameterDeclarations/>
<Performance maxSpeed="69.444" maxAcceleration="200" maxDeceleration="10.0"/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2.1" length="4.5" height="1.8"/>
</BoundingBox>
<Axles>
<FrontAxle maxSteering="0.5" wheelDiameter="0.6" trackWidth="1.8" positionX="3.1" positionZ="0.3"/>
<RearAxle maxSteering="0.0" wheelDiameter="0.6" 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_12106">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_w_transform_12108">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_close_to_hero_12109">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_close_to_adversary_12110">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_w_transform_12111">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_close_to_adversary_12112">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_w_transform_12113">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_w_transform_12114">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_w_transform_12115">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_close_to_hero_12116">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_close_to_adversary_12117">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
</Entities>
<Storyboard>
<Init>
<Actions>
<GlobalAction>
<EnvironmentAction>
<Environment name="Environment1">
<TimeOfDay animation="false" dateTime="2019-06-25T12:00:00"/>
<Weather cloudState="free">
<Sun intensity="0.85" azimuth="0" elevation="1.31"/>
<Fog visualRange="100000.0"/>
<Precipitation precipitationType="dry" intensity="0.0"/>
</Weather>
<RoadCondition frictionScaleFactor="1.0"/>
</Environment>
</EnvironmentAction>
</GlobalAction>
<Private entityRef="hero">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-9.4" y="-152.8" z="0.5" h="1.57079632679"/>
</Position>
</TeleportAction>
</PrivateAction>
<PrivateAction>
<ControllerAction>
<AssignControllerAction>
<Controller name="HeroAgent">
<Properties>
<Property name="module" value="external_control"/>
</Properties>
</Controller>
</AssignControllerAction>
<OverrideControllerValueAction>
<Throttle value="0" active="false"/>
<Brake value="0" active="false"/>
<Clutch value="0" active="false"/>
<ParkingBrake value="0" active="false"/>
<SteeringWheel value="0" active="false"/>
<Gear number="0" active="false"/>
</OverrideControllerValueAction>
</ControllerAction>
</PrivateAction>
</Private>
<Private entityRef="adversary">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-9.4" y="-71.0" z="0.5" h="1.57079632679"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="standing">
<PrivateAction>
<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_12106">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-10.146263122558594" y="-136.28086853027344" z="0.001423797570168972"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_w_transform_12108">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="53.35127639770508" y="10.995713233947754" z="0.5"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_close_to_hero_12109">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-10.433209419250488" y="-146.25015258789062" z="0.001423797570168972"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_close_to_adversary_12110">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-2.448782205581665" y="-78.63099670410156" z="0.03375331684947014"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_w_transform_12111">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-68.03462982177734" y="-63.43745422363281" z="0.5"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_close_to_adversary_12112">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-9.026470184326172" y="-76.63800811767578" z="0.033805962651968"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_w_transform_12113">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="44.170310974121094" y="-49.37332534790039" z="0.5"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_w_transform_12114">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-17.047990798950195" y="68.79508209228516" z="0.5"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_w_transform_12115">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="95.77782440185547" y="-77.55742645263672" z="0.5"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_close_to_hero_12116">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-12.516897201538086" y="-157.109619140625" z="0.001423797570168972"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_close_to_adversary_12117">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-3.2392547130584717" y="-77.4288101196289" z="0.03376239538192749"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
</Actions>
</Init>
<Story name="MyStory">
<Act name="Behavior">
<ManeuverGroup maximumExecutionCount="1" name="ManeuverSequence">
<Actors selectTriggeringEntities="false">
<EntityRef entityRef="adversary"/>
</Actors>
<Maneuver name="LaneChangeSimpleManeuver">
<Event name="AdversaryAccelerates" priority="overwrite">
<Action name="AdversaryAccelerates">
<PrivateAction>
<LongitudinalAction>
<SpeedAction>
<SpeedActionDynamics dynamicsShape="step" value="50" dynamicsDimension="distance"/>
<SpeedActionTarget>
<AbsoluteTargetSpeed value="5.0"/>
</SpeedActionTarget>
</SpeedAction>
</LongitudinalAction>
</PrivateAction>
</Action>
<StartTrigger>
<ConditionGroup>
<Condition name="StartCondition" delay="0" conditionEdge="rising">
<ByEntityCondition>
<TriggeringEntities triggeringEntitiesRule="any">
<EntityRef entityRef="hero"/>
</TriggeringEntities>
<EntityCondition>
<RelativeDistanceCondition entityRef="adversary" relativeDistanceType="cartesianDistance" value="40.0" freespace="false" rule="lessThan"/>
</EntityCondition>
</ByEntityCondition>
</Condition>
</ConditionGroup>
</StartTrigger>
</Event>
<Event name="AdversaryChangesLane" priority="overwrite">
<Action name="AdversaryChangesLane">
<PrivateAction>
<LateralAction>
<LaneChangeAction>
<LaneChangeActionDynamics dynamicsShape="linear" value="25" dynamicsDimension="distance"/>
<LaneChangeTarget>
<RelativeTargetLane entityRef="adversary" value="-1"/>
</LaneChangeTarget>
</LaneChangeAction>
</LateralAction>
</PrivateAction>
</Action>
<StartTrigger>
<ConditionGroup>
<Condition name="AfterAdversaryAccelerates" delay="0" conditionEdge="rising">
<ByValueCondition>
<StoryboardElementStateCondition storyboardElementType="action" storyboardElementRef="AdversaryAccelerates" state="completeState"/>
</ByValueCondition>
</Condition>
</ConditionGroup>
</StartTrigger>
</Event>
</Maneuver>
</ManeuverGroup>
<StartTrigger>
<ConditionGroup>
<Condition name="OverallStartCondition" delay="0" conditionEdge="rising">
<ByEntityCondition>
<TriggeringEntities triggeringEntitiesRule="any">
<EntityRef entityRef="hero"/>
</TriggeringEntities>
<EntityCondition>
<TraveledDistanceCondition value="1.0"/>
</EntityCondition>
</ByEntityCondition>
</Condition>
<Condition name="StartTime" delay="0" conditionEdge="rising">
<ByValueCondition>
<SimulationTimeCondition value="0" rule="equalTo"/>
</ByValueCondition>
</Condition>
</ConditionGroup>
</StartTrigger>
<StopTrigger>
<ConditionGroup>
<Condition name="EndCondition" delay="0" conditionEdge="rising">
<ByEntityCondition>
<TriggeringEntities triggeringEntitiesRule="any">
<EntityRef entityRef="hero"/>
</TriggeringEntities>
<EntityCondition>
<TraveledDistanceCondition value="200.0"/>
</EntityCondition>
</ByEntityCondition>
</Condition>
</ConditionGroup>
</StopTrigger>
</Act>
</Story>
<StopTrigger>
<ConditionGroup>
<Condition name="criteria_RunningStopTest" delay="0" conditionEdge="rising">
<ByValueCondition>
<ParameterCondition parameterRef="" value="" rule="lessThan"/>
</ByValueCondition>
</Condition>
<Condition name="criteria_RunningRedLightTest" delay="0" conditionEdge="rising">
<ByValueCondition>
<ParameterCondition parameterRef="" value="" rule="lessThan"/>
</ByValueCondition>
</Condition>
<Condition name="criteria_WrongLaneTest" delay="0" conditionEdge="rising">
<ByValueCondition>
<ParameterCondition parameterRef="" value="" rule="lessThan"/>
</ByValueCondition>
</Condition>
<Condition name="criteria_OnSidewalkTest" delay="0" conditionEdge="rising">
<ByValueCondition>
<ParameterCondition parameterRef="" value="" rule="lessThan"/>
</ByValueCondition>
</Condition>
<Condition name="criteria_KeepLaneTest" delay="0" conditionEdge="rising">
<ByValueCondition>
<ParameterCondition parameterRef="" value="" rule="lessThan"/>
</ByValueCondition>
</Condition>
<Condition name="criteria_CollisionTest" delay="0" conditionEdge="rising">
<ByValueCondition>
<ParameterCondition parameterRef="" value="" rule="lessThan"/>
</ByValueCondition>
</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_12106">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_w_transform_12108">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_close_to_adversary_12110">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_w_transform_12111">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_close_to_adversary_12112">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_w_transform_12113">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_w_transform_12114">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_w_transform_12115">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_close_to_hero_12116">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_close_to_adversary_12117">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
</Entities>
<Storyboard>
<Init>
<Actions>
<GlobalAction>
<EnvironmentAction>
<Environment name="Environment1">
<TimeOfDay animation="false" dateTime="2019-06-25T12:00:00"/>
<Weather cloudState="free">
<Sun intensity="0.85" azimuth="0" elevation="1.31"/>
<Fog visualRange="100000.0"/>
<Precipitation precipitationType="dry" intensity="0.0"/>
</Weather>
<RoadCondition frictionScaleFactor="1.0"/>
</Environment>
</EnvironmentAction>
</GlobalAction>
<Private entityRef="hero">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-9.4" y="-152.8" z="0.5" h="1.57079632679"/>
</Position>
</TeleportAction>
</PrivateAction>
<PrivateAction>
<ControllerAction>
<AssignControllerAction>
<Controller name="HeroAgent">
<Properties>
<Property name="module" value="external_control"/>
</Properties>
</Controller>
</AssignControllerAction>
<OverrideControllerValueAction>
<Throttle value="0" active="false"/>
<Brake value="0" active="false"/>
<Clutch value="0" active="false"/>
<ParkingBrake value="0" active="false"/>
<SteeringWheel value="0" active="false"/>
<Gear number="0" active="false"/>
</OverrideControllerValueAction>
</ControllerAction>
</PrivateAction>
</Private>
<Private entityRef="adversary">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-9.4" y="-71.0" z="0.5" h="1.57079632679"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="standing">
<PrivateAction>
<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_12106">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-10.146263122558594" y="-136.28086853027344" z="0.001423797570168972"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_w_transform_12108">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="53.35127639770508" y="10.995713233947754" z="0.5"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_close_to_adversary_12110">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-2.448782205581665" y="-78.63099670410156" z="0.03375331684947014"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_w_transform_12111">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-68.03462982177734" y="-63.43745422363281" z="0.5"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_close_to_adversary_12112">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-9.026470184326172" y="-76.63800811767578" z="0.033805962651968"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_w_transform_12113">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="44.170310974121094" y="-49.37332534790039" z="0.5"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_w_transform_12114">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-17.047990798950195" y="68.79508209228516" z="0.5"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_w_transform_12115">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="95.77782440185547" y="-77.55742645263672" z="0.5"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_close_to_hero_12116">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-12.516897201538086" y="-157.109619140625" z="0.001423797570168972"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_close_to_adversary_12117">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-3.2392547130584717" y="-77.4288101196289" z="0.03376239538192749"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
</Actions>
</Init>
<Story name="MyStory">
<Act name="Behavior">
<ManeuverGroup maximumExecutionCount="1" name="ManeuverSequence">
<Actors selectTriggeringEntities="false">
<EntityRef entityRef="adversary"/>
</Actors>
<Maneuver name="LaneChangeSimpleManeuver">
<Event name="AdversaryAccelerates" priority="overwrite">
<Action name="AdversaryAccelerates">
<PrivateAction>
<LongitudinalAction>
<SpeedAction>
<SpeedActionDynamics dynamicsShape="step" value="50" dynamicsDimension="distance"/>
<SpeedActionTarget>
<AbsoluteTargetSpeed value="5.0"/>
</SpeedActionTarget>
</SpeedAction>
</LongitudinalAction>
</PrivateAction>
</Action>
<StartTrigger>
<ConditionGroup>
<Condition name="StartCondition" delay="0" conditionEdge="rising">
<ByEntityCondition>
<TriggeringEntities triggeringEntitiesRule="any">
<EntityRef entityRef="hero"/>
</TriggeringEntities>
<EntityCondition>
<RelativeDistanceCondition entityRef="adversary" relativeDistanceType="cartesianDistance" value="40.0" freespace="false" rule="lessThan"/>
</EntityCondition>
</ByEntityCondition>
</Condition>
</ConditionGroup>
</StartTrigger>
</Event>
<Event name="AdversaryChangesLane" priority="overwrite">
<Action name="AdversaryChangesLane">
<PrivateAction>
<LateralAction>
<LaneChangeAction>
<LaneChangeActionDynamics dynamicsShape="linear" value="25" dynamicsDimension="distance"/>
<LaneChangeTarget>
<RelativeTargetLane entityRef="adversary" value="-1"/>
</LaneChangeTarget>
</LaneChangeAction>
</LateralAction>
</PrivateAction>
</Action>
<StartTrigger>
<ConditionGroup>
<Condition name="AfterAdversaryAccelerates" delay="0" conditionEdge="rising">
<ByValueCondition>
<StoryboardElementStateCondition storyboardElementType="action" storyboardElementRef="AdversaryAccelerates" state="completeState"/>
</ByValueCondition>
</Condition>
</ConditionGroup>
</StartTrigger>
</Event>
</Maneuver>
</ManeuverGroup>
<StartTrigger>
<ConditionGroup>
<Condition name="OverallStartCondition" delay="0" conditionEdge="rising">
<ByEntityCondition>
<TriggeringEntities triggeringEntitiesRule="any">
<EntityRef entityRef="hero"/>
</TriggeringEntities>
<EntityCondition>
<TraveledDistanceCondition value="1.0"/>
</EntityCondition>
</ByEntityCondition>
</Condition>
<Condition name="StartTime" delay="0" conditionEdge="rising">
<ByValueCondition>
<SimulationTimeCondition value="0" rule="equalTo"/>
</ByValueCondition>
</Condition>
</ConditionGroup>
</StartTrigger>
<StopTrigger>
<ConditionGroup>
<Condition name="EndCondition" delay="0" conditionEdge="rising">
<ByEntityCondition>
<TriggeringEntities triggeringEntitiesRule="any">
<EntityRef entityRef="hero"/>
</TriggeringEntities>
<EntityCondition>
<TraveledDistanceCondition value="200.0"/>
</EntityCondition>
</ByEntityCondition>
</Condition>
</ConditionGroup>
</StopTrigger>
</Act>
</Story>
<StopTrigger>
<ConditionGroup>
<Condition name="criteria_RunningStopTest" delay="0" conditionEdge="rising">
<ByValueCondition>
<ParameterCondition parameterRef="" value="" rule="lessThan"/>
</ByValueCondition>
</Condition>
<Condition name="criteria_RunningRedLightTest" delay="0" conditionEdge="rising">
<ByValueCondition>
<ParameterCondition parameterRef="" value="" rule="lessThan"/>
</ByValueCondition>
</Condition>
<Condition name="criteria_WrongLaneTest" delay="0" conditionEdge="rising">
<ByValueCondition>
<ParameterCondition parameterRef="" value="" rule="lessThan"/>
</ByValueCondition>
</Condition>
<Condition name="criteria_OnSidewalkTest" delay="0" conditionEdge="rising">
<ByValueCondition>
<ParameterCondition parameterRef="" value="" rule="lessThan"/>
</ByValueCondition>
</Condition>
<Condition name="criteria_KeepLaneTest" delay="0" conditionEdge="rising">
<ByValueCondition>
<ParameterCondition parameterRef="" value="" rule="lessThan"/>
</ByValueCondition>
</Condition>
<Condition name="criteria_CollisionTest" delay="0" conditionEdge="rising">
<ByValueCondition>
<ParameterCondition parameterRef="" value="" rule="lessThan"/>
</ByValueCondition>
</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 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_21344">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_w_transform_21345">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_close_to_hero_21346">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_close_to_adversary_21347">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_w_transform_21348">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_w_transform_21349">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_w_transform_21350">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_close_to_adversary_21351">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_w_transform_21352">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_w_transform_21353">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_w_transform_21354">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_close_to_hero_21355">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_w_transform_21356">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_close_to_hero_21357">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_w_transform_21358">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_close_to_standing_21359">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_w_transform_21361">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_w_transform_21363">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_w_transform_21364">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_w_transform_21365">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_w_transform_21366">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_w_transform_21367">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
</Entities>
<Storyboard>
<Init>
<Actions>
<GlobalAction>
<EnvironmentAction>
<Environment name="Environment1">
<TimeOfDay animation="false" dateTime="2019-06-25T12:00:00"/>
<Weather cloudState="free">
<Sun intensity="0.85" azimuth="0" elevation="1.31"/>
<Fog visualRange="100000.0"/>
<Precipitation precipitationType="dry" intensity="0.0"/>
</Weather>
<RoadCondition frictionScaleFactor="1.0"/>
</Environment>
</EnvironmentAction>
</GlobalAction>
<Private entityRef="hero">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-9.4" y="-152.8" z="0.5" h="1.57079632679"/>
</Position>
</TeleportAction>
</PrivateAction>
<PrivateAction>
<ControllerAction>
<AssignControllerAction>
<Controller name="HeroAgent">
<Properties>
<Property name="module" value="external_control"/>
</Properties>
</Controller>
</AssignControllerAction>
<OverrideControllerValueAction>
<Throttle value="0" active="false"/>
<Brake value="0" active="false"/>
<Clutch value="0" active="false"/>
<ParkingBrake value="0" active="false"/>
<SteeringWheel value="0" active="false"/>
<Gear number="0" active="false"/>
</OverrideControllerValueAction>
</ControllerAction>
</PrivateAction>
</Private>
<Private entityRef="adversary">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-9.4" y="-71.0" z="0.5" h="1.57079632679"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="standing">
<PrivateAction>
<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_21344">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-10.527632713317871" y="12.330217361450195" z="0.003018684219568968"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_w_transform_21345">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-63.89085388183594" y="58.36720657348633" z="0.5"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_close_to_hero_21346">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-16.407411575317383" y="-148.671142578125" z="0.0013734435196965933"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_close_to_adversary_21347">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-12.697778701782227" y="-77.34445190429688" z="0.03379219025373459"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_w_transform_21348">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-90.32845306396484" y="-49.11715316772461" z="0.5"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_w_transform_21349">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-62.99909973144531" y="-87.1364517211914" z="0.5"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_w_transform_21350">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-64.41519165039062" y="-58.070655822753906" z="0.5"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_close_to_adversary_21351">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-7.48250150680542" y="-84.28855895996094" z="0.03375675156712532"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_w_transform_21352">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="83.10042572021484" y="2.0584118366241455" z="0.5"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_w_transform_21353">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="99.50785064697266" y="35.35850524902344" z="0.5"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_w_transform_21354">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="17.759597778320312" y="2.0521631240844727" z="0.5"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_close_to_hero_21355">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-14.299958229064941" y="-159.53346252441406" z="0.0013734435196965933"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_w_transform_21356">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="86.55272674560547" y="-91.72942352294922" z="0.5"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_close_to_hero_21357">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-14.848559379577637" y="-157.878662109375" z="0.0013734435196965933"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_w_transform_21358">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="67.74691772460938" y="-57.074867248535156" z="0.5"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_close_to_standing_21359">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-6.18814754486084" y="33.87802505493164" z="0.00301750167272985"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_w_transform_21361">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-5.561221599578857" y="82.56558227539062" z="0.5"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_w_transform_21363">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-64.88346862792969" y="-26.49473762512207" z="0.5"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_w_transform_21364">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-0.9940840601921082" y="-18.384033203125" z="0.5"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_w_transform_21365">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-34.012176513671875" y="39.83543014526367" z="0.5"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_w_transform_21366">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="40.132347106933594" y="-88.3155288696289" z="0.5"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_w_transform_21367">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-51.31572723388672" y="17.830469131469727" 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_21344">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_w_transform_21345">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_close_to_hero_21346">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_close_to_adversary_21347">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_w_transform_21348">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_w_transform_21349">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_w_transform_21350">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_close_to_adversary_21351">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_w_transform_21352">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_w_transform_21353">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_w_transform_21354">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_close_to_hero_21355">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_w_transform_21356">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_close_to_hero_21357">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_w_transform_21358">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_w_transform_21361">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_w_transform_21363">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_w_transform_21364">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_w_transform_21365">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_w_transform_21366">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_w_transform_21367">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
</Entities>
<Storyboard>
<Init>
<Actions>
<GlobalAction>
<EnvironmentAction>
<Environment name="Environment1">
<TimeOfDay animation="false" dateTime="2019-06-25T12:00:00"/>
<Weather cloudState="free">
<Sun intensity="0.85" azimuth="0" elevation="1.31"/>
<Fog visualRange="100000.0"/>
<Precipitation precipitationType="dry" intensity="0.0"/>
</Weather>
<RoadCondition frictionScaleFactor="1.0"/>
</Environment>
</EnvironmentAction>
</GlobalAction>
<Private entityRef="hero">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-9.4" y="-152.8" z="0.5" h="1.57079632679"/>
</Position>
</TeleportAction>
</PrivateAction>
<PrivateAction>
<ControllerAction>
<AssignControllerAction>
<Controller name="HeroAgent">
<Properties>
<Property name="module" value="external_control"/>
</Properties>
</Controller>
</AssignControllerAction>
<OverrideControllerValueAction>
<Throttle value="0" active="false"/>
<Brake value="0" active="false"/>
<Clutch value="0" active="false"/>
<ParkingBrake value="0" active="false"/>
<SteeringWheel value="0" active="false"/>
<Gear number="0" active="false"/>
</OverrideControllerValueAction>
</ControllerAction>
</PrivateAction>
</Private>
<Private entityRef="adversary">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-9.4" y="-71.0" z="0.5" h="1.57079632679"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="standing">
<PrivateAction>
<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_21344">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-10.527632713317871" y="12.330217361450195" z="0.003018684219568968"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_w_transform_21345">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-63.89085388183594" y="58.36720657348633" z="0.5"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_close_to_hero_21346">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-16.407411575317383" y="-148.671142578125" z="0.0013734435196965933"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_close_to_adversary_21347">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-12.697778701782227" y="-77.34445190429688" z="0.03379219025373459"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_w_transform_21348">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-90.32845306396484" y="-49.11715316772461" z="0.5"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_w_transform_21349">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-62.99909973144531" y="-87.1364517211914" z="0.5"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_w_transform_21350">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-64.41519165039062" y="-58.070655822753906" z="0.5"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_close_to_adversary_21351">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-7.48250150680542" y="-84.28855895996094" z="0.03375675156712532"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_w_transform_21352">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="83.10042572021484" y="2.0584118366241455" z="0.5"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_w_transform_21353">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="99.50785064697266" y="35.35850524902344" z="0.5"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_w_transform_21354">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="17.759597778320312" y="2.0521631240844727" z="0.5"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_close_to_hero_21355">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-14.299958229064941" y="-159.53346252441406" z="0.0013734435196965933"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_w_transform_21356">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="86.55272674560547" y="-91.72942352294922" z="0.5"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_close_to_hero_21357">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-14.848559379577637" y="-157.878662109375" z="0.0013734435196965933"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_w_transform_21358">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="67.74691772460938" y="-57.074867248535156" z="0.5"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_w_transform_21361">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-5.561221599578857" y="82.56558227539062" z="0.5"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_w_transform_21363">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-64.88346862792969" y="-26.49473762512207" z="0.5"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_w_transform_21364">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-0.9940840601921082" y="-18.384033203125" z="0.5"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_w_transform_21365">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-34.012176513671875" y="39.83543014526367" z="0.5"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_w_transform_21366">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="40.132347106933594" y="-88.3155288696289" z="0.5"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_w_transform_21367">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-51.31572723388672" y="17.830469131469727" 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_5980">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
</Entities>
<Storyboard>
<Init>
<Actions>
<GlobalAction>
<EnvironmentAction>
<Environment name="Environment1">
<TimeOfDay animation="false" dateTime="2019-06-25T12:00:00"/>
<Weather cloudState="free">
<Sun intensity="0.85" azimuth="0" elevation="1.31"/>
<Fog visualRange="100000.0"/>
<Precipitation precipitationType="dry" intensity="0.0"/>
</Weather>
<RoadCondition frictionScaleFactor="1.0"/>
</Environment>
</EnvironmentAction>
</GlobalAction>
<Private entityRef="hero">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-9.4" y="-152.8" z="0.5" h="1.57079632679"/>
</Position>
</TeleportAction>
</PrivateAction>
<PrivateAction>
<ControllerAction>
<AssignControllerAction>
<Controller name="HeroAgent">
<Properties>
<Property name="module" value="external_control"/>
</Properties>
</Controller>
</AssignControllerAction>
<OverrideControllerValueAction>
<Throttle value="0" active="false"/>
<Brake value="0" active="false"/>
<Clutch value="0" active="false"/>
<ParkingBrake value="0" active="false"/>
<SteeringWheel value="0" active="false"/>
<Gear number="0" active="false"/>
</OverrideControllerValueAction>
</ControllerAction>
</PrivateAction>
</Private>
<Private entityRef="adversary">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-9.4" y="-71.0" z="0.5" h="1.57079632679"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="standing">
<PrivateAction>
<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_5980">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-7.638636589050293" y="-73.7048568725586" z="0.033780135214328766"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
</Actions>
</Init>
<Story name="MyStory">
<Act name="Behavior">
<ManeuverGroup maximumExecutionCount="1" name="ManeuverSequence">
<Actors selectTriggeringEntities="false">
<EntityRef entityRef="adversary"/>
</Actors>
<Maneuver name="LaneChangeSimpleManeuver">
<Event name="AdversaryAccelerates" priority="overwrite">
<Action name="AdversaryAccelerates">
<PrivateAction>
<LongitudinalAction>
<SpeedAction>
<SpeedActionDynamics dynamicsShape="step" value="50" dynamicsDimension="distance"/>
<SpeedActionTarget>
<AbsoluteTargetSpeed value="5.0"/>
</SpeedActionTarget>
</SpeedAction>
</LongitudinalAction>
</PrivateAction>
</Action>
<StartTrigger>
<ConditionGroup>
<Condition name="StartCondition" delay="0" conditionEdge="rising">
<ByEntityCondition>
<TriggeringEntities triggeringEntitiesRule="any">
<EntityRef entityRef="hero"/>
</TriggeringEntities>
<EntityCondition>
<RelativeDistanceCondition entityRef="adversary" relativeDistanceType="cartesianDistance" value="40.0" freespace="false" rule="lessThan"/>
</EntityCondition>
</ByEntityCondition>
</Condition>
</ConditionGroup>
</StartTrigger>
</Event>
<Event name="AdversaryChangesLane" priority="overwrite">
<Action name="AdversaryChangesLane">
<PrivateAction>
<LateralAction>
<LaneChangeAction>
<LaneChangeActionDynamics dynamicsShape="linear" value="25" dynamicsDimension="distance"/>
<LaneChangeTarget>
<RelativeTargetLane entityRef="adversary" value="-1"/>
</LaneChangeTarget>
</LaneChangeAction>
</LateralAction>
</PrivateAction>
</Action>
<StartTrigger>
<ConditionGroup>
<Condition name="AfterAdversaryAccelerates" delay="0" conditionEdge="rising">
<ByValueCondition>
<StoryboardElementStateCondition storyboardElementType="action" storyboardElementRef="AdversaryAccelerates" state="completeState"/>
</ByValueCondition>
</Condition>
</ConditionGroup>
</StartTrigger>
</Event>
</Maneuver>
</ManeuverGroup>
<StartTrigger>
<ConditionGroup>
<Condition name="OverallStartCondition" delay="0" conditionEdge="rising">
<ByEntityCondition>
<TriggeringEntities triggeringEntitiesRule="any">
<EntityRef entityRef="hero"/>
</TriggeringEntities>
<EntityCondition>
<TraveledDistanceCondition value="1.0"/>
</EntityCondition>
</ByEntityCondition>
</Condition>
<Condition name="StartTime" delay="0" conditionEdge="rising">
<ByValueCondition>
<SimulationTimeCondition value="0" rule="equalTo"/>
</ByValueCondition>
</Condition>
</ConditionGroup>
</StartTrigger>
<StopTrigger>
<ConditionGroup>
<Condition name="EndCondition" delay="0" conditionEdge="rising">
<ByEntityCondition>
<TriggeringEntities triggeringEntitiesRule="any">
<EntityRef entityRef="hero"/>
</TriggeringEntities>
<EntityCondition>
<TraveledDistanceCondition value="200.0"/>
</EntityCondition>
</ByEntityCondition>
</Condition>
</ConditionGroup>
</StopTrigger>
</Act>
</Story>
<StopTrigger>
<ConditionGroup>
<Condition name="criteria_RunningStopTest" delay="0" conditionEdge="rising">
<ByValueCondition>
<ParameterCondition parameterRef="" value="" rule="lessThan"/>
</ByValueCondition>
</Condition>
<Condition name="criteria_RunningRedLightTest" delay="0" conditionEdge="rising">
<ByValueCondition>
<ParameterCondition parameterRef="" value="" rule="lessThan"/>
</ByValueCondition>
</Condition>
<Condition name="criteria_WrongLaneTest" delay="0" conditionEdge="rising">
<ByValueCondition>
<ParameterCondition parameterRef="" value="" rule="lessThan"/>
</ByValueCondition>
</Condition>
<Condition name="criteria_OnSidewalkTest" delay="0" conditionEdge="rising">
<ByValueCondition>
<ParameterCondition parameterRef="" value="" rule="lessThan"/>
</ByValueCondition>
</Condition>
<Condition name="criteria_KeepLaneTest" delay="0" conditionEdge="rising">
<ByValueCondition>
<ParameterCondition parameterRef="" value="" rule="lessThan"/>
</ByValueCondition>
</Condition>
<Condition name="criteria_CollisionTest" delay="0" conditionEdge="rising">
<ByValueCondition>
<ParameterCondition parameterRef="" value="" rule="lessThan"/>
</ByValueCondition>
</Condition>
<Condition name="criteria_DrivenDistanceTest" delay="0" conditionEdge="rising">
<ByValueCondition>
<ParameterCondition parameterRef="distance_success" value="100" rule="lessThan"/>
</ByValueCondition>
</Condition>
</ConditionGroup>
</StopTrigger>
</Storyboard>
</OpenSCENARIO>
``` |
i would like to ask you to add pedestrian at location (13.7, -18.2, 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_4591">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_w_transform_4592">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_close_to_hero_4593">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_close_to_standing_4594">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_close_to_adversary_4595">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_w_transform_4596">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_close_to_adversary_4597">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_close_to_adversary_4598">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_close_to_adversary_4600">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_w_transform_4601">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_w_transform_4602">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_close_to_standing_4605">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_close_to_standing_4606">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_w_transform_4607">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_w_transform_4608">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_w_transform_4609">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_w_transform_4610">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_w_transform_4611">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
</Entities>
<Storyboard>
<Init>
<Actions>
<GlobalAction>
<EnvironmentAction>
<Environment name="Environment1">
<TimeOfDay animation="false" dateTime="2019-06-25T12:00:00"/>
<Weather cloudState="free">
<Sun intensity="0.85" azimuth="0" elevation="1.31"/>
<Fog visualRange="100000.0"/>
<Precipitation precipitationType="dry" intensity="0.0"/>
</Weather>
<RoadCondition frictionScaleFactor="1.0"/>
</Environment>
</EnvironmentAction>
</GlobalAction>
<Private entityRef="hero">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-9.4" y="-152.8" z="0.5" h="1.57079632679"/>
</Position>
</TeleportAction>
</PrivateAction>
<PrivateAction>
<ControllerAction>
<AssignControllerAction>
<Controller name="HeroAgent">
<Properties>
<Property name="module" value="external_control"/>
</Properties>
</Controller>
</AssignControllerAction>
<OverrideControllerValueAction>
<Throttle value="0" active="false"/>
<Brake value="0" active="false"/>
<Clutch value="0" active="false"/>
<ParkingBrake value="0" active="false"/>
<SteeringWheel value="0" active="false"/>
<Gear number="0" active="false"/>
</OverrideControllerValueAction>
</ControllerAction>
</PrivateAction>
</Private>
<Private entityRef="adversary">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-9.4" y="-71.0" z="0.5" h="1.57079632679"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="standing">
<PrivateAction>
<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_4591">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-6.143565654754639" y="23.432069778442383" z="0.0030836486257612705"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_w_transform_4592">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="59.38526153564453" y="24.499570846557617" z="0.5"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_close_to_hero_4593">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-7.516252040863037" y="-155.8647918701172" z="0.0016471862327307463"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_close_to_standing_4594">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="1.518672227859497" y="37.89000701904297" z="0.0030860137194395065"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_close_to_adversary_4595">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="7.772611141204834" y="-70.88429260253906" z="0.03382232412695885"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_w_transform_4596">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-66.89457702636719" y="-93.41826629638672" z="0.5"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_close_to_adversary_4597">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-16.295913696289062" y="-62.36403274536133" z="0.03377147763967514"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_close_to_adversary_4598">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-8.796504020690918" y="-61.432552337646484" z="0.03376426547765732"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_close_to_adversary_4600">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-2.8820571899414062" y="-65.58246612548828" z="0.0337364561855793"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_w_transform_4601">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-60.84174728393555" y="-73.26974487304688" z="0.5"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_w_transform_4602">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="97.68883514404297" y="26.41939353942871" z="0.5"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_close_to_standing_4605">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-12.121260643005371" y="32.80513381958008" z="0.0030237578321248293"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_close_to_standing_4606">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-15.915118217468262" y="31.954072952270508" z="0.0030469130724668503"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_w_transform_4607">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-6.866365432739258" y="0.8097710609436035" z="0.5"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_w_transform_4608">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="57.83885955810547" y="97.35850524902344" z="0.5"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_w_transform_4609">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-1.3903898000717163" y="43.944889068603516" z="0.5"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_w_transform_4610">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-80.97969055175781" y="-81.56422424316406" z="0.5"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_w_transform_4611">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="60.82350540161133" y="-46.24223709106445" 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_4591">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_w_transform_4592">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_close_to_hero_4593">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_close_to_standing_4594">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_close_to_adversary_4595">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_w_transform_4596">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_close_to_adversary_4597">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_close_to_adversary_4598">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_close_to_adversary_4600">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_w_transform_4601">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_w_transform_4602">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_close_to_standing_4605">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_close_to_standing_4606">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_w_transform_4607">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_w_transform_4608">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_w_transform_4609">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_w_transform_4610">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_w_transform_4611">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_w_transform_4612">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
</Entities>
<Storyboard>
<Init>
<Actions>
<GlobalAction>
<EnvironmentAction>
<Environment name="Environment1">
<TimeOfDay animation="false" dateTime="2019-06-25T12:00:00"/>
<Weather cloudState="free">
<Sun intensity="0.85" azimuth="0" elevation="1.31"/>
<Fog visualRange="100000.0"/>
<Precipitation precipitationType="dry" intensity="0.0"/>
</Weather>
<RoadCondition frictionScaleFactor="1.0"/>
</Environment>
</EnvironmentAction>
</GlobalAction>
<Private entityRef="hero">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-9.4" y="-152.8" z="0.5" h="1.57079632679"/>
</Position>
</TeleportAction>
</PrivateAction>
<PrivateAction>
<ControllerAction>
<AssignControllerAction>
<Controller name="HeroAgent">
<Properties>
<Property name="module" value="external_control"/>
</Properties>
</Controller>
</AssignControllerAction>
<OverrideControllerValueAction>
<Throttle value="0" active="false"/>
<Brake value="0" active="false"/>
<Clutch value="0" active="false"/>
<ParkingBrake value="0" active="false"/>
<SteeringWheel value="0" active="false"/>
<Gear number="0" active="false"/>
</OverrideControllerValueAction>
</ControllerAction>
</PrivateAction>
</Private>
<Private entityRef="adversary">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-9.4" y="-71.0" z="0.5" h="1.57079632679"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="standing">
<PrivateAction>
<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_4591">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-6.143565654754639" y="23.432069778442383" z="0.0030836486257612705"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_w_transform_4592">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="59.38526153564453" y="24.499570846557617" z="0.5"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_close_to_hero_4593">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-7.516252040863037" y="-155.8647918701172" z="0.0016471862327307463"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_close_to_standing_4594">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="1.518672227859497" y="37.89000701904297" z="0.0030860137194395065"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_close_to_adversary_4595">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="7.772611141204834" y="-70.88429260253906" z="0.03382232412695885"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_w_transform_4596">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-66.89457702636719" y="-93.41826629638672" z="0.5"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_close_to_adversary_4597">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-16.295913696289062" y="-62.36403274536133" z="0.03377147763967514"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_close_to_adversary_4598">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-8.796504020690918" y="-61.432552337646484" z="0.03376426547765732"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_close_to_adversary_4600">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-2.8820571899414062" y="-65.58246612548828" z="0.0337364561855793"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_w_transform_4601">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-60.84174728393555" y="-73.26974487304688" z="0.5"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_w_transform_4602">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="97.68883514404297" y="26.41939353942871" z="0.5"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_close_to_standing_4605">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-12.121260643005371" y="32.80513381958008" z="0.0030237578321248293"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_close_to_standing_4606">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-15.915118217468262" y="31.954072952270508" z="0.0030469130724668503"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_w_transform_4607">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-6.866365432739258" y="0.8097710609436035" z="0.5"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_w_transform_4608">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="57.83885955810547" y="97.35850524902344" z="0.5"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_w_transform_4609">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-1.3903898000717163" y="43.944889068603516" z="0.5"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_w_transform_4610">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-80.97969055175781" y="-81.56422424316406" z="0.5"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_w_transform_4611">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="60.82350540161133" y="-46.24223709106445" z="0.5"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_w_transform_4612">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="13.697187423706055" y="-18.199420928955078" 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 (91.34, 94.91, 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_15526">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_w_transform_15527">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_w_transform_15528">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_close_to_standing_15529">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_w_transform_15530">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_close_to_hero_15531">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_w_transform_15532">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
</Entities>
<Storyboard>
<Init>
<Actions>
<GlobalAction>
<EnvironmentAction>
<Environment name="Environment1">
<TimeOfDay animation="false" dateTime="2019-06-25T12:00:00"/>
<Weather cloudState="free">
<Sun intensity="0.85" azimuth="0" elevation="1.31"/>
<Fog visualRange="100000.0"/>
<Precipitation precipitationType="dry" intensity="0.0"/>
</Weather>
<RoadCondition frictionScaleFactor="1.0"/>
</Environment>
</EnvironmentAction>
</GlobalAction>
<Private entityRef="hero">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-9.4" y="-152.8" z="0.5" h="1.57079632679"/>
</Position>
</TeleportAction>
</PrivateAction>
<PrivateAction>
<ControllerAction>
<AssignControllerAction>
<Controller name="HeroAgent">
<Properties>
<Property name="module" value="external_control"/>
</Properties>
</Controller>
</AssignControllerAction>
<OverrideControllerValueAction>
<Throttle value="0" active="false"/>
<Brake value="0" active="false"/>
<Clutch value="0" active="false"/>
<ParkingBrake value="0" active="false"/>
<SteeringWheel value="0" active="false"/>
<Gear number="0" active="false"/>
</OverrideControllerValueAction>
</ControllerAction>
</PrivateAction>
</Private>
<Private entityRef="adversary">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-9.4" y="-71.0" z="0.5" h="1.57079632679"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="standing">
<PrivateAction>
<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_15526">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-13.2964448928833" y="-62.63768005371094" z="0.03380603715777397"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_w_transform_15527">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="60.83243942260742" y="-43.31912612915039" z="0.5"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_w_transform_15528">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-16.386287689208984" y="-34.19675064086914" z="0.5"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_close_to_standing_15529">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-14.003998756408691" y="36.670475006103516" z="0.003101997310295701"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_w_transform_15530">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="46.64430618286133" y="-49.10321807861328" z="0.5"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_close_to_hero_15531">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-8.694306373596191" y="-152.5116424560547" z="0.0014652633108198643"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_w_transform_15532">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-98.98004913330078" y="-76.25692749023438" 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_15526">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_w_transform_15527">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_w_transform_15528">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_close_to_standing_15529">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_w_transform_15530">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_close_to_hero_15531">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_w_transform_15532">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_w_transform_15533">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
</Entities>
<Storyboard>
<Init>
<Actions>
<GlobalAction>
<EnvironmentAction>
<Environment name="Environment1">
<TimeOfDay animation="false" dateTime="2019-06-25T12:00:00"/>
<Weather cloudState="free">
<Sun intensity="0.85" azimuth="0" elevation="1.31"/>
<Fog visualRange="100000.0"/>
<Precipitation precipitationType="dry" intensity="0.0"/>
</Weather>
<RoadCondition frictionScaleFactor="1.0"/>
</Environment>
</EnvironmentAction>
</GlobalAction>
<Private entityRef="hero">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-9.4" y="-152.8" z="0.5" h="1.57079632679"/>
</Position>
</TeleportAction>
</PrivateAction>
<PrivateAction>
<ControllerAction>
<AssignControllerAction>
<Controller name="HeroAgent">
<Properties>
<Property name="module" value="external_control"/>
</Properties>
</Controller>
</AssignControllerAction>
<OverrideControllerValueAction>
<Throttle value="0" active="false"/>
<Brake value="0" active="false"/>
<Clutch value="0" active="false"/>
<ParkingBrake value="0" active="false"/>
<SteeringWheel value="0" active="false"/>
<Gear number="0" active="false"/>
</OverrideControllerValueAction>
</ControllerAction>
</PrivateAction>
</Private>
<Private entityRef="adversary">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-9.4" y="-71.0" z="0.5" h="1.57079632679"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="standing">
<PrivateAction>
<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_15526">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-13.2964448928833" y="-62.63768005371094" z="0.03380603715777397"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_w_transform_15527">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="60.83243942260742" y="-43.31912612915039" z="0.5"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_w_transform_15528">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-16.386287689208984" y="-34.19675064086914" z="0.5"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_close_to_standing_15529">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-14.003998756408691" y="36.670475006103516" z="0.003101997310295701"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_w_transform_15530">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="46.64430618286133" y="-49.10321807861328" z="0.5"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_close_to_hero_15531">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-8.694306373596191" y="-152.5116424560547" z="0.0014652633108198643"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_w_transform_15532">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-98.98004913330078" y="-76.25692749023438" z="0.5"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_w_transform_15533">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="91.34220886230469" y="94.90709686279297" 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 actor named pedestrian_close_to_hero_14797?
```
<?xml version="1.0" ?>
<OpenSCENARIO>
<FileHeader revMajor="1" revMinor="0" date="2020-03-24T12:00:00" description="CARLA:LaneChangeSimple" author=""/>
<ParameterDeclarations/>
<CatalogLocations/>
<RoadNetwork>
<LogicFile filepath="Town04"/>
<SceneGraphFile filepath=""/>
</RoadNetwork>
<Entities>
<ScenarioObject name="hero">
<Vehicle name="vehicle.tesla.model3" vehicleCategory="car">
<ParameterDeclarations/>
<Performance maxSpeed="69.444" maxAcceleration="200" maxDeceleration="10.0"/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2.1" length="4.5" height="1.8"/>
</BoundingBox>
<Axles>
<FrontAxle maxSteering="0.5" wheelDiameter="0.6" trackWidth="1.8" positionX="3.1" positionZ="0.3"/>
<RearAxle maxSteering="0.0" wheelDiameter="0.6" trackWidth="1.8" positionX="0.0" positionZ="0.3"/>
</Axles>
<Properties>
<Property name="type" value="ego_vehicle"/>
</Properties>
</Vehicle>
</ScenarioObject>
<ScenarioObject name="adversary">
<Vehicle name="vehicle.lincoln.mkz_2017" vehicleCategory="car">
<ParameterDeclarations/>
<Performance maxSpeed="69.444" maxAcceleration="200" maxDeceleration="10.0"/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2.1" length="4.5" height="1.8"/>
</BoundingBox>
<Axles>
<FrontAxle maxSteering="0.5" wheelDiameter="0.6" trackWidth="1.8" positionX="3.1" positionZ="0.3"/>
<RearAxle maxSteering="0.0" wheelDiameter="0.6" trackWidth="1.8" positionX="0.0" positionZ="0.3"/>
</Axles>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Vehicle>
</ScenarioObject>
<ScenarioObject name="standing">
<Vehicle name="vehicle.volkswagen.t2" vehicleCategory="car">
<ParameterDeclarations/>
<Performance maxSpeed="69.444" maxAcceleration="200" maxDeceleration="10.0"/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2.1" length="4.5" height="1.8"/>
</BoundingBox>
<Axles>
<FrontAxle maxSteering="0.5" wheelDiameter="0.6" trackWidth="1.8" positionX="3.1" positionZ="0.3"/>
<RearAxle maxSteering="0.0" wheelDiameter="0.6" 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_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_14783">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_w_transform_14784">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_close_to_standing_14786">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_close_to_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>
<ScenarioObject name="pedestrian_close_to_hero_14789">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_w_transform_14790">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_w_transform_14792">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_close_to_adversary_14793">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_w_transform_14796">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_close_to_hero_14797">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_w_transform_14798">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
</Entities>
<Storyboard>
<Init>
<Actions>
<GlobalAction>
<EnvironmentAction>
<Environment name="Environment1">
<TimeOfDay animation="false" dateTime="2019-06-25T12:00:00"/>
<Weather cloudState="free">
<Sun intensity="0.85" azimuth="0" elevation="1.31"/>
<Fog visualRange="100000.0"/>
<Precipitation precipitationType="dry" intensity="0.0"/>
</Weather>
<RoadCondition frictionScaleFactor="1.0"/>
</Environment>
</EnvironmentAction>
</GlobalAction>
<Private entityRef="hero">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-9.4" y="-152.8" z="0.5" h="1.57079632679"/>
</Position>
</TeleportAction>
</PrivateAction>
<PrivateAction>
<ControllerAction>
<AssignControllerAction>
<Controller name="HeroAgent">
<Properties>
<Property name="module" value="external_control"/>
</Properties>
</Controller>
</AssignControllerAction>
<OverrideControllerValueAction>
<Throttle value="0" active="false"/>
<Brake value="0" active="false"/>
<Clutch value="0" active="false"/>
<ParkingBrake value="0" active="false"/>
<SteeringWheel value="0" active="false"/>
<Gear number="0" active="false"/>
</OverrideControllerValueAction>
</ControllerAction>
</PrivateAction>
</Private>
<Private entityRef="adversary">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-9.4" y="-71.0" z="0.5" h="1.57079632679"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="standing">
<PrivateAction>
<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_14778">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-8.91763687133789" y="-73.41027069091797" z="0.03382594883441925"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_w_transform_14783">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-82.7367172241211" y="37.480438232421875" z="0.5"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_w_transform_14784">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="82.19792938232422" y="-60.16971969604492" z="0.5"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_close_to_standing_14786">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-14.608622550964355" y="33.8150634765625" z="0.0031217574141919613"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_close_to_hero_14787">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-6.773873805999756" y="-142.8507843017578" z="0.0020974730141460896"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_close_to_hero_14789">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-15.268326759338379" y="-156.83740234375" z="0.0020974730141460896"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_w_transform_14790">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-67.4012451171875" y="16.063852310180664" z="0.5"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_w_transform_14792">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-45.521366119384766" y="-98.61283111572266" z="0.5"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_close_to_adversary_14793">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-1.644820213317871" y="-77.38426208496094" z="0.03383529558777809"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_w_transform_14796">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="75.8654556274414" y="38.76963806152344" z="0.5"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_close_to_hero_14797">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-4.9466753005981445" y="-150.69920349121094" z="0.0020974730141460896"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_w_transform_14798">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-80.4206314086914" y="4.0388007164001465" 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_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_14783">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_w_transform_14784">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_close_to_standing_14786">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_close_to_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>
<ScenarioObject name="pedestrian_close_to_hero_14789">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_w_transform_14790">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_w_transform_14792">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_close_to_adversary_14793">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_w_transform_14796">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_w_transform_14798">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
</Entities>
<Storyboard>
<Init>
<Actions>
<GlobalAction>
<EnvironmentAction>
<Environment name="Environment1">
<TimeOfDay animation="false" dateTime="2019-06-25T12:00:00"/>
<Weather cloudState="free">
<Sun intensity="0.85" azimuth="0" elevation="1.31"/>
<Fog visualRange="100000.0"/>
<Precipitation precipitationType="dry" intensity="0.0"/>
</Weather>
<RoadCondition frictionScaleFactor="1.0"/>
</Environment>
</EnvironmentAction>
</GlobalAction>
<Private entityRef="hero">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-9.4" y="-152.8" z="0.5" h="1.57079632679"/>
</Position>
</TeleportAction>
</PrivateAction>
<PrivateAction>
<ControllerAction>
<AssignControllerAction>
<Controller name="HeroAgent">
<Properties>
<Property name="module" value="external_control"/>
</Properties>
</Controller>
</AssignControllerAction>
<OverrideControllerValueAction>
<Throttle value="0" active="false"/>
<Brake value="0" active="false"/>
<Clutch value="0" active="false"/>
<ParkingBrake value="0" active="false"/>
<SteeringWheel value="0" active="false"/>
<Gear number="0" active="false"/>
</OverrideControllerValueAction>
</ControllerAction>
</PrivateAction>
</Private>
<Private entityRef="adversary">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-9.4" y="-71.0" z="0.5" h="1.57079632679"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="standing">
<PrivateAction>
<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_14778">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-8.91763687133789" y="-73.41027069091797" z="0.03382594883441925"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_w_transform_14783">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-82.7367172241211" y="37.480438232421875" z="0.5"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_w_transform_14784">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="82.19792938232422" y="-60.16971969604492" z="0.5"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_close_to_standing_14786">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-14.608622550964355" y="33.8150634765625" z="0.0031217574141919613"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_close_to_hero_14787">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-6.773873805999756" y="-142.8507843017578" z="0.0020974730141460896"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_close_to_hero_14789">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-15.268326759338379" y="-156.83740234375" z="0.0020974730141460896"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_w_transform_14790">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-67.4012451171875" y="16.063852310180664" z="0.5"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_w_transform_14792">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-45.521366119384766" y="-98.61283111572266" z="0.5"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_close_to_adversary_14793">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-1.644820213317871" y="-77.38426208496094" z="0.03383529558777809"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_w_transform_14796">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="75.8654556274414" y="38.76963806152344" z="0.5"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_w_transform_14798">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-80.4206314086914" y="4.0388007164001465" 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 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_27989">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_w_transform_27990">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_w_transform_27991">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_w_transform_27992">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
</Entities>
<Storyboard>
<Init>
<Actions>
<GlobalAction>
<EnvironmentAction>
<Environment name="Environment1">
<TimeOfDay animation="false" dateTime="2019-06-25T12:00:00"/>
<Weather cloudState="free">
<Sun intensity="0.85" azimuth="0" elevation="1.31"/>
<Fog visualRange="100000.0"/>
<Precipitation precipitationType="dry" intensity="0.0"/>
</Weather>
<RoadCondition frictionScaleFactor="1.0"/>
</Environment>
</EnvironmentAction>
</GlobalAction>
<Private entityRef="hero">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-9.4" y="-152.8" z="0.5" h="1.57079632679"/>
</Position>
</TeleportAction>
</PrivateAction>
<PrivateAction>
<ControllerAction>
<AssignControllerAction>
<Controller name="HeroAgent">
<Properties>
<Property name="module" value="external_control"/>
</Properties>
</Controller>
</AssignControllerAction>
<OverrideControllerValueAction>
<Throttle value="0" active="false"/>
<Brake value="0" active="false"/>
<Clutch value="0" active="false"/>
<ParkingBrake value="0" active="false"/>
<SteeringWheel value="0" active="false"/>
<Gear number="0" active="false"/>
</OverrideControllerValueAction>
</ControllerAction>
</PrivateAction>
</Private>
<Private entityRef="adversary">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-9.4" y="-71.0" z="0.5" h="1.57079632679"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="standing">
<PrivateAction>
<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_27989">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-9.1154203414917" y="-160.72703552246094" z="0.0015143966302275658"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_w_transform_27990">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="83.10478210449219" y="-21.090463638305664" z="0.5"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_w_transform_27991">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="81.52396392822266" y="23.108369827270508" z="0.5"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_w_transform_27992">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-49.182823181152344" y="26.060287475585938" 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_27989">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_w_transform_27990">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_w_transform_27991">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_w_transform_27992">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_close_to_standing_27994">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
</Entities>
<Storyboard>
<Init>
<Actions>
<GlobalAction>
<EnvironmentAction>
<Environment name="Environment1">
<TimeOfDay animation="false" dateTime="2019-06-25T12:00:00"/>
<Weather cloudState="free">
<Sun intensity="0.85" azimuth="0" elevation="1.31"/>
<Fog visualRange="100000.0"/>
<Precipitation precipitationType="dry" intensity="0.0"/>
</Weather>
<RoadCondition frictionScaleFactor="1.0"/>
</Environment>
</EnvironmentAction>
</GlobalAction>
<Private entityRef="hero">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-9.4" y="-152.8" z="0.5" h="1.57079632679"/>
</Position>
</TeleportAction>
</PrivateAction>
<PrivateAction>
<ControllerAction>
<AssignControllerAction>
<Controller name="HeroAgent">
<Properties>
<Property name="module" value="external_control"/>
</Properties>
</Controller>
</AssignControllerAction>
<OverrideControllerValueAction>
<Throttle value="0" active="false"/>
<Brake value="0" active="false"/>
<Clutch value="0" active="false"/>
<ParkingBrake value="0" active="false"/>
<SteeringWheel value="0" active="false"/>
<Gear number="0" active="false"/>
</OverrideControllerValueAction>
</ControllerAction>
</PrivateAction>
</Private>
<Private entityRef="adversary">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-9.4" y="-71.0" z="0.5" h="1.57079632679"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="standing">
<PrivateAction>
<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_27989">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-9.1154203414917" y="-160.72703552246094" z="0.0015143966302275658"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_w_transform_27990">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="83.10478210449219" y="-21.090463638305664" z="0.5"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_w_transform_27991">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="81.52396392822266" y="23.108369827270508" z="0.5"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_w_transform_27992">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-49.182823181152344" y="26.060287475585938" z="0.5"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_close_to_standing_27994">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-10.469538688659668" y="26.585247039794922" z="0.0030813217163085938"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
</Actions>
</Init>
<Story name="MyStory">
<Act name="Behavior">
<ManeuverGroup maximumExecutionCount="1" name="ManeuverSequence">
<Actors selectTriggeringEntities="false">
<EntityRef entityRef="adversary"/>
</Actors>
<Maneuver name="LaneChangeSimpleManeuver">
<Event name="AdversaryAccelerates" priority="overwrite">
<Action name="AdversaryAccelerates">
<PrivateAction>
<LongitudinalAction>
<SpeedAction>
<SpeedActionDynamics dynamicsShape="step" value="50" dynamicsDimension="distance"/>
<SpeedActionTarget>
<AbsoluteTargetSpeed value="5.0"/>
</SpeedActionTarget>
</SpeedAction>
</LongitudinalAction>
</PrivateAction>
</Action>
<StartTrigger>
<ConditionGroup>
<Condition name="StartCondition" delay="0" conditionEdge="rising">
<ByEntityCondition>
<TriggeringEntities triggeringEntitiesRule="any">
<EntityRef entityRef="hero"/>
</TriggeringEntities>
<EntityCondition>
<RelativeDistanceCondition entityRef="adversary" relativeDistanceType="cartesianDistance" value="40.0" freespace="false" rule="lessThan"/>
</EntityCondition>
</ByEntityCondition>
</Condition>
</ConditionGroup>
</StartTrigger>
</Event>
<Event name="AdversaryChangesLane" priority="overwrite">
<Action name="AdversaryChangesLane">
<PrivateAction>
<LateralAction>
<LaneChangeAction>
<LaneChangeActionDynamics dynamicsShape="linear" value="25" dynamicsDimension="distance"/>
<LaneChangeTarget>
<RelativeTargetLane entityRef="adversary" value="-1"/>
</LaneChangeTarget>
</LaneChangeAction>
</LateralAction>
</PrivateAction>
</Action>
<StartTrigger>
<ConditionGroup>
<Condition name="AfterAdversaryAccelerates" delay="0" conditionEdge="rising">
<ByValueCondition>
<StoryboardElementStateCondition storyboardElementType="action" storyboardElementRef="AdversaryAccelerates" state="completeState"/>
</ByValueCondition>
</Condition>
</ConditionGroup>
</StartTrigger>
</Event>
</Maneuver>
</ManeuverGroup>
<StartTrigger>
<ConditionGroup>
<Condition name="OverallStartCondition" delay="0" conditionEdge="rising">
<ByEntityCondition>
<TriggeringEntities triggeringEntitiesRule="any">
<EntityRef entityRef="hero"/>
</TriggeringEntities>
<EntityCondition>
<TraveledDistanceCondition value="1.0"/>
</EntityCondition>
</ByEntityCondition>
</Condition>
<Condition name="StartTime" delay="0" conditionEdge="rising">
<ByValueCondition>
<SimulationTimeCondition value="0" rule="equalTo"/>
</ByValueCondition>
</Condition>
</ConditionGroup>
</StartTrigger>
<StopTrigger>
<ConditionGroup>
<Condition name="EndCondition" delay="0" conditionEdge="rising">
<ByEntityCondition>
<TriggeringEntities triggeringEntitiesRule="any">
<EntityRef entityRef="hero"/>
</TriggeringEntities>
<EntityCondition>
<TraveledDistanceCondition value="200.0"/>
</EntityCondition>
</ByEntityCondition>
</Condition>
</ConditionGroup>
</StopTrigger>
</Act>
</Story>
<StopTrigger>
<ConditionGroup>
<Condition name="criteria_RunningStopTest" delay="0" conditionEdge="rising">
<ByValueCondition>
<ParameterCondition parameterRef="" value="" rule="lessThan"/>
</ByValueCondition>
</Condition>
<Condition name="criteria_RunningRedLightTest" delay="0" conditionEdge="rising">
<ByValueCondition>
<ParameterCondition parameterRef="" value="" rule="lessThan"/>
</ByValueCondition>
</Condition>
<Condition name="criteria_WrongLaneTest" delay="0" conditionEdge="rising">
<ByValueCondition>
<ParameterCondition parameterRef="" value="" rule="lessThan"/>
</ByValueCondition>
</Condition>
<Condition name="criteria_OnSidewalkTest" delay="0" conditionEdge="rising">
<ByValueCondition>
<ParameterCondition parameterRef="" value="" rule="lessThan"/>
</ByValueCondition>
</Condition>
<Condition name="criteria_KeepLaneTest" delay="0" conditionEdge="rising">
<ByValueCondition>
<ParameterCondition parameterRef="" value="" rule="lessThan"/>
</ByValueCondition>
</Condition>
<Condition name="criteria_CollisionTest" delay="0" conditionEdge="rising">
<ByValueCondition>
<ParameterCondition parameterRef="" value="" rule="lessThan"/>
</ByValueCondition>
</Condition>
<Condition name="criteria_DrivenDistanceTest" delay="0" conditionEdge="rising">
<ByValueCondition>
<ParameterCondition parameterRef="distance_success" value="100" rule="lessThan"/>
</ByValueCondition>
</Condition>
</ConditionGroup>
</StopTrigger>
</Storyboard>
</OpenSCENARIO>
``` |
i would like to order you to add pedestrian close to standing?
```
<?xml version="1.0" ?>
<OpenSCENARIO>
<FileHeader revMajor="1" revMinor="0" date="2020-03-24T12:00:00" description="CARLA:LaneChangeSimple" author=""/>
<ParameterDeclarations/>
<CatalogLocations/>
<RoadNetwork>
<LogicFile filepath="Town04"/>
<SceneGraphFile filepath=""/>
</RoadNetwork>
<Entities>
<ScenarioObject name="hero">
<Vehicle name="vehicle.tesla.model3" vehicleCategory="car">
<ParameterDeclarations/>
<Performance maxSpeed="69.444" maxAcceleration="200" maxDeceleration="10.0"/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2.1" length="4.5" height="1.8"/>
</BoundingBox>
<Axles>
<FrontAxle maxSteering="0.5" wheelDiameter="0.6" trackWidth="1.8" positionX="3.1" positionZ="0.3"/>
<RearAxle maxSteering="0.0" wheelDiameter="0.6" trackWidth="1.8" positionX="0.0" positionZ="0.3"/>
</Axles>
<Properties>
<Property name="type" value="ego_vehicle"/>
</Properties>
</Vehicle>
</ScenarioObject>
<ScenarioObject name="adversary">
<Vehicle name="vehicle.lincoln.mkz_2017" vehicleCategory="car">
<ParameterDeclarations/>
<Performance maxSpeed="69.444" maxAcceleration="200" maxDeceleration="10.0"/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2.1" length="4.5" height="1.8"/>
</BoundingBox>
<Axles>
<FrontAxle maxSteering="0.5" wheelDiameter="0.6" trackWidth="1.8" positionX="3.1" positionZ="0.3"/>
<RearAxle maxSteering="0.0" wheelDiameter="0.6" trackWidth="1.8" positionX="0.0" positionZ="0.3"/>
</Axles>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Vehicle>
</ScenarioObject>
<ScenarioObject name="standing">
<Vehicle name="vehicle.volkswagen.t2" vehicleCategory="car">
<ParameterDeclarations/>
<Performance maxSpeed="69.444" maxAcceleration="200" maxDeceleration="10.0"/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2.1" length="4.5" height="1.8"/>
</BoundingBox>
<Axles>
<FrontAxle maxSteering="0.5" wheelDiameter="0.6" trackWidth="1.8" positionX="3.1" positionZ="0.3"/>
<RearAxle maxSteering="0.0" wheelDiameter="0.6" trackWidth="1.8" positionX="0.0" positionZ="0.3"/>
</Axles>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Vehicle>
</ScenarioObject>
<ScenarioObject name="pedestrian_close_to_standing_9951">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_w_transform_9952">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_w_transform_9953">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_close_to_standing_9954">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_w_transform_9955">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_close_to_standing_9956">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_w_transform_9957">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_close_to_hero_9958">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_w_transform_9959">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
</Entities>
<Storyboard>
<Init>
<Actions>
<GlobalAction>
<EnvironmentAction>
<Environment name="Environment1">
<TimeOfDay animation="false" dateTime="2019-06-25T12:00:00"/>
<Weather cloudState="free">
<Sun intensity="0.85" azimuth="0" elevation="1.31"/>
<Fog visualRange="100000.0"/>
<Precipitation precipitationType="dry" intensity="0.0"/>
</Weather>
<RoadCondition frictionScaleFactor="1.0"/>
</Environment>
</EnvironmentAction>
</GlobalAction>
<Private entityRef="hero">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-9.4" y="-152.8" z="0.5" h="1.57079632679"/>
</Position>
</TeleportAction>
</PrivateAction>
<PrivateAction>
<ControllerAction>
<AssignControllerAction>
<Controller name="HeroAgent">
<Properties>
<Property name="module" value="external_control"/>
</Properties>
</Controller>
</AssignControllerAction>
<OverrideControllerValueAction>
<Throttle value="0" active="false"/>
<Brake value="0" active="false"/>
<Clutch value="0" active="false"/>
<ParkingBrake value="0" active="false"/>
<SteeringWheel value="0" active="false"/>
<Gear number="0" active="false"/>
</OverrideControllerValueAction>
</ControllerAction>
</PrivateAction>
</Private>
<Private entityRef="adversary">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-9.4" y="-71.0" z="0.5" h="1.57079632679"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="standing">
<PrivateAction>
<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_9951">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-14.569649696350098" y="32.26653289794922" z="0.003018722403794527"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_w_transform_9952">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-13.719635963439941" y="-78.92286682128906" z="0.5"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_w_transform_9953">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="41.275550842285156" y="78.87886047363281" z="0.5"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_close_to_standing_9954">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-12.464038848876953" y="28.684852600097656" z="0.0030781172681599855"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_w_transform_9955">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="73.36775207519531" y="-14.972732543945312" z="0.5"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_close_to_standing_9956">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-16.55167007446289" y="38.04189682006836" z="0.0031171797309070826"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_w_transform_9957">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-95.53974914550781" y="-72.03524017333984" z="0.5"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_close_to_hero_9958">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-10.240694999694824" y="-145.0395965576172" z="0.0019029616378247738"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_w_transform_9959">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="44.40898513793945" y="-90.07273864746094" 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_9951">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_w_transform_9952">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_w_transform_9953">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_close_to_standing_9954">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_w_transform_9955">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_close_to_standing_9956">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_w_transform_9957">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_close_to_hero_9958">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_w_transform_9959">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_close_to_standing_9960">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
</Entities>
<Storyboard>
<Init>
<Actions>
<GlobalAction>
<EnvironmentAction>
<Environment name="Environment1">
<TimeOfDay animation="false" dateTime="2019-06-25T12:00:00"/>
<Weather cloudState="free">
<Sun intensity="0.85" azimuth="0" elevation="1.31"/>
<Fog visualRange="100000.0"/>
<Precipitation precipitationType="dry" intensity="0.0"/>
</Weather>
<RoadCondition frictionScaleFactor="1.0"/>
</Environment>
</EnvironmentAction>
</GlobalAction>
<Private entityRef="hero">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-9.4" y="-152.8" z="0.5" h="1.57079632679"/>
</Position>
</TeleportAction>
</PrivateAction>
<PrivateAction>
<ControllerAction>
<AssignControllerAction>
<Controller name="HeroAgent">
<Properties>
<Property name="module" value="external_control"/>
</Properties>
</Controller>
</AssignControllerAction>
<OverrideControllerValueAction>
<Throttle value="0" active="false"/>
<Brake value="0" active="false"/>
<Clutch value="0" active="false"/>
<ParkingBrake value="0" active="false"/>
<SteeringWheel value="0" active="false"/>
<Gear number="0" active="false"/>
</OverrideControllerValueAction>
</ControllerAction>
</PrivateAction>
</Private>
<Private entityRef="adversary">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-9.4" y="-71.0" z="0.5" h="1.57079632679"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="standing">
<PrivateAction>
<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_9951">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-14.569649696350098" y="32.26653289794922" z="0.003018722403794527"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_w_transform_9952">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-13.719635963439941" y="-78.92286682128906" z="0.5"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_w_transform_9953">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="41.275550842285156" y="78.87886047363281" z="0.5"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_close_to_standing_9954">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-12.464038848876953" y="28.684852600097656" z="0.0030781172681599855"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_w_transform_9955">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="73.36775207519531" y="-14.972732543945312" z="0.5"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_close_to_standing_9956">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-16.55167007446289" y="38.04189682006836" z="0.0031171797309070826"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_w_transform_9957">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-95.53974914550781" y="-72.03524017333984" z="0.5"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_close_to_hero_9958">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-10.240694999694824" y="-145.0395965576172" z="0.0019029616378247738"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_w_transform_9959">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="44.40898513793945" y="-90.07273864746094" z="0.5"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_close_to_standing_9960">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-14.10588264465332" y="21.802257537841797" z="0.002989273052662611"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
</Actions>
</Init>
<Story name="MyStory">
<Act name="Behavior">
<ManeuverGroup maximumExecutionCount="1" name="ManeuverSequence">
<Actors selectTriggeringEntities="false">
<EntityRef entityRef="adversary"/>
</Actors>
<Maneuver name="LaneChangeSimpleManeuver">
<Event name="AdversaryAccelerates" priority="overwrite">
<Action name="AdversaryAccelerates">
<PrivateAction>
<LongitudinalAction>
<SpeedAction>
<SpeedActionDynamics dynamicsShape="step" value="50" dynamicsDimension="distance"/>
<SpeedActionTarget>
<AbsoluteTargetSpeed value="5.0"/>
</SpeedActionTarget>
</SpeedAction>
</LongitudinalAction>
</PrivateAction>
</Action>
<StartTrigger>
<ConditionGroup>
<Condition name="StartCondition" delay="0" conditionEdge="rising">
<ByEntityCondition>
<TriggeringEntities triggeringEntitiesRule="any">
<EntityRef entityRef="hero"/>
</TriggeringEntities>
<EntityCondition>
<RelativeDistanceCondition entityRef="adversary" relativeDistanceType="cartesianDistance" value="40.0" freespace="false" rule="lessThan"/>
</EntityCondition>
</ByEntityCondition>
</Condition>
</ConditionGroup>
</StartTrigger>
</Event>
<Event name="AdversaryChangesLane" priority="overwrite">
<Action name="AdversaryChangesLane">
<PrivateAction>
<LateralAction>
<LaneChangeAction>
<LaneChangeActionDynamics dynamicsShape="linear" value="25" dynamicsDimension="distance"/>
<LaneChangeTarget>
<RelativeTargetLane entityRef="adversary" value="-1"/>
</LaneChangeTarget>
</LaneChangeAction>
</LateralAction>
</PrivateAction>
</Action>
<StartTrigger>
<ConditionGroup>
<Condition name="AfterAdversaryAccelerates" delay="0" conditionEdge="rising">
<ByValueCondition>
<StoryboardElementStateCondition storyboardElementType="action" storyboardElementRef="AdversaryAccelerates" state="completeState"/>
</ByValueCondition>
</Condition>
</ConditionGroup>
</StartTrigger>
</Event>
</Maneuver>
</ManeuverGroup>
<StartTrigger>
<ConditionGroup>
<Condition name="OverallStartCondition" delay="0" conditionEdge="rising">
<ByEntityCondition>
<TriggeringEntities triggeringEntitiesRule="any">
<EntityRef entityRef="hero"/>
</TriggeringEntities>
<EntityCondition>
<TraveledDistanceCondition value="1.0"/>
</EntityCondition>
</ByEntityCondition>
</Condition>
<Condition name="StartTime" delay="0" conditionEdge="rising">
<ByValueCondition>
<SimulationTimeCondition value="0" rule="equalTo"/>
</ByValueCondition>
</Condition>
</ConditionGroup>
</StartTrigger>
<StopTrigger>
<ConditionGroup>
<Condition name="EndCondition" delay="0" conditionEdge="rising">
<ByEntityCondition>
<TriggeringEntities triggeringEntitiesRule="any">
<EntityRef entityRef="hero"/>
</TriggeringEntities>
<EntityCondition>
<TraveledDistanceCondition value="200.0"/>
</EntityCondition>
</ByEntityCondition>
</Condition>
</ConditionGroup>
</StopTrigger>
</Act>
</Story>
<StopTrigger>
<ConditionGroup>
<Condition name="criteria_RunningStopTest" delay="0" conditionEdge="rising">
<ByValueCondition>
<ParameterCondition parameterRef="" value="" rule="lessThan"/>
</ByValueCondition>
</Condition>
<Condition name="criteria_RunningRedLightTest" delay="0" conditionEdge="rising">
<ByValueCondition>
<ParameterCondition parameterRef="" value="" rule="lessThan"/>
</ByValueCondition>
</Condition>
<Condition name="criteria_WrongLaneTest" delay="0" conditionEdge="rising">
<ByValueCondition>
<ParameterCondition parameterRef="" value="" rule="lessThan"/>
</ByValueCondition>
</Condition>
<Condition name="criteria_OnSidewalkTest" delay="0" conditionEdge="rising">
<ByValueCondition>
<ParameterCondition parameterRef="" value="" rule="lessThan"/>
</ByValueCondition>
</Condition>
<Condition name="criteria_KeepLaneTest" delay="0" conditionEdge="rising">
<ByValueCondition>
<ParameterCondition parameterRef="" value="" rule="lessThan"/>
</ByValueCondition>
</Condition>
<Condition name="criteria_CollisionTest" delay="0" conditionEdge="rising">
<ByValueCondition>
<ParameterCondition parameterRef="" value="" rule="lessThan"/>
</ByValueCondition>
</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 (18.79, -81.21, 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_hero_22978">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_close_to_standing_22979">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_w_transform_22980">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_close_to_standing_22981">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_close_to_hero_22982">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_w_transform_22983">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_close_to_standing_22984">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_close_to_adversary_22985">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_w_transform_22986">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_close_to_hero_22987">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_w_transform_22988">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_close_to_standing_22989">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_close_to_standing_22990">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
</Entities>
<Storyboard>
<Init>
<Actions>
<GlobalAction>
<EnvironmentAction>
<Environment name="Environment1">
<TimeOfDay animation="false" dateTime="2019-06-25T12:00:00"/>
<Weather cloudState="free">
<Sun intensity="0.85" azimuth="0" elevation="1.31"/>
<Fog visualRange="100000.0"/>
<Precipitation precipitationType="dry" intensity="0.0"/>
</Weather>
<RoadCondition frictionScaleFactor="1.0"/>
</Environment>
</EnvironmentAction>
</GlobalAction>
<Private entityRef="hero">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-9.4" y="-152.8" z="0.5" h="1.57079632679"/>
</Position>
</TeleportAction>
</PrivateAction>
<PrivateAction>
<ControllerAction>
<AssignControllerAction>
<Controller name="HeroAgent">
<Properties>
<Property name="module" value="external_control"/>
</Properties>
</Controller>
</AssignControllerAction>
<OverrideControllerValueAction>
<Throttle value="0" active="false"/>
<Brake value="0" active="false"/>
<Clutch value="0" active="false"/>
<ParkingBrake value="0" active="false"/>
<SteeringWheel value="0" active="false"/>
<Gear number="0" active="false"/>
</OverrideControllerValueAction>
</ControllerAction>
</PrivateAction>
</Private>
<Private entityRef="adversary">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-9.4" y="-71.0" z="0.5" h="1.57079632679"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="standing">
<PrivateAction>
<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_22978">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-18.006425857543945" y="-149.10183715820312" z="0.0013734435196965933"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_close_to_standing_22979">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-9.614137649536133" y="36.694400787353516" z="0.0030067062471061945"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_w_transform_22980">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="31.7159423828125" y="-24.884973526000977" z="0.5"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_close_to_standing_22981">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-14.397770881652832" y="32.276939392089844" z="0.003016357310116291"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_close_to_hero_22982">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-15.923680305480957" y="-154.9873809814453" z="0.0013734435196965933"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_w_transform_22983">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="65.86701965332031" y="-29.782546997070312" z="0.5"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_close_to_standing_22984">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-13.217132568359375" y="24.059560775756836" z="0.003017692593857646"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_close_to_adversary_22985">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-12.974947929382324" y="-74.9353256225586" z="0.033757325261831284"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_w_transform_22986">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="89.58411407470703" y="58.449195861816406" z="0.5"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_close_to_hero_22987">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-10.697871208190918" y="-145.48765563964844" z="0.0013734435196965933"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_w_transform_22988">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="16.810087203979492" y="-91.48941040039062" z="0.5"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_close_to_standing_22989">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-5.796784400939941" y="26.992868423461914" z="0.003017692593857646"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_close_to_standing_22990">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-10.98180103302002" y="19.575563430786133" 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_hero_22978">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_close_to_standing_22979">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_w_transform_22980">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_close_to_standing_22981">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_close_to_hero_22982">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_w_transform_22983">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_close_to_standing_22984">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_close_to_adversary_22985">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_w_transform_22986">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_close_to_hero_22987">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_w_transform_22988">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_close_to_standing_22989">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_close_to_standing_22990">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_w_transform_22991">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
</Entities>
<Storyboard>
<Init>
<Actions>
<GlobalAction>
<EnvironmentAction>
<Environment name="Environment1">
<TimeOfDay animation="false" dateTime="2019-06-25T12:00:00"/>
<Weather cloudState="free">
<Sun intensity="0.85" azimuth="0" elevation="1.31"/>
<Fog visualRange="100000.0"/>
<Precipitation precipitationType="dry" intensity="0.0"/>
</Weather>
<RoadCondition frictionScaleFactor="1.0"/>
</Environment>
</EnvironmentAction>
</GlobalAction>
<Private entityRef="hero">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-9.4" y="-152.8" z="0.5" h="1.57079632679"/>
</Position>
</TeleportAction>
</PrivateAction>
<PrivateAction>
<ControllerAction>
<AssignControllerAction>
<Controller name="HeroAgent">
<Properties>
<Property name="module" value="external_control"/>
</Properties>
</Controller>
</AssignControllerAction>
<OverrideControllerValueAction>
<Throttle value="0" active="false"/>
<Brake value="0" active="false"/>
<Clutch value="0" active="false"/>
<ParkingBrake value="0" active="false"/>
<SteeringWheel value="0" active="false"/>
<Gear number="0" active="false"/>
</OverrideControllerValueAction>
</ControllerAction>
</PrivateAction>
</Private>
<Private entityRef="adversary">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-9.4" y="-71.0" z="0.5" h="1.57079632679"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="standing">
<PrivateAction>
<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_22978">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-18.006425857543945" y="-149.10183715820312" z="0.0013734435196965933"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_close_to_standing_22979">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-9.614137649536133" y="36.694400787353516" z="0.0030067062471061945"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_w_transform_22980">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="31.7159423828125" y="-24.884973526000977" z="0.5"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_close_to_standing_22981">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-14.397770881652832" y="32.276939392089844" z="0.003016357310116291"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_close_to_hero_22982">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-15.923680305480957" y="-154.9873809814453" z="0.0013734435196965933"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_w_transform_22983">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="65.86701965332031" y="-29.782546997070312" z="0.5"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_close_to_standing_22984">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-13.217132568359375" y="24.059560775756836" z="0.003017692593857646"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_close_to_adversary_22985">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-12.974947929382324" y="-74.9353256225586" z="0.033757325261831284"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_w_transform_22986">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="89.58411407470703" y="58.449195861816406" z="0.5"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_close_to_hero_22987">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-10.697871208190918" y="-145.48765563964844" z="0.0013734435196965933"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_w_transform_22988">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="16.810087203979492" y="-91.48941040039062" z="0.5"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_close_to_standing_22989">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-5.796784400939941" y="26.992868423461914" z="0.003017692593857646"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_close_to_standing_22990">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-10.98180103302002" y="19.575563430786133" z="0.003017692593857646"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_w_transform_22991">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="18.78937530517578" y="-81.21223449707031" 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_standing_27793">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_w_transform_27795">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_close_to_standing_27797">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_w_transform_27798">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_close_to_hero_27799">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_w_transform_27800">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_close_to_standing_27801">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_close_to_standing_27802">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_close_to_hero_27803">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_w_transform_27804">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_close_to_adversary_27805">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_close_to_adversary_27806">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_close_to_hero_27808">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_close_to_hero_27809">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_close_to_adversary_27810">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_w_transform_27811">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_w_transform_27812">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_w_transform_27813">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_close_to_standing_27814">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_w_transform_27815">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_w_transform_27816">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_close_to_hero_27817">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
</Entities>
<Storyboard>
<Init>
<Actions>
<GlobalAction>
<EnvironmentAction>
<Environment name="Environment1">
<TimeOfDay animation="false" dateTime="2019-06-25T12:00:00"/>
<Weather cloudState="free">
<Sun intensity="0.85" azimuth="0" elevation="1.31"/>
<Fog visualRange="100000.0"/>
<Precipitation precipitationType="dry" intensity="0.0"/>
</Weather>
<RoadCondition frictionScaleFactor="1.0"/>
</Environment>
</EnvironmentAction>
</GlobalAction>
<Private entityRef="hero">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-9.4" y="-152.8" z="0.5" h="1.57079632679"/>
</Position>
</TeleportAction>
</PrivateAction>
<PrivateAction>
<ControllerAction>
<AssignControllerAction>
<Controller name="HeroAgent">
<Properties>
<Property name="module" value="external_control"/>
</Properties>
</Controller>
</AssignControllerAction>
<OverrideControllerValueAction>
<Throttle value="0" active="false"/>
<Brake value="0" active="false"/>
<Clutch value="0" active="false"/>
<ParkingBrake value="0" active="false"/>
<SteeringWheel value="0" active="false"/>
<Gear number="0" active="false"/>
</OverrideControllerValueAction>
</ControllerAction>
</PrivateAction>
</Private>
<Private entityRef="adversary">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-9.4" y="-71.0" z="0.5" h="1.57079632679"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="standing">
<PrivateAction>
<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_27793">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-2.7162740230560303" y="32.67006301879883" z="0.003097000066190958"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_w_transform_27795">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="18.4876766204834" y="25.614938735961914" z="0.5"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_close_to_standing_27797">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-1.0213996171951294" y="26.505773544311523" z="0.0031139373313635588"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_w_transform_27798">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="48.084434509277344" y="0.4154853820800781" z="0.5"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_close_to_hero_27799">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-11.12317943572998" y="-152.21083068847656" z="0.0019445419311523438"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_w_transform_27800">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-51.130615234375" y="82.85307312011719" z="0.5"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_close_to_standing_27801">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-4.592155933380127" y="27.195322036743164" z="0.003109092591330409"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_close_to_standing_27802">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-12.015629768371582" y="28.923376083374023" z="0.0031128311529755592"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_close_to_hero_27803">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-4.041502952575684" y="-152.34408569335938" z="0.0019445419311523438"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_w_transform_27804">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="2.7456438541412354" y="-86.26216125488281" z="0.5"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_close_to_adversary_27805">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-1.9600539207458496" y="-63.054222106933594" z="0.03385665640234947"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_close_to_adversary_27806">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-10.936009407043457" y="-76.89070892333984" z="0.03385314717888832"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_close_to_hero_27808">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-7.64498233795166" y="-162.4155731201172" z="0.0019445419311523438"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_close_to_hero_27809">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-14.520098686218262" y="-150.99057006835938" z="0.0019445419311523438"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_close_to_adversary_27810">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-13.602897644042969" y="-74.65013885498047" z="0.03385047987103462"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_w_transform_27811">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-25.853099822998047" y="6.195663928985596" z="0.5"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_w_transform_27812">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-20.814838409423828" y="44.28825378417969" z="0.5"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_w_transform_27813">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-33.351444244384766" y="31.651870727539062" z="0.5"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_close_to_standing_27814">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-4.19261360168457" y="21.14288902282715" z="0.003102874616160989"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_w_transform_27815">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="92.54167175292969" y="-16.344114303588867" z="0.5"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_w_transform_27816">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="40.42362976074219" y="-81.2546615600586" z="0.5"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_close_to_hero_27817">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-13.625399589538574" y="-148.37286376953125" z="0.0019445419311523438"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
</Actions>
</Init>
<Story name="MyStory">
<Act name="Behavior">
<ManeuverGroup maximumExecutionCount="1" name="ManeuverSequence">
<Actors selectTriggeringEntities="false">
<EntityRef entityRef="adversary"/>
</Actors>
<Maneuver name="LaneChangeSimpleManeuver">
<Event name="AdversaryAccelerates" priority="overwrite">
<Action name="AdversaryAccelerates">
<PrivateAction>
<LongitudinalAction>
<SpeedAction>
<SpeedActionDynamics dynamicsShape="step" value="50" dynamicsDimension="distance"/>
<SpeedActionTarget>
<AbsoluteTargetSpeed value="5.0"/>
</SpeedActionTarget>
</SpeedAction>
</LongitudinalAction>
</PrivateAction>
</Action>
<StartTrigger>
<ConditionGroup>
<Condition name="StartCondition" delay="0" conditionEdge="rising">
<ByEntityCondition>
<TriggeringEntities triggeringEntitiesRule="any">
<EntityRef entityRef="hero"/>
</TriggeringEntities>
<EntityCondition>
<RelativeDistanceCondition entityRef="adversary" relativeDistanceType="cartesianDistance" value="40.0" freespace="false" rule="lessThan"/>
</EntityCondition>
</ByEntityCondition>
</Condition>
</ConditionGroup>
</StartTrigger>
</Event>
<Event name="AdversaryChangesLane" priority="overwrite">
<Action name="AdversaryChangesLane">
<PrivateAction>
<LateralAction>
<LaneChangeAction>
<LaneChangeActionDynamics dynamicsShape="linear" value="25" dynamicsDimension="distance"/>
<LaneChangeTarget>
<RelativeTargetLane entityRef="adversary" value="-1"/>
</LaneChangeTarget>
</LaneChangeAction>
</LateralAction>
</PrivateAction>
</Action>
<StartTrigger>
<ConditionGroup>
<Condition name="AfterAdversaryAccelerates" delay="0" conditionEdge="rising">
<ByValueCondition>
<StoryboardElementStateCondition storyboardElementType="action" storyboardElementRef="AdversaryAccelerates" state="completeState"/>
</ByValueCondition>
</Condition>
</ConditionGroup>
</StartTrigger>
</Event>
</Maneuver>
</ManeuverGroup>
<StartTrigger>
<ConditionGroup>
<Condition name="OverallStartCondition" delay="0" conditionEdge="rising">
<ByEntityCondition>
<TriggeringEntities triggeringEntitiesRule="any">
<EntityRef entityRef="hero"/>
</TriggeringEntities>
<EntityCondition>
<TraveledDistanceCondition value="1.0"/>
</EntityCondition>
</ByEntityCondition>
</Condition>
<Condition name="StartTime" delay="0" conditionEdge="rising">
<ByValueCondition>
<SimulationTimeCondition value="0" rule="equalTo"/>
</ByValueCondition>
</Condition>
</ConditionGroup>
</StartTrigger>
<StopTrigger>
<ConditionGroup>
<Condition name="EndCondition" delay="0" conditionEdge="rising">
<ByEntityCondition>
<TriggeringEntities triggeringEntitiesRule="any">
<EntityRef entityRef="hero"/>
</TriggeringEntities>
<EntityCondition>
<TraveledDistanceCondition value="200.0"/>
</EntityCondition>
</ByEntityCondition>
</Condition>
</ConditionGroup>
</StopTrigger>
</Act>
</Story>
<StopTrigger>
<ConditionGroup>
<Condition name="criteria_RunningStopTest" delay="0" conditionEdge="rising">
<ByValueCondition>
<ParameterCondition parameterRef="" value="" rule="lessThan"/>
</ByValueCondition>
</Condition>
<Condition name="criteria_RunningRedLightTest" delay="0" conditionEdge="rising">
<ByValueCondition>
<ParameterCondition parameterRef="" value="" rule="lessThan"/>
</ByValueCondition>
</Condition>
<Condition name="criteria_WrongLaneTest" delay="0" conditionEdge="rising">
<ByValueCondition>
<ParameterCondition parameterRef="" value="" rule="lessThan"/>
</ByValueCondition>
</Condition>
<Condition name="criteria_OnSidewalkTest" delay="0" conditionEdge="rising">
<ByValueCondition>
<ParameterCondition parameterRef="" value="" rule="lessThan"/>
</ByValueCondition>
</Condition>
<Condition name="criteria_KeepLaneTest" delay="0" conditionEdge="rising">
<ByValueCondition>
<ParameterCondition parameterRef="" value="" rule="lessThan"/>
</ByValueCondition>
</Condition>
<Condition name="criteria_CollisionTest" delay="0" conditionEdge="rising">
<ByValueCondition>
<ParameterCondition parameterRef="" value="" rule="lessThan"/>
</ByValueCondition>
</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_27793">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_w_transform_27795">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_close_to_standing_27797">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_w_transform_27798">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_close_to_hero_27799">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_w_transform_27800">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_close_to_standing_27801">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_close_to_standing_27802">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_close_to_hero_27803">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_w_transform_27804">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_close_to_adversary_27805">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_close_to_adversary_27806">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_close_to_hero_27808">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_close_to_hero_27809">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_close_to_adversary_27810">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_w_transform_27811">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_w_transform_27812">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_w_transform_27813">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_w_transform_27815">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_w_transform_27816">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_close_to_hero_27817">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
</Entities>
<Storyboard>
<Init>
<Actions>
<GlobalAction>
<EnvironmentAction>
<Environment name="Environment1">
<TimeOfDay animation="false" dateTime="2019-06-25T12:00:00"/>
<Weather cloudState="free">
<Sun intensity="0.85" azimuth="0" elevation="1.31"/>
<Fog visualRange="100000.0"/>
<Precipitation precipitationType="dry" intensity="0.0"/>
</Weather>
<RoadCondition frictionScaleFactor="1.0"/>
</Environment>
</EnvironmentAction>
</GlobalAction>
<Private entityRef="hero">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-9.4" y="-152.8" z="0.5" h="1.57079632679"/>
</Position>
</TeleportAction>
</PrivateAction>
<PrivateAction>
<ControllerAction>
<AssignControllerAction>
<Controller name="HeroAgent">
<Properties>
<Property name="module" value="external_control"/>
</Properties>
</Controller>
</AssignControllerAction>
<OverrideControllerValueAction>
<Throttle value="0" active="false"/>
<Brake value="0" active="false"/>
<Clutch value="0" active="false"/>
<ParkingBrake value="0" active="false"/>
<SteeringWheel value="0" active="false"/>
<Gear number="0" active="false"/>
</OverrideControllerValueAction>
</ControllerAction>
</PrivateAction>
</Private>
<Private entityRef="adversary">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-9.4" y="-71.0" z="0.5" h="1.57079632679"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="standing">
<PrivateAction>
<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_27793">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-2.7162740230560303" y="32.67006301879883" z="0.003097000066190958"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_w_transform_27795">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="18.4876766204834" y="25.614938735961914" z="0.5"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_close_to_standing_27797">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-1.0213996171951294" y="26.505773544311523" z="0.0031139373313635588"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_w_transform_27798">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="48.084434509277344" y="0.4154853820800781" z="0.5"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_close_to_hero_27799">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-11.12317943572998" y="-152.21083068847656" z="0.0019445419311523438"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_w_transform_27800">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-51.130615234375" y="82.85307312011719" z="0.5"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_close_to_standing_27801">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-4.592155933380127" y="27.195322036743164" z="0.003109092591330409"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_close_to_standing_27802">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-12.015629768371582" y="28.923376083374023" z="0.0031128311529755592"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_close_to_hero_27803">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-4.041502952575684" y="-152.34408569335938" z="0.0019445419311523438"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_w_transform_27804">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="2.7456438541412354" y="-86.26216125488281" z="0.5"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_close_to_adversary_27805">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-1.9600539207458496" y="-63.054222106933594" z="0.03385665640234947"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_close_to_adversary_27806">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-10.936009407043457" y="-76.89070892333984" z="0.03385314717888832"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_close_to_hero_27808">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-7.64498233795166" y="-162.4155731201172" z="0.0019445419311523438"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_close_to_hero_27809">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-14.520098686218262" y="-150.99057006835938" z="0.0019445419311523438"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_close_to_adversary_27810">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-13.602897644042969" y="-74.65013885498047" z="0.03385047987103462"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_w_transform_27811">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-25.853099822998047" y="6.195663928985596" z="0.5"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_w_transform_27812">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-20.814838409423828" y="44.28825378417969" z="0.5"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_w_transform_27813">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-33.351444244384766" y="31.651870727539062" z="0.5"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_w_transform_27815">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="92.54167175292969" y="-16.344114303588867" z="0.5"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_w_transform_27816">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="40.42362976074219" y="-81.2546615600586" z="0.5"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_close_to_hero_27817">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-13.625399589538574" y="-148.37286376953125" z="0.0019445419311523438"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
</Actions>
</Init>
<Story name="MyStory">
<Act name="Behavior">
<ManeuverGroup maximumExecutionCount="1" name="ManeuverSequence">
<Actors selectTriggeringEntities="false">
<EntityRef entityRef="adversary"/>
</Actors>
<Maneuver name="LaneChangeSimpleManeuver">
<Event name="AdversaryAccelerates" priority="overwrite">
<Action name="AdversaryAccelerates">
<PrivateAction>
<LongitudinalAction>
<SpeedAction>
<SpeedActionDynamics dynamicsShape="step" value="50" dynamicsDimension="distance"/>
<SpeedActionTarget>
<AbsoluteTargetSpeed value="5.0"/>
</SpeedActionTarget>
</SpeedAction>
</LongitudinalAction>
</PrivateAction>
</Action>
<StartTrigger>
<ConditionGroup>
<Condition name="StartCondition" delay="0" conditionEdge="rising">
<ByEntityCondition>
<TriggeringEntities triggeringEntitiesRule="any">
<EntityRef entityRef="hero"/>
</TriggeringEntities>
<EntityCondition>
<RelativeDistanceCondition entityRef="adversary" relativeDistanceType="cartesianDistance" value="40.0" freespace="false" rule="lessThan"/>
</EntityCondition>
</ByEntityCondition>
</Condition>
</ConditionGroup>
</StartTrigger>
</Event>
<Event name="AdversaryChangesLane" priority="overwrite">
<Action name="AdversaryChangesLane">
<PrivateAction>
<LateralAction>
<LaneChangeAction>
<LaneChangeActionDynamics dynamicsShape="linear" value="25" dynamicsDimension="distance"/>
<LaneChangeTarget>
<RelativeTargetLane entityRef="adversary" value="-1"/>
</LaneChangeTarget>
</LaneChangeAction>
</LateralAction>
</PrivateAction>
</Action>
<StartTrigger>
<ConditionGroup>
<Condition name="AfterAdversaryAccelerates" delay="0" conditionEdge="rising">
<ByValueCondition>
<StoryboardElementStateCondition storyboardElementType="action" storyboardElementRef="AdversaryAccelerates" state="completeState"/>
</ByValueCondition>
</Condition>
</ConditionGroup>
</StartTrigger>
</Event>
</Maneuver>
</ManeuverGroup>
<StartTrigger>
<ConditionGroup>
<Condition name="OverallStartCondition" delay="0" conditionEdge="rising">
<ByEntityCondition>
<TriggeringEntities triggeringEntitiesRule="any">
<EntityRef entityRef="hero"/>
</TriggeringEntities>
<EntityCondition>
<TraveledDistanceCondition value="1.0"/>
</EntityCondition>
</ByEntityCondition>
</Condition>
<Condition name="StartTime" delay="0" conditionEdge="rising">
<ByValueCondition>
<SimulationTimeCondition value="0" rule="equalTo"/>
</ByValueCondition>
</Condition>
</ConditionGroup>
</StartTrigger>
<StopTrigger>
<ConditionGroup>
<Condition name="EndCondition" delay="0" conditionEdge="rising">
<ByEntityCondition>
<TriggeringEntities triggeringEntitiesRule="any">
<EntityRef entityRef="hero"/>
</TriggeringEntities>
<EntityCondition>
<TraveledDistanceCondition value="200.0"/>
</EntityCondition>
</ByEntityCondition>
</Condition>
</ConditionGroup>
</StopTrigger>
</Act>
</Story>
<StopTrigger>
<ConditionGroup>
<Condition name="criteria_RunningStopTest" delay="0" conditionEdge="rising">
<ByValueCondition>
<ParameterCondition parameterRef="" value="" rule="lessThan"/>
</ByValueCondition>
</Condition>
<Condition name="criteria_RunningRedLightTest" delay="0" conditionEdge="rising">
<ByValueCondition>
<ParameterCondition parameterRef="" value="" rule="lessThan"/>
</ByValueCondition>
</Condition>
<Condition name="criteria_WrongLaneTest" delay="0" conditionEdge="rising">
<ByValueCondition>
<ParameterCondition parameterRef="" value="" rule="lessThan"/>
</ByValueCondition>
</Condition>
<Condition name="criteria_OnSidewalkTest" delay="0" conditionEdge="rising">
<ByValueCondition>
<ParameterCondition parameterRef="" value="" rule="lessThan"/>
</ByValueCondition>
</Condition>
<Condition name="criteria_KeepLaneTest" delay="0" conditionEdge="rising">
<ByValueCondition>
<ParameterCondition parameterRef="" value="" rule="lessThan"/>
</ByValueCondition>
</Condition>
<Condition name="criteria_CollisionTest" delay="0" conditionEdge="rising">
<ByValueCondition>
<ParameterCondition parameterRef="" value="" rule="lessThan"/>
</ByValueCondition>
</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 (7.97, 82.98, 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_7316">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_w_transform_7317">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_w_transform_7318">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_close_to_standing_7319">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
</Entities>
<Storyboard>
<Init>
<Actions>
<GlobalAction>
<EnvironmentAction>
<Environment name="Environment1">
<TimeOfDay animation="false" dateTime="2019-06-25T12:00:00"/>
<Weather cloudState="free">
<Sun intensity="0.85" azimuth="0" elevation="1.31"/>
<Fog visualRange="100000.0"/>
<Precipitation precipitationType="dry" intensity="0.0"/>
</Weather>
<RoadCondition frictionScaleFactor="1.0"/>
</Environment>
</EnvironmentAction>
</GlobalAction>
<Private entityRef="hero">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-9.4" y="-152.8" z="0.5" h="1.57079632679"/>
</Position>
</TeleportAction>
</PrivateAction>
<PrivateAction>
<ControllerAction>
<AssignControllerAction>
<Controller name="HeroAgent">
<Properties>
<Property name="module" value="external_control"/>
</Properties>
</Controller>
</AssignControllerAction>
<OverrideControllerValueAction>
<Throttle value="0" active="false"/>
<Brake value="0" active="false"/>
<Clutch value="0" active="false"/>
<ParkingBrake value="0" active="false"/>
<SteeringWheel value="0" active="false"/>
<Gear number="0" active="false"/>
</OverrideControllerValueAction>
</ControllerAction>
</PrivateAction>
</Private>
<Private entityRef="adversary">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-9.4" y="-71.0" z="0.5" h="1.57079632679"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="standing">
<PrivateAction>
<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_7316">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-7.690837383270264" y="32.78729248046875" z="0.0030723188538104296"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_w_transform_7317">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="18.910648345947266" y="7.678785800933838" z="0.5"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_w_transform_7318">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="28.477096557617188" y="-82.25666809082031" z="0.5"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_close_to_standing_7319">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-12.843950271606445" y="20.25078773498535" z="0.0031329344492405653"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
</Actions>
</Init>
<Story name="MyStory">
<Act name="Behavior">
<ManeuverGroup maximumExecutionCount="1" name="ManeuverSequence">
<Actors selectTriggeringEntities="false">
<EntityRef entityRef="adversary"/>
</Actors>
<Maneuver name="LaneChangeSimpleManeuver">
<Event name="AdversaryAccelerates" priority="overwrite">
<Action name="AdversaryAccelerates">
<PrivateAction>
<LongitudinalAction>
<SpeedAction>
<SpeedActionDynamics dynamicsShape="step" value="50" dynamicsDimension="distance"/>
<SpeedActionTarget>
<AbsoluteTargetSpeed value="5.0"/>
</SpeedActionTarget>
</SpeedAction>
</LongitudinalAction>
</PrivateAction>
</Action>
<StartTrigger>
<ConditionGroup>
<Condition name="StartCondition" delay="0" conditionEdge="rising">
<ByEntityCondition>
<TriggeringEntities triggeringEntitiesRule="any">
<EntityRef entityRef="hero"/>
</TriggeringEntities>
<EntityCondition>
<RelativeDistanceCondition entityRef="adversary" relativeDistanceType="cartesianDistance" value="40.0" freespace="false" rule="lessThan"/>
</EntityCondition>
</ByEntityCondition>
</Condition>
</ConditionGroup>
</StartTrigger>
</Event>
<Event name="AdversaryChangesLane" priority="overwrite">
<Action name="AdversaryChangesLane">
<PrivateAction>
<LateralAction>
<LaneChangeAction>
<LaneChangeActionDynamics dynamicsShape="linear" value="25" dynamicsDimension="distance"/>
<LaneChangeTarget>
<RelativeTargetLane entityRef="adversary" value="-1"/>
</LaneChangeTarget>
</LaneChangeAction>
</LateralAction>
</PrivateAction>
</Action>
<StartTrigger>
<ConditionGroup>
<Condition name="AfterAdversaryAccelerates" delay="0" conditionEdge="rising">
<ByValueCondition>
<StoryboardElementStateCondition storyboardElementType="action" storyboardElementRef="AdversaryAccelerates" state="completeState"/>
</ByValueCondition>
</Condition>
</ConditionGroup>
</StartTrigger>
</Event>
</Maneuver>
</ManeuverGroup>
<StartTrigger>
<ConditionGroup>
<Condition name="OverallStartCondition" delay="0" conditionEdge="rising">
<ByEntityCondition>
<TriggeringEntities triggeringEntitiesRule="any">
<EntityRef entityRef="hero"/>
</TriggeringEntities>
<EntityCondition>
<TraveledDistanceCondition value="1.0"/>
</EntityCondition>
</ByEntityCondition>
</Condition>
<Condition name="StartTime" delay="0" conditionEdge="rising">
<ByValueCondition>
<SimulationTimeCondition value="0" rule="equalTo"/>
</ByValueCondition>
</Condition>
</ConditionGroup>
</StartTrigger>
<StopTrigger>
<ConditionGroup>
<Condition name="EndCondition" delay="0" conditionEdge="rising">
<ByEntityCondition>
<TriggeringEntities triggeringEntitiesRule="any">
<EntityRef entityRef="hero"/>
</TriggeringEntities>
<EntityCondition>
<TraveledDistanceCondition value="200.0"/>
</EntityCondition>
</ByEntityCondition>
</Condition>
</ConditionGroup>
</StopTrigger>
</Act>
</Story>
<StopTrigger>
<ConditionGroup>
<Condition name="criteria_RunningStopTest" delay="0" conditionEdge="rising">
<ByValueCondition>
<ParameterCondition parameterRef="" value="" rule="lessThan"/>
</ByValueCondition>
</Condition>
<Condition name="criteria_RunningRedLightTest" delay="0" conditionEdge="rising">
<ByValueCondition>
<ParameterCondition parameterRef="" value="" rule="lessThan"/>
</ByValueCondition>
</Condition>
<Condition name="criteria_WrongLaneTest" delay="0" conditionEdge="rising">
<ByValueCondition>
<ParameterCondition parameterRef="" value="" rule="lessThan"/>
</ByValueCondition>
</Condition>
<Condition name="criteria_OnSidewalkTest" delay="0" conditionEdge="rising">
<ByValueCondition>
<ParameterCondition parameterRef="" value="" rule="lessThan"/>
</ByValueCondition>
</Condition>
<Condition name="criteria_KeepLaneTest" delay="0" conditionEdge="rising">
<ByValueCondition>
<ParameterCondition parameterRef="" value="" rule="lessThan"/>
</ByValueCondition>
</Condition>
<Condition name="criteria_CollisionTest" delay="0" conditionEdge="rising">
<ByValueCondition>
<ParameterCondition parameterRef="" value="" rule="lessThan"/>
</ByValueCondition>
</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_7316">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_w_transform_7317">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_w_transform_7318">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_close_to_standing_7319">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_w_transform_7320">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
</Entities>
<Storyboard>
<Init>
<Actions>
<GlobalAction>
<EnvironmentAction>
<Environment name="Environment1">
<TimeOfDay animation="false" dateTime="2019-06-25T12:00:00"/>
<Weather cloudState="free">
<Sun intensity="0.85" azimuth="0" elevation="1.31"/>
<Fog visualRange="100000.0"/>
<Precipitation precipitationType="dry" intensity="0.0"/>
</Weather>
<RoadCondition frictionScaleFactor="1.0"/>
</Environment>
</EnvironmentAction>
</GlobalAction>
<Private entityRef="hero">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-9.4" y="-152.8" z="0.5" h="1.57079632679"/>
</Position>
</TeleportAction>
</PrivateAction>
<PrivateAction>
<ControllerAction>
<AssignControllerAction>
<Controller name="HeroAgent">
<Properties>
<Property name="module" value="external_control"/>
</Properties>
</Controller>
</AssignControllerAction>
<OverrideControllerValueAction>
<Throttle value="0" active="false"/>
<Brake value="0" active="false"/>
<Clutch value="0" active="false"/>
<ParkingBrake value="0" active="false"/>
<SteeringWheel value="0" active="false"/>
<Gear number="0" active="false"/>
</OverrideControllerValueAction>
</ControllerAction>
</PrivateAction>
</Private>
<Private entityRef="adversary">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-9.4" y="-71.0" z="0.5" h="1.57079632679"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="standing">
<PrivateAction>
<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_7316">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-7.690837383270264" y="32.78729248046875" z="0.0030723188538104296"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_w_transform_7317">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="18.910648345947266" y="7.678785800933838" z="0.5"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_w_transform_7318">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="28.477096557617188" y="-82.25666809082031" z="0.5"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_close_to_standing_7319">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-12.843950271606445" y="20.25078773498535" z="0.0031329344492405653"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_w_transform_7320">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="7.972443103790283" y="82.98197174072266" 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 at location (-87.25, 17.0, 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_standing_14081">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
</Entities>
<Storyboard>
<Init>
<Actions>
<GlobalAction>
<EnvironmentAction>
<Environment name="Environment1">
<TimeOfDay animation="false" dateTime="2019-06-25T12:00:00"/>
<Weather cloudState="free">
<Sun intensity="0.85" azimuth="0" elevation="1.31"/>
<Fog visualRange="100000.0"/>
<Precipitation precipitationType="dry" intensity="0.0"/>
</Weather>
<RoadCondition frictionScaleFactor="1.0"/>
</Environment>
</EnvironmentAction>
</GlobalAction>
<Private entityRef="hero">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-9.4" y="-152.8" z="0.5" h="1.57079632679"/>
</Position>
</TeleportAction>
</PrivateAction>
<PrivateAction>
<ControllerAction>
<AssignControllerAction>
<Controller name="HeroAgent">
<Properties>
<Property name="module" value="external_control"/>
</Properties>
</Controller>
</AssignControllerAction>
<OverrideControllerValueAction>
<Throttle value="0" active="false"/>
<Brake value="0" active="false"/>
<Clutch value="0" active="false"/>
<ParkingBrake value="0" active="false"/>
<SteeringWheel value="0" active="false"/>
<Gear number="0" active="false"/>
</OverrideControllerValueAction>
</ControllerAction>
</PrivateAction>
</Private>
<Private entityRef="adversary">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-9.4" y="-71.0" z="0.5" h="1.57079632679"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="standing">
<PrivateAction>
<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_14081">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-5.380366802215576" y="28.825044631958008" z="0.0030285262037068605"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
</Actions>
</Init>
<Story name="MyStory">
<Act name="Behavior">
<ManeuverGroup maximumExecutionCount="1" name="ManeuverSequence">
<Actors selectTriggeringEntities="false">
<EntityRef entityRef="adversary"/>
</Actors>
<Maneuver name="LaneChangeSimpleManeuver">
<Event name="AdversaryAccelerates" priority="overwrite">
<Action name="AdversaryAccelerates">
<PrivateAction>
<LongitudinalAction>
<SpeedAction>
<SpeedActionDynamics dynamicsShape="step" value="50" dynamicsDimension="distance"/>
<SpeedActionTarget>
<AbsoluteTargetSpeed value="5.0"/>
</SpeedActionTarget>
</SpeedAction>
</LongitudinalAction>
</PrivateAction>
</Action>
<StartTrigger>
<ConditionGroup>
<Condition name="StartCondition" delay="0" conditionEdge="rising">
<ByEntityCondition>
<TriggeringEntities triggeringEntitiesRule="any">
<EntityRef entityRef="hero"/>
</TriggeringEntities>
<EntityCondition>
<RelativeDistanceCondition entityRef="adversary" relativeDistanceType="cartesianDistance" value="40.0" freespace="false" rule="lessThan"/>
</EntityCondition>
</ByEntityCondition>
</Condition>
</ConditionGroup>
</StartTrigger>
</Event>
<Event name="AdversaryChangesLane" priority="overwrite">
<Action name="AdversaryChangesLane">
<PrivateAction>
<LateralAction>
<LaneChangeAction>
<LaneChangeActionDynamics dynamicsShape="linear" value="25" dynamicsDimension="distance"/>
<LaneChangeTarget>
<RelativeTargetLane entityRef="adversary" value="-1"/>
</LaneChangeTarget>
</LaneChangeAction>
</LateralAction>
</PrivateAction>
</Action>
<StartTrigger>
<ConditionGroup>
<Condition name="AfterAdversaryAccelerates" delay="0" conditionEdge="rising">
<ByValueCondition>
<StoryboardElementStateCondition storyboardElementType="action" storyboardElementRef="AdversaryAccelerates" state="completeState"/>
</ByValueCondition>
</Condition>
</ConditionGroup>
</StartTrigger>
</Event>
</Maneuver>
</ManeuverGroup>
<StartTrigger>
<ConditionGroup>
<Condition name="OverallStartCondition" delay="0" conditionEdge="rising">
<ByEntityCondition>
<TriggeringEntities triggeringEntitiesRule="any">
<EntityRef entityRef="hero"/>
</TriggeringEntities>
<EntityCondition>
<TraveledDistanceCondition value="1.0"/>
</EntityCondition>
</ByEntityCondition>
</Condition>
<Condition name="StartTime" delay="0" conditionEdge="rising">
<ByValueCondition>
<SimulationTimeCondition value="0" rule="equalTo"/>
</ByValueCondition>
</Condition>
</ConditionGroup>
</StartTrigger>
<StopTrigger>
<ConditionGroup>
<Condition name="EndCondition" delay="0" conditionEdge="rising">
<ByEntityCondition>
<TriggeringEntities triggeringEntitiesRule="any">
<EntityRef entityRef="hero"/>
</TriggeringEntities>
<EntityCondition>
<TraveledDistanceCondition value="200.0"/>
</EntityCondition>
</ByEntityCondition>
</Condition>
</ConditionGroup>
</StopTrigger>
</Act>
</Story>
<StopTrigger>
<ConditionGroup>
<Condition name="criteria_RunningStopTest" delay="0" conditionEdge="rising">
<ByValueCondition>
<ParameterCondition parameterRef="" value="" rule="lessThan"/>
</ByValueCondition>
</Condition>
<Condition name="criteria_RunningRedLightTest" delay="0" conditionEdge="rising">
<ByValueCondition>
<ParameterCondition parameterRef="" value="" rule="lessThan"/>
</ByValueCondition>
</Condition>
<Condition name="criteria_WrongLaneTest" delay="0" conditionEdge="rising">
<ByValueCondition>
<ParameterCondition parameterRef="" value="" rule="lessThan"/>
</ByValueCondition>
</Condition>
<Condition name="criteria_OnSidewalkTest" delay="0" conditionEdge="rising">
<ByValueCondition>
<ParameterCondition parameterRef="" value="" rule="lessThan"/>
</ByValueCondition>
</Condition>
<Condition name="criteria_KeepLaneTest" delay="0" conditionEdge="rising">
<ByValueCondition>
<ParameterCondition parameterRef="" value="" rule="lessThan"/>
</ByValueCondition>
</Condition>
<Condition name="criteria_CollisionTest" delay="0" conditionEdge="rising">
<ByValueCondition>
<ParameterCondition parameterRef="" value="" rule="lessThan"/>
</ByValueCondition>
</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_14081">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_w_transform_14082">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
</Entities>
<Storyboard>
<Init>
<Actions>
<GlobalAction>
<EnvironmentAction>
<Environment name="Environment1">
<TimeOfDay animation="false" dateTime="2019-06-25T12:00:00"/>
<Weather cloudState="free">
<Sun intensity="0.85" azimuth="0" elevation="1.31"/>
<Fog visualRange="100000.0"/>
<Precipitation precipitationType="dry" intensity="0.0"/>
</Weather>
<RoadCondition frictionScaleFactor="1.0"/>
</Environment>
</EnvironmentAction>
</GlobalAction>
<Private entityRef="hero">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-9.4" y="-152.8" z="0.5" h="1.57079632679"/>
</Position>
</TeleportAction>
</PrivateAction>
<PrivateAction>
<ControllerAction>
<AssignControllerAction>
<Controller name="HeroAgent">
<Properties>
<Property name="module" value="external_control"/>
</Properties>
</Controller>
</AssignControllerAction>
<OverrideControllerValueAction>
<Throttle value="0" active="false"/>
<Brake value="0" active="false"/>
<Clutch value="0" active="false"/>
<ParkingBrake value="0" active="false"/>
<SteeringWheel value="0" active="false"/>
<Gear number="0" active="false"/>
</OverrideControllerValueAction>
</ControllerAction>
</PrivateAction>
</Private>
<Private entityRef="adversary">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-9.4" y="-71.0" z="0.5" h="1.57079632679"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="standing">
<PrivateAction>
<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_14081">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-5.380366802215576" y="28.825044631958008" z="0.0030285262037068605"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_w_transform_14082">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-87.25269317626953" y="16.999601364135742" z="0.5"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
</Actions>
</Init>
<Story name="MyStory">
<Act name="Behavior">
<ManeuverGroup maximumExecutionCount="1" name="ManeuverSequence">
<Actors selectTriggeringEntities="false">
<EntityRef entityRef="adversary"/>
</Actors>
<Maneuver name="LaneChangeSimpleManeuver">
<Event name="AdversaryAccelerates" priority="overwrite">
<Action name="AdversaryAccelerates">
<PrivateAction>
<LongitudinalAction>
<SpeedAction>
<SpeedActionDynamics dynamicsShape="step" value="50" dynamicsDimension="distance"/>
<SpeedActionTarget>
<AbsoluteTargetSpeed value="5.0"/>
</SpeedActionTarget>
</SpeedAction>
</LongitudinalAction>
</PrivateAction>
</Action>
<StartTrigger>
<ConditionGroup>
<Condition name="StartCondition" delay="0" conditionEdge="rising">
<ByEntityCondition>
<TriggeringEntities triggeringEntitiesRule="any">
<EntityRef entityRef="hero"/>
</TriggeringEntities>
<EntityCondition>
<RelativeDistanceCondition entityRef="adversary" relativeDistanceType="cartesianDistance" value="40.0" freespace="false" rule="lessThan"/>
</EntityCondition>
</ByEntityCondition>
</Condition>
</ConditionGroup>
</StartTrigger>
</Event>
<Event name="AdversaryChangesLane" priority="overwrite">
<Action name="AdversaryChangesLane">
<PrivateAction>
<LateralAction>
<LaneChangeAction>
<LaneChangeActionDynamics dynamicsShape="linear" value="25" dynamicsDimension="distance"/>
<LaneChangeTarget>
<RelativeTargetLane entityRef="adversary" value="-1"/>
</LaneChangeTarget>
</LaneChangeAction>
</LateralAction>
</PrivateAction>
</Action>
<StartTrigger>
<ConditionGroup>
<Condition name="AfterAdversaryAccelerates" delay="0" conditionEdge="rising">
<ByValueCondition>
<StoryboardElementStateCondition storyboardElementType="action" storyboardElementRef="AdversaryAccelerates" state="completeState"/>
</ByValueCondition>
</Condition>
</ConditionGroup>
</StartTrigger>
</Event>
</Maneuver>
</ManeuverGroup>
<StartTrigger>
<ConditionGroup>
<Condition name="OverallStartCondition" delay="0" conditionEdge="rising">
<ByEntityCondition>
<TriggeringEntities triggeringEntitiesRule="any">
<EntityRef entityRef="hero"/>
</TriggeringEntities>
<EntityCondition>
<TraveledDistanceCondition value="1.0"/>
</EntityCondition>
</ByEntityCondition>
</Condition>
<Condition name="StartTime" delay="0" conditionEdge="rising">
<ByValueCondition>
<SimulationTimeCondition value="0" rule="equalTo"/>
</ByValueCondition>
</Condition>
</ConditionGroup>
</StartTrigger>
<StopTrigger>
<ConditionGroup>
<Condition name="EndCondition" delay="0" conditionEdge="rising">
<ByEntityCondition>
<TriggeringEntities triggeringEntitiesRule="any">
<EntityRef entityRef="hero"/>
</TriggeringEntities>
<EntityCondition>
<TraveledDistanceCondition value="200.0"/>
</EntityCondition>
</ByEntityCondition>
</Condition>
</ConditionGroup>
</StopTrigger>
</Act>
</Story>
<StopTrigger>
<ConditionGroup>
<Condition name="criteria_RunningStopTest" delay="0" conditionEdge="rising">
<ByValueCondition>
<ParameterCondition parameterRef="" value="" rule="lessThan"/>
</ByValueCondition>
</Condition>
<Condition name="criteria_RunningRedLightTest" delay="0" conditionEdge="rising">
<ByValueCondition>
<ParameterCondition parameterRef="" value="" rule="lessThan"/>
</ByValueCondition>
</Condition>
<Condition name="criteria_WrongLaneTest" delay="0" conditionEdge="rising">
<ByValueCondition>
<ParameterCondition parameterRef="" value="" rule="lessThan"/>
</ByValueCondition>
</Condition>
<Condition name="criteria_OnSidewalkTest" delay="0" conditionEdge="rising">
<ByValueCondition>
<ParameterCondition parameterRef="" value="" rule="lessThan"/>
</ByValueCondition>
</Condition>
<Condition name="criteria_KeepLaneTest" delay="0" conditionEdge="rising">
<ByValueCondition>
<ParameterCondition parameterRef="" value="" rule="lessThan"/>
</ByValueCondition>
</Condition>
<Condition name="criteria_CollisionTest" delay="0" conditionEdge="rising">
<ByValueCondition>
<ParameterCondition parameterRef="" value="" rule="lessThan"/>
</ByValueCondition>
</Condition>
<Condition name="criteria_DrivenDistanceTest" delay="0" conditionEdge="rising">
<ByValueCondition>
<ParameterCondition parameterRef="distance_success" value="100" rule="lessThan"/>
</ByValueCondition>
</Condition>
</ConditionGroup>
</StopTrigger>
</Storyboard>
</OpenSCENARIO>
``` |
i would like you to display add pedestrian at location (69.98, 26.69, 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_29857">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
</Entities>
<Storyboard>
<Init>
<Actions>
<GlobalAction>
<EnvironmentAction>
<Environment name="Environment1">
<TimeOfDay animation="false" dateTime="2019-06-25T12:00:00"/>
<Weather cloudState="free">
<Sun intensity="0.85" azimuth="0" elevation="1.31"/>
<Fog visualRange="100000.0"/>
<Precipitation precipitationType="dry" intensity="0.0"/>
</Weather>
<RoadCondition frictionScaleFactor="1.0"/>
</Environment>
</EnvironmentAction>
</GlobalAction>
<Private entityRef="hero">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-9.4" y="-152.8" z="0.5" h="1.57079632679"/>
</Position>
</TeleportAction>
</PrivateAction>
<PrivateAction>
<ControllerAction>
<AssignControllerAction>
<Controller name="HeroAgent">
<Properties>
<Property name="module" value="external_control"/>
</Properties>
</Controller>
</AssignControllerAction>
<OverrideControllerValueAction>
<Throttle value="0" active="false"/>
<Brake value="0" active="false"/>
<Clutch value="0" active="false"/>
<ParkingBrake value="0" active="false"/>
<SteeringWheel value="0" active="false"/>
<Gear number="0" active="false"/>
</OverrideControllerValueAction>
</ControllerAction>
</PrivateAction>
</Private>
<Private entityRef="adversary">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-9.4" y="-71.0" z="0.5" h="1.57079632679"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="standing">
<PrivateAction>
<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_29857">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-10.573054313659668" y="22.323320388793945" z="0.0030355453491210938"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
</Actions>
</Init>
<Story name="MyStory">
<Act name="Behavior">
<ManeuverGroup maximumExecutionCount="1" name="ManeuverSequence">
<Actors selectTriggeringEntities="false">
<EntityRef entityRef="adversary"/>
</Actors>
<Maneuver name="LaneChangeSimpleManeuver">
<Event name="AdversaryAccelerates" priority="overwrite">
<Action name="AdversaryAccelerates">
<PrivateAction>
<LongitudinalAction>
<SpeedAction>
<SpeedActionDynamics dynamicsShape="step" value="50" dynamicsDimension="distance"/>
<SpeedActionTarget>
<AbsoluteTargetSpeed value="5.0"/>
</SpeedActionTarget>
</SpeedAction>
</LongitudinalAction>
</PrivateAction>
</Action>
<StartTrigger>
<ConditionGroup>
<Condition name="StartCondition" delay="0" conditionEdge="rising">
<ByEntityCondition>
<TriggeringEntities triggeringEntitiesRule="any">
<EntityRef entityRef="hero"/>
</TriggeringEntities>
<EntityCondition>
<RelativeDistanceCondition entityRef="adversary" relativeDistanceType="cartesianDistance" value="40.0" freespace="false" rule="lessThan"/>
</EntityCondition>
</ByEntityCondition>
</Condition>
</ConditionGroup>
</StartTrigger>
</Event>
<Event name="AdversaryChangesLane" priority="overwrite">
<Action name="AdversaryChangesLane">
<PrivateAction>
<LateralAction>
<LaneChangeAction>
<LaneChangeActionDynamics dynamicsShape="linear" value="25" dynamicsDimension="distance"/>
<LaneChangeTarget>
<RelativeTargetLane entityRef="adversary" value="-1"/>
</LaneChangeTarget>
</LaneChangeAction>
</LateralAction>
</PrivateAction>
</Action>
<StartTrigger>
<ConditionGroup>
<Condition name="AfterAdversaryAccelerates" delay="0" conditionEdge="rising">
<ByValueCondition>
<StoryboardElementStateCondition storyboardElementType="action" storyboardElementRef="AdversaryAccelerates" state="completeState"/>
</ByValueCondition>
</Condition>
</ConditionGroup>
</StartTrigger>
</Event>
</Maneuver>
</ManeuverGroup>
<StartTrigger>
<ConditionGroup>
<Condition name="OverallStartCondition" delay="0" conditionEdge="rising">
<ByEntityCondition>
<TriggeringEntities triggeringEntitiesRule="any">
<EntityRef entityRef="hero"/>
</TriggeringEntities>
<EntityCondition>
<TraveledDistanceCondition value="1.0"/>
</EntityCondition>
</ByEntityCondition>
</Condition>
<Condition name="StartTime" delay="0" conditionEdge="rising">
<ByValueCondition>
<SimulationTimeCondition value="0" rule="equalTo"/>
</ByValueCondition>
</Condition>
</ConditionGroup>
</StartTrigger>
<StopTrigger>
<ConditionGroup>
<Condition name="EndCondition" delay="0" conditionEdge="rising">
<ByEntityCondition>
<TriggeringEntities triggeringEntitiesRule="any">
<EntityRef entityRef="hero"/>
</TriggeringEntities>
<EntityCondition>
<TraveledDistanceCondition value="200.0"/>
</EntityCondition>
</ByEntityCondition>
</Condition>
</ConditionGroup>
</StopTrigger>
</Act>
</Story>
<StopTrigger>
<ConditionGroup>
<Condition name="criteria_RunningStopTest" delay="0" conditionEdge="rising">
<ByValueCondition>
<ParameterCondition parameterRef="" value="" rule="lessThan"/>
</ByValueCondition>
</Condition>
<Condition name="criteria_RunningRedLightTest" delay="0" conditionEdge="rising">
<ByValueCondition>
<ParameterCondition parameterRef="" value="" rule="lessThan"/>
</ByValueCondition>
</Condition>
<Condition name="criteria_WrongLaneTest" delay="0" conditionEdge="rising">
<ByValueCondition>
<ParameterCondition parameterRef="" value="" rule="lessThan"/>
</ByValueCondition>
</Condition>
<Condition name="criteria_OnSidewalkTest" delay="0" conditionEdge="rising">
<ByValueCondition>
<ParameterCondition parameterRef="" value="" rule="lessThan"/>
</ByValueCondition>
</Condition>
<Condition name="criteria_KeepLaneTest" delay="0" conditionEdge="rising">
<ByValueCondition>
<ParameterCondition parameterRef="" value="" rule="lessThan"/>
</ByValueCondition>
</Condition>
<Condition name="criteria_CollisionTest" delay="0" conditionEdge="rising">
<ByValueCondition>
<ParameterCondition parameterRef="" value="" rule="lessThan"/>
</ByValueCondition>
</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_29857">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_w_transform_29858">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
</Entities>
<Storyboard>
<Init>
<Actions>
<GlobalAction>
<EnvironmentAction>
<Environment name="Environment1">
<TimeOfDay animation="false" dateTime="2019-06-25T12:00:00"/>
<Weather cloudState="free">
<Sun intensity="0.85" azimuth="0" elevation="1.31"/>
<Fog visualRange="100000.0"/>
<Precipitation precipitationType="dry" intensity="0.0"/>
</Weather>
<RoadCondition frictionScaleFactor="1.0"/>
</Environment>
</EnvironmentAction>
</GlobalAction>
<Private entityRef="hero">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-9.4" y="-152.8" z="0.5" h="1.57079632679"/>
</Position>
</TeleportAction>
</PrivateAction>
<PrivateAction>
<ControllerAction>
<AssignControllerAction>
<Controller name="HeroAgent">
<Properties>
<Property name="module" value="external_control"/>
</Properties>
</Controller>
</AssignControllerAction>
<OverrideControllerValueAction>
<Throttle value="0" active="false"/>
<Brake value="0" active="false"/>
<Clutch value="0" active="false"/>
<ParkingBrake value="0" active="false"/>
<SteeringWheel value="0" active="false"/>
<Gear number="0" active="false"/>
</OverrideControllerValueAction>
</ControllerAction>
</PrivateAction>
</Private>
<Private entityRef="adversary">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-9.4" y="-71.0" z="0.5" h="1.57079632679"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="standing">
<PrivateAction>
<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_29857">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-10.573054313659668" y="22.323320388793945" z="0.0030355453491210938"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_w_transform_29858">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="69.97605895996094" y="26.685163497924805" 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 at location (13.33, -66.98, 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_5248">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_w_transform_5249">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_close_to_adversary_5250">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_w_transform_5251">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_close_to_hero_5252">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_w_transform_5253">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_w_transform_5254">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_w_transform_5255">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_close_to_standing_5256">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_close_to_adversary_5257">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_close_to_hero_5258">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_w_transform_5259">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_w_transform_5260">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_close_to_standing_5261">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_close_to_standing_5262">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_w_transform_5263">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
</Entities>
<Storyboard>
<Init>
<Actions>
<GlobalAction>
<EnvironmentAction>
<Environment name="Environment1">
<TimeOfDay animation="false" dateTime="2019-06-25T12:00:00"/>
<Weather cloudState="free">
<Sun intensity="0.85" azimuth="0" elevation="1.31"/>
<Fog visualRange="100000.0"/>
<Precipitation precipitationType="dry" intensity="0.0"/>
</Weather>
<RoadCondition frictionScaleFactor="1.0"/>
</Environment>
</EnvironmentAction>
</GlobalAction>
<Private entityRef="hero">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-9.4" y="-152.8" z="0.5" h="1.57079632679"/>
</Position>
</TeleportAction>
</PrivateAction>
<PrivateAction>
<ControllerAction>
<AssignControllerAction>
<Controller name="HeroAgent">
<Properties>
<Property name="module" value="external_control"/>
</Properties>
</Controller>
</AssignControllerAction>
<OverrideControllerValueAction>
<Throttle value="0" active="false"/>
<Brake value="0" active="false"/>
<Clutch value="0" active="false"/>
<ParkingBrake value="0" active="false"/>
<SteeringWheel value="0" active="false"/>
<Gear number="0" active="false"/>
</OverrideControllerValueAction>
</ControllerAction>
</PrivateAction>
</Private>
<Private entityRef="adversary">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-9.4" y="-71.0" z="0.5" h="1.57079632679"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="standing">
<PrivateAction>
<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_5248">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-12.403003692626953" y="33.854949951171875" z="0.003052940359339118"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_w_transform_5249">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="39.74296188354492" y="17.082592010498047" z="0.5"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_close_to_adversary_5250">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-5.145110130310059" y="-69.70848846435547" z="0.03375541791319847"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_w_transform_5251">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="12.509428024291992" y="83.39596557617188" z="0.5"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_close_to_hero_5252">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-8.463653564453125" y="-147.53610229492188" z="0.0013900374760851264"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_w_transform_5253">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="61.79576873779297" y="52.86280059814453" z="0.5"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_w_transform_5254">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="43.411041259765625" y="70.70063018798828" z="0.5"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_w_transform_5255">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="59.245635986328125" y="21.341840744018555" z="0.5"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_close_to_standing_5256">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-14.477376937866211" y="22.370594024658203" z="0.0030425642617046833"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_close_to_adversary_5257">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-6.98517370223999" y="-64.14619445800781" z="0.03380447253584862"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_close_to_hero_5258">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="12.703639030456543" y="-139.6149139404297" z="0.0013900374760851264"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_w_transform_5259">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="92.45220184326172" y="-62.44220733642578" z="0.5"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_w_transform_5260">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-44.60653305053711" y="66.20355987548828" z="0.5"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_close_to_standing_5261">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-8.391587257385254" y="38.44630432128906" z="0.0030821608379483223"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_close_to_standing_5262">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-15.382150650024414" y="24.122520446777344" z="0.003087348770350218"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_w_transform_5263">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="9.536635398864746" y="-2.4505615234375" 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_5248">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_w_transform_5249">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_close_to_adversary_5250">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_w_transform_5251">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_close_to_hero_5252">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_w_transform_5253">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_w_transform_5254">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_w_transform_5255">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_close_to_standing_5256">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_close_to_adversary_5257">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_close_to_hero_5258">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_w_transform_5259">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_w_transform_5260">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_close_to_standing_5261">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_close_to_standing_5262">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_w_transform_5263">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_w_transform_5264">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
</Entities>
<Storyboard>
<Init>
<Actions>
<GlobalAction>
<EnvironmentAction>
<Environment name="Environment1">
<TimeOfDay animation="false" dateTime="2019-06-25T12:00:00"/>
<Weather cloudState="free">
<Sun intensity="0.85" azimuth="0" elevation="1.31"/>
<Fog visualRange="100000.0"/>
<Precipitation precipitationType="dry" intensity="0.0"/>
</Weather>
<RoadCondition frictionScaleFactor="1.0"/>
</Environment>
</EnvironmentAction>
</GlobalAction>
<Private entityRef="hero">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-9.4" y="-152.8" z="0.5" h="1.57079632679"/>
</Position>
</TeleportAction>
</PrivateAction>
<PrivateAction>
<ControllerAction>
<AssignControllerAction>
<Controller name="HeroAgent">
<Properties>
<Property name="module" value="external_control"/>
</Properties>
</Controller>
</AssignControllerAction>
<OverrideControllerValueAction>
<Throttle value="0" active="false"/>
<Brake value="0" active="false"/>
<Clutch value="0" active="false"/>
<ParkingBrake value="0" active="false"/>
<SteeringWheel value="0" active="false"/>
<Gear number="0" active="false"/>
</OverrideControllerValueAction>
</ControllerAction>
</PrivateAction>
</Private>
<Private entityRef="adversary">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-9.4" y="-71.0" z="0.5" h="1.57079632679"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="standing">
<PrivateAction>
<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_5248">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-12.403003692626953" y="33.854949951171875" z="0.003052940359339118"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_w_transform_5249">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="39.74296188354492" y="17.082592010498047" z="0.5"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_close_to_adversary_5250">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-5.145110130310059" y="-69.70848846435547" z="0.03375541791319847"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_w_transform_5251">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="12.509428024291992" y="83.39596557617188" z="0.5"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_close_to_hero_5252">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-8.463653564453125" y="-147.53610229492188" z="0.0013900374760851264"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_w_transform_5253">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="61.79576873779297" y="52.86280059814453" z="0.5"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_w_transform_5254">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="43.411041259765625" y="70.70063018798828" z="0.5"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_w_transform_5255">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="59.245635986328125" y="21.341840744018555" z="0.5"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_close_to_standing_5256">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-14.477376937866211" y="22.370594024658203" z="0.0030425642617046833"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_close_to_adversary_5257">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-6.98517370223999" y="-64.14619445800781" z="0.03380447253584862"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_close_to_hero_5258">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="12.703639030456543" y="-139.6149139404297" z="0.0013900374760851264"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_w_transform_5259">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="92.45220184326172" y="-62.44220733642578" z="0.5"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_w_transform_5260">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-44.60653305053711" y="66.20355987548828" z="0.5"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_close_to_standing_5261">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-8.391587257385254" y="38.44630432128906" z="0.0030821608379483223"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_close_to_standing_5262">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-15.382150650024414" y="24.122520446777344" z="0.003087348770350218"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_w_transform_5263">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="9.536635398864746" y="-2.4505615234375" z="0.5"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_w_transform_5264">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="13.32561206817627" y="-66.9802017211914" 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_14195">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_close_to_adversary_14196">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_w_transform_14197">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_w_transform_14198">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_close_to_adversary_14199">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_w_transform_14200">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_w_transform_14201">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_w_transform_14202">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_close_to_adversary_14203">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_close_to_standing_14204">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_close_to_hero_14205">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_w_transform_14206">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_w_transform_14207">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_close_to_standing_14208">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_w_transform_14209">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
</Entities>
<Storyboard>
<Init>
<Actions>
<GlobalAction>
<EnvironmentAction>
<Environment name="Environment1">
<TimeOfDay animation="false" dateTime="2019-06-25T12:00:00"/>
<Weather cloudState="free">
<Sun intensity="0.85" azimuth="0" elevation="1.31"/>
<Fog visualRange="100000.0"/>
<Precipitation precipitationType="dry" intensity="0.0"/>
</Weather>
<RoadCondition frictionScaleFactor="1.0"/>
</Environment>
</EnvironmentAction>
</GlobalAction>
<Private entityRef="hero">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-9.4" y="-152.8" z="0.5" h="1.57079632679"/>
</Position>
</TeleportAction>
</PrivateAction>
<PrivateAction>
<ControllerAction>
<AssignControllerAction>
<Controller name="HeroAgent">
<Properties>
<Property name="module" value="external_control"/>
</Properties>
</Controller>
</AssignControllerAction>
<OverrideControllerValueAction>
<Throttle value="0" active="false"/>
<Brake value="0" active="false"/>
<Clutch value="0" active="false"/>
<ParkingBrake value="0" active="false"/>
<SteeringWheel value="0" active="false"/>
<Gear number="0" active="false"/>
</OverrideControllerValueAction>
</ControllerAction>
</PrivateAction>
</Private>
<Private entityRef="adversary">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-9.4" y="-71.0" z="0.5" h="1.57079632679"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="standing">
<PrivateAction>
<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_14195">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-8.19829273223877" y="-71.94080352783203" z="0.03387531265616417"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_close_to_adversary_14196">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-1.8547542095184326" y="-66.18708801269531" z="0.03388534486293793"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_w_transform_14197">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="10.142187118530273" y="32.16225051879883" z="0.5"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_w_transform_14198">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-79.26188659667969" y="-90.30023956298828" z="0.5"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_close_to_adversary_14199">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-7.265957355499268" y="-74.69125366210938" z="0.03386237844824791"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_w_transform_14200">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="21.279783248901367" y="84.45663452148438" z="0.5"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_w_transform_14201">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-46.40924835205078" y="78.51643371582031" z="0.5"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_w_transform_14202">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-29.588830947875977" y="5.3535332679748535" z="0.5"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_close_to_adversary_14203">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-22.076417922973633" y="-70.09464263916016" z="0.033871497958898544"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_close_to_standing_14204">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-15.534311294555664" y="19.454011917114258" z="0.0031227110885083675"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_close_to_hero_14205">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-10.004500389099121" y="-151.57728576660156" z="0.0018838500836864114"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_w_transform_14206">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-93.06074523925781" y="-92.60173034667969" z="0.5"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_w_transform_14207">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-40.726505279541016" y="1.8460696935653687" z="0.5"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_close_to_standing_14208">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-15.831780433654785" y="28.203645706176758" z="0.003113136161118746"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_w_transform_14209">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="53.50069046020508" y="73.95789337158203" 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_14195">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_close_to_adversary_14196">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_w_transform_14197">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_w_transform_14198">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_close_to_adversary_14199">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_w_transform_14200">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_w_transform_14201">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_w_transform_14202">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_close_to_adversary_14203">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_close_to_standing_14204">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_close_to_hero_14205">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_w_transform_14206">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_w_transform_14207">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_close_to_standing_14208">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_w_transform_14209">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_close_to_hero_14210">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
</Entities>
<Storyboard>
<Init>
<Actions>
<GlobalAction>
<EnvironmentAction>
<Environment name="Environment1">
<TimeOfDay animation="false" dateTime="2019-06-25T12:00:00"/>
<Weather cloudState="free">
<Sun intensity="0.85" azimuth="0" elevation="1.31"/>
<Fog visualRange="100000.0"/>
<Precipitation precipitationType="dry" intensity="0.0"/>
</Weather>
<RoadCondition frictionScaleFactor="1.0"/>
</Environment>
</EnvironmentAction>
</GlobalAction>
<Private entityRef="hero">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-9.4" y="-152.8" z="0.5" h="1.57079632679"/>
</Position>
</TeleportAction>
</PrivateAction>
<PrivateAction>
<ControllerAction>
<AssignControllerAction>
<Controller name="HeroAgent">
<Properties>
<Property name="module" value="external_control"/>
</Properties>
</Controller>
</AssignControllerAction>
<OverrideControllerValueAction>
<Throttle value="0" active="false"/>
<Brake value="0" active="false"/>
<Clutch value="0" active="false"/>
<ParkingBrake value="0" active="false"/>
<SteeringWheel value="0" active="false"/>
<Gear number="0" active="false"/>
</OverrideControllerValueAction>
</ControllerAction>
</PrivateAction>
</Private>
<Private entityRef="adversary">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-9.4" y="-71.0" z="0.5" h="1.57079632679"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="standing">
<PrivateAction>
<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_14195">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-8.19829273223877" y="-71.94080352783203" z="0.03387531265616417"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_close_to_adversary_14196">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-1.8547542095184326" y="-66.18708801269531" z="0.03388534486293793"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_w_transform_14197">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="10.142187118530273" y="32.16225051879883" z="0.5"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_w_transform_14198">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-79.26188659667969" y="-90.30023956298828" z="0.5"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_close_to_adversary_14199">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-7.265957355499268" y="-74.69125366210938" z="0.03386237844824791"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_w_transform_14200">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="21.279783248901367" y="84.45663452148438" z="0.5"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_w_transform_14201">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-46.40924835205078" y="78.51643371582031" z="0.5"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_w_transform_14202">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-29.588830947875977" y="5.3535332679748535" z="0.5"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_close_to_adversary_14203">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-22.076417922973633" y="-70.09464263916016" z="0.033871497958898544"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_close_to_standing_14204">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-15.534311294555664" y="19.454011917114258" z="0.0031227110885083675"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_close_to_hero_14205">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-10.004500389099121" y="-151.57728576660156" z="0.0018838500836864114"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_w_transform_14206">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-93.06074523925781" y="-92.60173034667969" z="0.5"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_w_transform_14207">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-40.726505279541016" y="1.8460696935653687" z="0.5"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_close_to_standing_14208">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-15.831780433654785" y="28.203645706176758" z="0.003113136161118746"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_w_transform_14209">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="53.50069046020508" y="73.95789337158203" z="0.5"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_close_to_hero_14210">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-6.717004776000977" y="-159.23464965820312" 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 order you to remove pedestrian actor named pedestrian_close_to_adversary_19105?
```
<?xml version="1.0" ?>
<OpenSCENARIO>
<FileHeader revMajor="1" revMinor="0" date="2020-03-24T12:00:00" description="CARLA:LaneChangeSimple" author=""/>
<ParameterDeclarations/>
<CatalogLocations/>
<RoadNetwork>
<LogicFile filepath="Town04"/>
<SceneGraphFile filepath=""/>
</RoadNetwork>
<Entities>
<ScenarioObject name="hero">
<Vehicle name="vehicle.tesla.model3" vehicleCategory="car">
<ParameterDeclarations/>
<Performance maxSpeed="69.444" maxAcceleration="200" maxDeceleration="10.0"/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2.1" length="4.5" height="1.8"/>
</BoundingBox>
<Axles>
<FrontAxle maxSteering="0.5" wheelDiameter="0.6" trackWidth="1.8" positionX="3.1" positionZ="0.3"/>
<RearAxle maxSteering="0.0" wheelDiameter="0.6" trackWidth="1.8" positionX="0.0" positionZ="0.3"/>
</Axles>
<Properties>
<Property name="type" value="ego_vehicle"/>
</Properties>
</Vehicle>
</ScenarioObject>
<ScenarioObject name="adversary">
<Vehicle name="vehicle.lincoln.mkz_2017" vehicleCategory="car">
<ParameterDeclarations/>
<Performance maxSpeed="69.444" maxAcceleration="200" maxDeceleration="10.0"/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2.1" length="4.5" height="1.8"/>
</BoundingBox>
<Axles>
<FrontAxle maxSteering="0.5" wheelDiameter="0.6" trackWidth="1.8" positionX="3.1" positionZ="0.3"/>
<RearAxle maxSteering="0.0" wheelDiameter="0.6" trackWidth="1.8" positionX="0.0" positionZ="0.3"/>
</Axles>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Vehicle>
</ScenarioObject>
<ScenarioObject name="standing">
<Vehicle name="vehicle.volkswagen.t2" vehicleCategory="car">
<ParameterDeclarations/>
<Performance maxSpeed="69.444" maxAcceleration="200" maxDeceleration="10.0"/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2.1" length="4.5" height="1.8"/>
</BoundingBox>
<Axles>
<FrontAxle maxSteering="0.5" wheelDiameter="0.6" trackWidth="1.8" positionX="3.1" positionZ="0.3"/>
<RearAxle maxSteering="0.0" wheelDiameter="0.6" 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_19104">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_close_to_adversary_19105">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
</Entities>
<Storyboard>
<Init>
<Actions>
<GlobalAction>
<EnvironmentAction>
<Environment name="Environment1">
<TimeOfDay animation="false" dateTime="2019-06-25T12:00:00"/>
<Weather cloudState="free">
<Sun intensity="0.85" azimuth="0" elevation="1.31"/>
<Fog visualRange="100000.0"/>
<Precipitation precipitationType="dry" intensity="0.0"/>
</Weather>
<RoadCondition frictionScaleFactor="1.0"/>
</Environment>
</EnvironmentAction>
</GlobalAction>
<Private entityRef="hero">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-9.4" y="-152.8" z="0.5" h="1.57079632679"/>
</Position>
</TeleportAction>
</PrivateAction>
<PrivateAction>
<ControllerAction>
<AssignControllerAction>
<Controller name="HeroAgent">
<Properties>
<Property name="module" value="external_control"/>
</Properties>
</Controller>
</AssignControllerAction>
<OverrideControllerValueAction>
<Throttle value="0" active="false"/>
<Brake value="0" active="false"/>
<Clutch value="0" active="false"/>
<ParkingBrake value="0" active="false"/>
<SteeringWheel value="0" active="false"/>
<Gear number="0" active="false"/>
</OverrideControllerValueAction>
</ControllerAction>
</PrivateAction>
</Private>
<Private entityRef="adversary">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-9.4" y="-71.0" z="0.5" h="1.57079632679"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="standing">
<PrivateAction>
<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_19104">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-13.819479942321777" y="-80.56959533691406" z="0.033778801560401917"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_close_to_adversary_19105">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-12.88668155670166" y="-76.2685775756836" z="0.033828046172857285"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
</Actions>
</Init>
<Story name="MyStory">
<Act name="Behavior">
<ManeuverGroup maximumExecutionCount="1" name="ManeuverSequence">
<Actors selectTriggeringEntities="false">
<EntityRef entityRef="adversary"/>
</Actors>
<Maneuver name="LaneChangeSimpleManeuver">
<Event name="AdversaryAccelerates" priority="overwrite">
<Action name="AdversaryAccelerates">
<PrivateAction>
<LongitudinalAction>
<SpeedAction>
<SpeedActionDynamics dynamicsShape="step" value="50" dynamicsDimension="distance"/>
<SpeedActionTarget>
<AbsoluteTargetSpeed value="5.0"/>
</SpeedActionTarget>
</SpeedAction>
</LongitudinalAction>
</PrivateAction>
</Action>
<StartTrigger>
<ConditionGroup>
<Condition name="StartCondition" delay="0" conditionEdge="rising">
<ByEntityCondition>
<TriggeringEntities triggeringEntitiesRule="any">
<EntityRef entityRef="hero"/>
</TriggeringEntities>
<EntityCondition>
<RelativeDistanceCondition entityRef="adversary" relativeDistanceType="cartesianDistance" value="40.0" freespace="false" rule="lessThan"/>
</EntityCondition>
</ByEntityCondition>
</Condition>
</ConditionGroup>
</StartTrigger>
</Event>
<Event name="AdversaryChangesLane" priority="overwrite">
<Action name="AdversaryChangesLane">
<PrivateAction>
<LateralAction>
<LaneChangeAction>
<LaneChangeActionDynamics dynamicsShape="linear" value="25" dynamicsDimension="distance"/>
<LaneChangeTarget>
<RelativeTargetLane entityRef="adversary" value="-1"/>
</LaneChangeTarget>
</LaneChangeAction>
</LateralAction>
</PrivateAction>
</Action>
<StartTrigger>
<ConditionGroup>
<Condition name="AfterAdversaryAccelerates" delay="0" conditionEdge="rising">
<ByValueCondition>
<StoryboardElementStateCondition storyboardElementType="action" storyboardElementRef="AdversaryAccelerates" state="completeState"/>
</ByValueCondition>
</Condition>
</ConditionGroup>
</StartTrigger>
</Event>
</Maneuver>
</ManeuverGroup>
<StartTrigger>
<ConditionGroup>
<Condition name="OverallStartCondition" delay="0" conditionEdge="rising">
<ByEntityCondition>
<TriggeringEntities triggeringEntitiesRule="any">
<EntityRef entityRef="hero"/>
</TriggeringEntities>
<EntityCondition>
<TraveledDistanceCondition value="1.0"/>
</EntityCondition>
</ByEntityCondition>
</Condition>
<Condition name="StartTime" delay="0" conditionEdge="rising">
<ByValueCondition>
<SimulationTimeCondition value="0" rule="equalTo"/>
</ByValueCondition>
</Condition>
</ConditionGroup>
</StartTrigger>
<StopTrigger>
<ConditionGroup>
<Condition name="EndCondition" delay="0" conditionEdge="rising">
<ByEntityCondition>
<TriggeringEntities triggeringEntitiesRule="any">
<EntityRef entityRef="hero"/>
</TriggeringEntities>
<EntityCondition>
<TraveledDistanceCondition value="200.0"/>
</EntityCondition>
</ByEntityCondition>
</Condition>
</ConditionGroup>
</StopTrigger>
</Act>
</Story>
<StopTrigger>
<ConditionGroup>
<Condition name="criteria_RunningStopTest" delay="0" conditionEdge="rising">
<ByValueCondition>
<ParameterCondition parameterRef="" value="" rule="lessThan"/>
</ByValueCondition>
</Condition>
<Condition name="criteria_RunningRedLightTest" delay="0" conditionEdge="rising">
<ByValueCondition>
<ParameterCondition parameterRef="" value="" rule="lessThan"/>
</ByValueCondition>
</Condition>
<Condition name="criteria_WrongLaneTest" delay="0" conditionEdge="rising">
<ByValueCondition>
<ParameterCondition parameterRef="" value="" rule="lessThan"/>
</ByValueCondition>
</Condition>
<Condition name="criteria_OnSidewalkTest" delay="0" conditionEdge="rising">
<ByValueCondition>
<ParameterCondition parameterRef="" value="" rule="lessThan"/>
</ByValueCondition>
</Condition>
<Condition name="criteria_KeepLaneTest" delay="0" conditionEdge="rising">
<ByValueCondition>
<ParameterCondition parameterRef="" value="" rule="lessThan"/>
</ByValueCondition>
</Condition>
<Condition name="criteria_CollisionTest" delay="0" conditionEdge="rising">
<ByValueCondition>
<ParameterCondition parameterRef="" value="" rule="lessThan"/>
</ByValueCondition>
</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_19104">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
</Entities>
<Storyboard>
<Init>
<Actions>
<GlobalAction>
<EnvironmentAction>
<Environment name="Environment1">
<TimeOfDay animation="false" dateTime="2019-06-25T12:00:00"/>
<Weather cloudState="free">
<Sun intensity="0.85" azimuth="0" elevation="1.31"/>
<Fog visualRange="100000.0"/>
<Precipitation precipitationType="dry" intensity="0.0"/>
</Weather>
<RoadCondition frictionScaleFactor="1.0"/>
</Environment>
</EnvironmentAction>
</GlobalAction>
<Private entityRef="hero">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-9.4" y="-152.8" z="0.5" h="1.57079632679"/>
</Position>
</TeleportAction>
</PrivateAction>
<PrivateAction>
<ControllerAction>
<AssignControllerAction>
<Controller name="HeroAgent">
<Properties>
<Property name="module" value="external_control"/>
</Properties>
</Controller>
</AssignControllerAction>
<OverrideControllerValueAction>
<Throttle value="0" active="false"/>
<Brake value="0" active="false"/>
<Clutch value="0" active="false"/>
<ParkingBrake value="0" active="false"/>
<SteeringWheel value="0" active="false"/>
<Gear number="0" active="false"/>
</OverrideControllerValueAction>
</ControllerAction>
</PrivateAction>
</Private>
<Private entityRef="adversary">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-9.4" y="-71.0" z="0.5" h="1.57079632679"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="standing">
<PrivateAction>
<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_19104">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-13.819479942321777" y="-80.56959533691406" z="0.033778801560401917"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
</Actions>
</Init>
<Story name="MyStory">
<Act name="Behavior">
<ManeuverGroup maximumExecutionCount="1" name="ManeuverSequence">
<Actors selectTriggeringEntities="false">
<EntityRef entityRef="adversary"/>
</Actors>
<Maneuver name="LaneChangeSimpleManeuver">
<Event name="AdversaryAccelerates" priority="overwrite">
<Action name="AdversaryAccelerates">
<PrivateAction>
<LongitudinalAction>
<SpeedAction>
<SpeedActionDynamics dynamicsShape="step" value="50" dynamicsDimension="distance"/>
<SpeedActionTarget>
<AbsoluteTargetSpeed value="5.0"/>
</SpeedActionTarget>
</SpeedAction>
</LongitudinalAction>
</PrivateAction>
</Action>
<StartTrigger>
<ConditionGroup>
<Condition name="StartCondition" delay="0" conditionEdge="rising">
<ByEntityCondition>
<TriggeringEntities triggeringEntitiesRule="any">
<EntityRef entityRef="hero"/>
</TriggeringEntities>
<EntityCondition>
<RelativeDistanceCondition entityRef="adversary" relativeDistanceType="cartesianDistance" value="40.0" freespace="false" rule="lessThan"/>
</EntityCondition>
</ByEntityCondition>
</Condition>
</ConditionGroup>
</StartTrigger>
</Event>
<Event name="AdversaryChangesLane" priority="overwrite">
<Action name="AdversaryChangesLane">
<PrivateAction>
<LateralAction>
<LaneChangeAction>
<LaneChangeActionDynamics dynamicsShape="linear" value="25" dynamicsDimension="distance"/>
<LaneChangeTarget>
<RelativeTargetLane entityRef="adversary" value="-1"/>
</LaneChangeTarget>
</LaneChangeAction>
</LateralAction>
</PrivateAction>
</Action>
<StartTrigger>
<ConditionGroup>
<Condition name="AfterAdversaryAccelerates" delay="0" conditionEdge="rising">
<ByValueCondition>
<StoryboardElementStateCondition storyboardElementType="action" storyboardElementRef="AdversaryAccelerates" state="completeState"/>
</ByValueCondition>
</Condition>
</ConditionGroup>
</StartTrigger>
</Event>
</Maneuver>
</ManeuverGroup>
<StartTrigger>
<ConditionGroup>
<Condition name="OverallStartCondition" delay="0" conditionEdge="rising">
<ByEntityCondition>
<TriggeringEntities triggeringEntitiesRule="any">
<EntityRef entityRef="hero"/>
</TriggeringEntities>
<EntityCondition>
<TraveledDistanceCondition value="1.0"/>
</EntityCondition>
</ByEntityCondition>
</Condition>
<Condition name="StartTime" delay="0" conditionEdge="rising">
<ByValueCondition>
<SimulationTimeCondition value="0" rule="equalTo"/>
</ByValueCondition>
</Condition>
</ConditionGroup>
</StartTrigger>
<StopTrigger>
<ConditionGroup>
<Condition name="EndCondition" delay="0" conditionEdge="rising">
<ByEntityCondition>
<TriggeringEntities triggeringEntitiesRule="any">
<EntityRef entityRef="hero"/>
</TriggeringEntities>
<EntityCondition>
<TraveledDistanceCondition value="200.0"/>
</EntityCondition>
</ByEntityCondition>
</Condition>
</ConditionGroup>
</StopTrigger>
</Act>
</Story>
<StopTrigger>
<ConditionGroup>
<Condition name="criteria_RunningStopTest" delay="0" conditionEdge="rising">
<ByValueCondition>
<ParameterCondition parameterRef="" value="" rule="lessThan"/>
</ByValueCondition>
</Condition>
<Condition name="criteria_RunningRedLightTest" delay="0" conditionEdge="rising">
<ByValueCondition>
<ParameterCondition parameterRef="" value="" rule="lessThan"/>
</ByValueCondition>
</Condition>
<Condition name="criteria_WrongLaneTest" delay="0" conditionEdge="rising">
<ByValueCondition>
<ParameterCondition parameterRef="" value="" rule="lessThan"/>
</ByValueCondition>
</Condition>
<Condition name="criteria_OnSidewalkTest" delay="0" conditionEdge="rising">
<ByValueCondition>
<ParameterCondition parameterRef="" value="" rule="lessThan"/>
</ByValueCondition>
</Condition>
<Condition name="criteria_KeepLaneTest" delay="0" conditionEdge="rising">
<ByValueCondition>
<ParameterCondition parameterRef="" value="" rule="lessThan"/>
</ByValueCondition>
</Condition>
<Condition name="criteria_CollisionTest" delay="0" conditionEdge="rising">
<ByValueCondition>
<ParameterCondition parameterRef="" value="" rule="lessThan"/>
</ByValueCondition>
</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_standing_13504">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_close_to_hero_13505">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_w_transform_13506">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_w_transform_13507">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_w_transform_13508">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_close_to_hero_13509">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_w_transform_13511">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_close_to_hero_13512">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
</Entities>
<Storyboard>
<Init>
<Actions>
<GlobalAction>
<EnvironmentAction>
<Environment name="Environment1">
<TimeOfDay animation="false" dateTime="2019-06-25T12:00:00"/>
<Weather cloudState="free">
<Sun intensity="0.85" azimuth="0" elevation="1.31"/>
<Fog visualRange="100000.0"/>
<Precipitation precipitationType="dry" intensity="0.0"/>
</Weather>
<RoadCondition frictionScaleFactor="1.0"/>
</Environment>
</EnvironmentAction>
</GlobalAction>
<Private entityRef="hero">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-9.4" y="-152.8" z="0.5" h="1.57079632679"/>
</Position>
</TeleportAction>
</PrivateAction>
<PrivateAction>
<ControllerAction>
<AssignControllerAction>
<Controller name="HeroAgent">
<Properties>
<Property name="module" value="external_control"/>
</Properties>
</Controller>
</AssignControllerAction>
<OverrideControllerValueAction>
<Throttle value="0" active="false"/>
<Brake value="0" active="false"/>
<Clutch value="0" active="false"/>
<ParkingBrake value="0" active="false"/>
<SteeringWheel value="0" active="false"/>
<Gear number="0" active="false"/>
</OverrideControllerValueAction>
</ControllerAction>
</PrivateAction>
</Private>
<Private entityRef="adversary">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-9.4" y="-71.0" z="0.5" h="1.57079632679"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="standing">
<PrivateAction>
<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_13504">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="9.248459815979004" y="45.83529281616211" z="0.0031100462656468153"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_close_to_hero_13505">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-14.524758338928223" y="-153.06085205078125" z="0.0016471862327307463"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_w_transform_13506">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="85.29533386230469" y="-68.74482727050781" z="0.5"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_w_transform_13507">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-84.57879638671875" y="-5.487224102020264" z="0.5"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_w_transform_13508">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-77.67893981933594" y="27.264389038085938" z="0.5"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_close_to_hero_13509">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-3.727088451385498" y="-147.1367645263672" z="0.0016471862327307463"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_w_transform_13511">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-47.898983001708984" y="-34.58367156982422" z="0.5"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_close_to_hero_13512">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="9.55505657196045" y="-156.59405517578125" 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_standing_13504">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_close_to_hero_13505">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_w_transform_13506">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_w_transform_13507">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_w_transform_13508">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_close_to_hero_13509">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_w_transform_13511">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_close_to_hero_13512">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_close_to_hero_13513">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
</Entities>
<Storyboard>
<Init>
<Actions>
<GlobalAction>
<EnvironmentAction>
<Environment name="Environment1">
<TimeOfDay animation="false" dateTime="2019-06-25T12:00:00"/>
<Weather cloudState="free">
<Sun intensity="0.85" azimuth="0" elevation="1.31"/>
<Fog visualRange="100000.0"/>
<Precipitation precipitationType="dry" intensity="0.0"/>
</Weather>
<RoadCondition frictionScaleFactor="1.0"/>
</Environment>
</EnvironmentAction>
</GlobalAction>
<Private entityRef="hero">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-9.4" y="-152.8" z="0.5" h="1.57079632679"/>
</Position>
</TeleportAction>
</PrivateAction>
<PrivateAction>
<ControllerAction>
<AssignControllerAction>
<Controller name="HeroAgent">
<Properties>
<Property name="module" value="external_control"/>
</Properties>
</Controller>
</AssignControllerAction>
<OverrideControllerValueAction>
<Throttle value="0" active="false"/>
<Brake value="0" active="false"/>
<Clutch value="0" active="false"/>
<ParkingBrake value="0" active="false"/>
<SteeringWheel value="0" active="false"/>
<Gear number="0" active="false"/>
</OverrideControllerValueAction>
</ControllerAction>
</PrivateAction>
</Private>
<Private entityRef="adversary">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-9.4" y="-71.0" z="0.5" h="1.57079632679"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="standing">
<PrivateAction>
<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_13504">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="9.248459815979004" y="45.83529281616211" z="0.0031100462656468153"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_close_to_hero_13505">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-14.524758338928223" y="-153.06085205078125" z="0.0016471862327307463"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_w_transform_13506">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="85.29533386230469" y="-68.74482727050781" z="0.5"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_w_transform_13507">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-84.57879638671875" y="-5.487224102020264" z="0.5"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_w_transform_13508">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-77.67893981933594" y="27.264389038085938" z="0.5"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_close_to_hero_13509">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-3.727088451385498" y="-147.1367645263672" z="0.0016471862327307463"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_w_transform_13511">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-47.898983001708984" y="-34.58367156982422" z="0.5"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_close_to_hero_13512">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="9.55505657196045" y="-156.59405517578125" z="0.0016471862327307463"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_close_to_hero_13513">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-7.292121887207031" y="-156.13999938964844" 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>
``` |
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_10117">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_w_transform_10118">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_w_transform_10119">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
</Entities>
<Storyboard>
<Init>
<Actions>
<GlobalAction>
<EnvironmentAction>
<Environment name="Environment1">
<TimeOfDay animation="false" dateTime="2019-06-25T12:00:00"/>
<Weather cloudState="free">
<Sun intensity="0.85" azimuth="0" elevation="1.31"/>
<Fog visualRange="100000.0"/>
<Precipitation precipitationType="dry" intensity="0.0"/>
</Weather>
<RoadCondition frictionScaleFactor="1.0"/>
</Environment>
</EnvironmentAction>
</GlobalAction>
<Private entityRef="hero">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-9.4" y="-152.8" z="0.5" h="1.57079632679"/>
</Position>
</TeleportAction>
</PrivateAction>
<PrivateAction>
<ControllerAction>
<AssignControllerAction>
<Controller name="HeroAgent">
<Properties>
<Property name="module" value="external_control"/>
</Properties>
</Controller>
</AssignControllerAction>
<OverrideControllerValueAction>
<Throttle value="0" active="false"/>
<Brake value="0" active="false"/>
<Clutch value="0" active="false"/>
<ParkingBrake value="0" active="false"/>
<SteeringWheel value="0" active="false"/>
<Gear number="0" active="false"/>
</OverrideControllerValueAction>
</ControllerAction>
</PrivateAction>
</Private>
<Private entityRef="adversary">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-9.4" y="-71.0" z="0.5" h="1.57079632679"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="standing">
<PrivateAction>
<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_10117">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-7.274378776550293" y="-76.87565612792969" z="0.03379833325743675"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_w_transform_10118">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-87.77873992919922" y="82.90120697021484" z="0.5"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_w_transform_10119">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-52.026031494140625" y="33.50869369506836" 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_10117">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_w_transform_10118">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_w_transform_10119">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_close_to_adversary_10121">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
</Entities>
<Storyboard>
<Init>
<Actions>
<GlobalAction>
<EnvironmentAction>
<Environment name="Environment1">
<TimeOfDay animation="false" dateTime="2019-06-25T12:00:00"/>
<Weather cloudState="free">
<Sun intensity="0.85" azimuth="0" elevation="1.31"/>
<Fog visualRange="100000.0"/>
<Precipitation precipitationType="dry" intensity="0.0"/>
</Weather>
<RoadCondition frictionScaleFactor="1.0"/>
</Environment>
</EnvironmentAction>
</GlobalAction>
<Private entityRef="hero">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-9.4" y="-152.8" z="0.5" h="1.57079632679"/>
</Position>
</TeleportAction>
</PrivateAction>
<PrivateAction>
<ControllerAction>
<AssignControllerAction>
<Controller name="HeroAgent">
<Properties>
<Property name="module" value="external_control"/>
</Properties>
</Controller>
</AssignControllerAction>
<OverrideControllerValueAction>
<Throttle value="0" active="false"/>
<Brake value="0" active="false"/>
<Clutch value="0" active="false"/>
<ParkingBrake value="0" active="false"/>
<SteeringWheel value="0" active="false"/>
<Gear number="0" active="false"/>
</OverrideControllerValueAction>
</ControllerAction>
</PrivateAction>
</Private>
<Private entityRef="adversary">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-9.4" y="-71.0" z="0.5" h="1.57079632679"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="standing">
<PrivateAction>
<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_10117">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-7.274378776550293" y="-76.87565612792969" z="0.03379833325743675"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_w_transform_10118">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-87.77873992919922" y="82.90120697021484" z="0.5"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_w_transform_10119">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-52.026031494140625" y="33.50869369506836" z="0.5"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_close_to_adversary_10121">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-6.861780643463135" y="-63.611019134521484" z="0.03379607945680618"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
</Actions>
</Init>
<Story name="MyStory">
<Act name="Behavior">
<ManeuverGroup maximumExecutionCount="1" name="ManeuverSequence">
<Actors selectTriggeringEntities="false">
<EntityRef entityRef="adversary"/>
</Actors>
<Maneuver name="LaneChangeSimpleManeuver">
<Event name="AdversaryAccelerates" priority="overwrite">
<Action name="AdversaryAccelerates">
<PrivateAction>
<LongitudinalAction>
<SpeedAction>
<SpeedActionDynamics dynamicsShape="step" value="50" dynamicsDimension="distance"/>
<SpeedActionTarget>
<AbsoluteTargetSpeed value="5.0"/>
</SpeedActionTarget>
</SpeedAction>
</LongitudinalAction>
</PrivateAction>
</Action>
<StartTrigger>
<ConditionGroup>
<Condition name="StartCondition" delay="0" conditionEdge="rising">
<ByEntityCondition>
<TriggeringEntities triggeringEntitiesRule="any">
<EntityRef entityRef="hero"/>
</TriggeringEntities>
<EntityCondition>
<RelativeDistanceCondition entityRef="adversary" relativeDistanceType="cartesianDistance" value="40.0" freespace="false" rule="lessThan"/>
</EntityCondition>
</ByEntityCondition>
</Condition>
</ConditionGroup>
</StartTrigger>
</Event>
<Event name="AdversaryChangesLane" priority="overwrite">
<Action name="AdversaryChangesLane">
<PrivateAction>
<LateralAction>
<LaneChangeAction>
<LaneChangeActionDynamics dynamicsShape="linear" value="25" dynamicsDimension="distance"/>
<LaneChangeTarget>
<RelativeTargetLane entityRef="adversary" value="-1"/>
</LaneChangeTarget>
</LaneChangeAction>
</LateralAction>
</PrivateAction>
</Action>
<StartTrigger>
<ConditionGroup>
<Condition name="AfterAdversaryAccelerates" delay="0" conditionEdge="rising">
<ByValueCondition>
<StoryboardElementStateCondition storyboardElementType="action" storyboardElementRef="AdversaryAccelerates" state="completeState"/>
</ByValueCondition>
</Condition>
</ConditionGroup>
</StartTrigger>
</Event>
</Maneuver>
</ManeuverGroup>
<StartTrigger>
<ConditionGroup>
<Condition name="OverallStartCondition" delay="0" conditionEdge="rising">
<ByEntityCondition>
<TriggeringEntities triggeringEntitiesRule="any">
<EntityRef entityRef="hero"/>
</TriggeringEntities>
<EntityCondition>
<TraveledDistanceCondition value="1.0"/>
</EntityCondition>
</ByEntityCondition>
</Condition>
<Condition name="StartTime" delay="0" conditionEdge="rising">
<ByValueCondition>
<SimulationTimeCondition value="0" rule="equalTo"/>
</ByValueCondition>
</Condition>
</ConditionGroup>
</StartTrigger>
<StopTrigger>
<ConditionGroup>
<Condition name="EndCondition" delay="0" conditionEdge="rising">
<ByEntityCondition>
<TriggeringEntities triggeringEntitiesRule="any">
<EntityRef entityRef="hero"/>
</TriggeringEntities>
<EntityCondition>
<TraveledDistanceCondition value="200.0"/>
</EntityCondition>
</ByEntityCondition>
</Condition>
</ConditionGroup>
</StopTrigger>
</Act>
</Story>
<StopTrigger>
<ConditionGroup>
<Condition name="criteria_RunningStopTest" delay="0" conditionEdge="rising">
<ByValueCondition>
<ParameterCondition parameterRef="" value="" rule="lessThan"/>
</ByValueCondition>
</Condition>
<Condition name="criteria_RunningRedLightTest" delay="0" conditionEdge="rising">
<ByValueCondition>
<ParameterCondition parameterRef="" value="" rule="lessThan"/>
</ByValueCondition>
</Condition>
<Condition name="criteria_WrongLaneTest" delay="0" conditionEdge="rising">
<ByValueCondition>
<ParameterCondition parameterRef="" value="" rule="lessThan"/>
</ByValueCondition>
</Condition>
<Condition name="criteria_OnSidewalkTest" delay="0" conditionEdge="rising">
<ByValueCondition>
<ParameterCondition parameterRef="" value="" rule="lessThan"/>
</ByValueCondition>
</Condition>
<Condition name="criteria_KeepLaneTest" delay="0" conditionEdge="rising">
<ByValueCondition>
<ParameterCondition parameterRef="" value="" rule="lessThan"/>
</ByValueCondition>
</Condition>
<Condition name="criteria_CollisionTest" delay="0" conditionEdge="rising">
<ByValueCondition>
<ParameterCondition parameterRef="" value="" rule="lessThan"/>
</ByValueCondition>
</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_2039">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_close_to_adversary_2040">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_close_to_hero_2042">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_close_to_standing_2043">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_w_transform_2044">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_close_to_adversary_2046">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_w_transform_2047">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_w_transform_2048">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_close_to_adversary_2049">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_close_to_adversary_2050">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_w_transform_2051">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_close_to_hero_2052">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_close_to_standing_2053">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_close_to_standing_2054">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_w_transform_2055">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_w_transform_2056">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_close_to_hero_2057">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_w_transform_2059">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_close_to_adversary_2060">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_close_to_standing_2061">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
</Entities>
<Storyboard>
<Init>
<Actions>
<GlobalAction>
<EnvironmentAction>
<Environment name="Environment1">
<TimeOfDay animation="false" dateTime="2019-06-25T12:00:00"/>
<Weather cloudState="free">
<Sun intensity="0.85" azimuth="0" elevation="1.31"/>
<Fog visualRange="100000.0"/>
<Precipitation precipitationType="dry" intensity="0.0"/>
</Weather>
<RoadCondition frictionScaleFactor="1.0"/>
</Environment>
</EnvironmentAction>
</GlobalAction>
<Private entityRef="hero">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-9.4" y="-152.8" z="0.5" h="1.57079632679"/>
</Position>
</TeleportAction>
</PrivateAction>
<PrivateAction>
<ControllerAction>
<AssignControllerAction>
<Controller name="HeroAgent">
<Properties>
<Property name="module" value="external_control"/>
</Properties>
</Controller>
</AssignControllerAction>
<OverrideControllerValueAction>
<Throttle value="0" active="false"/>
<Brake value="0" active="false"/>
<Clutch value="0" active="false"/>
<ParkingBrake value="0" active="false"/>
<SteeringWheel value="0" active="false"/>
<Gear number="0" active="false"/>
</OverrideControllerValueAction>
</ControllerAction>
</PrivateAction>
</Private>
<Private entityRef="adversary">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-9.4" y="-71.0" z="0.5" h="1.57079632679"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="standing">
<PrivateAction>
<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_2039">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-10.556316375732422" y="-66.12815856933594" z="0.03381290286779404"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_close_to_adversary_2040">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-13.4119291305542" y="-76.52188873291016" z="0.03381870314478874"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_close_to_hero_2042">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-5.996799468994141" y="-139.0527801513672" z="0.0016471862327307463"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_close_to_standing_2043">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-5.064273357391357" y="24.692995071411133" z="0.0030745314434170723"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_w_transform_2044">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="92.74324798583984" y="64.33853912353516" z="0.5"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_close_to_adversary_2046">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-19.21433448791504" y="-76.015625" z="0.033808134496212006"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_w_transform_2047">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="35.98405838012695" y="16.20928192138672" z="0.5"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_w_transform_2048">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-31.00739288330078" y="44.567466735839844" z="0.5"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_close_to_adversary_2049">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="1.0005789995193481" y="-73.70138549804688" z="0.03377990797162056"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_close_to_adversary_2050">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-1.804902195930481" y="-80.08183288574219" z="0.0337793342769146"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_w_transform_2051">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="40.11684799194336" y="-32.82054138183594" z="0.5"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_close_to_hero_2052">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-11.356942176818848" y="-160.27923583984375" z="0.0016471862327307463"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_close_to_standing_2053">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="4.106285572052002" y="21.096628189086914" z="0.003065681317821145"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_close_to_standing_2054">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-9.728105545043945" y="26.65337371826172" z="0.0030412673950195312"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_w_transform_2055">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="35.996280670166016" y="75.06861114501953" z="0.5"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_w_transform_2056">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="87.85578155517578" y="-52.21904754638672" z="0.5"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_close_to_hero_2057">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-14.821328163146973" y="-144.61563110351562" z="0.0016471862327307463"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_w_transform_2059">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="17.687780380249023" y="-45.52415466308594" z="0.5"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_close_to_adversary_2060">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-12.694847106933594" y="-63.64872360229492" z="0.03378845006227493"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_close_to_standing_2061">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-15.310397148132324" y="25.515949249267578" z="0.0030770492739975452"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
</Actions>
</Init>
<Story name="MyStory">
<Act name="Behavior">
<ManeuverGroup maximumExecutionCount="1" name="ManeuverSequence">
<Actors selectTriggeringEntities="false">
<EntityRef entityRef="adversary"/>
</Actors>
<Maneuver name="LaneChangeSimpleManeuver">
<Event name="AdversaryAccelerates" priority="overwrite">
<Action name="AdversaryAccelerates">
<PrivateAction>
<LongitudinalAction>
<SpeedAction>
<SpeedActionDynamics dynamicsShape="step" value="50" dynamicsDimension="distance"/>
<SpeedActionTarget>
<AbsoluteTargetSpeed value="5.0"/>
</SpeedActionTarget>
</SpeedAction>
</LongitudinalAction>
</PrivateAction>
</Action>
<StartTrigger>
<ConditionGroup>
<Condition name="StartCondition" delay="0" conditionEdge="rising">
<ByEntityCondition>
<TriggeringEntities triggeringEntitiesRule="any">
<EntityRef entityRef="hero"/>
</TriggeringEntities>
<EntityCondition>
<RelativeDistanceCondition entityRef="adversary" relativeDistanceType="cartesianDistance" value="40.0" freespace="false" rule="lessThan"/>
</EntityCondition>
</ByEntityCondition>
</Condition>
</ConditionGroup>
</StartTrigger>
</Event>
<Event name="AdversaryChangesLane" priority="overwrite">
<Action name="AdversaryChangesLane">
<PrivateAction>
<LateralAction>
<LaneChangeAction>
<LaneChangeActionDynamics dynamicsShape="linear" value="25" dynamicsDimension="distance"/>
<LaneChangeTarget>
<RelativeTargetLane entityRef="adversary" value="-1"/>
</LaneChangeTarget>
</LaneChangeAction>
</LateralAction>
</PrivateAction>
</Action>
<StartTrigger>
<ConditionGroup>
<Condition name="AfterAdversaryAccelerates" delay="0" conditionEdge="rising">
<ByValueCondition>
<StoryboardElementStateCondition storyboardElementType="action" storyboardElementRef="AdversaryAccelerates" state="completeState"/>
</ByValueCondition>
</Condition>
</ConditionGroup>
</StartTrigger>
</Event>
</Maneuver>
</ManeuverGroup>
<StartTrigger>
<ConditionGroup>
<Condition name="OverallStartCondition" delay="0" conditionEdge="rising">
<ByEntityCondition>
<TriggeringEntities triggeringEntitiesRule="any">
<EntityRef entityRef="hero"/>
</TriggeringEntities>
<EntityCondition>
<TraveledDistanceCondition value="1.0"/>
</EntityCondition>
</ByEntityCondition>
</Condition>
<Condition name="StartTime" delay="0" conditionEdge="rising">
<ByValueCondition>
<SimulationTimeCondition value="0" rule="equalTo"/>
</ByValueCondition>
</Condition>
</ConditionGroup>
</StartTrigger>
<StopTrigger>
<ConditionGroup>
<Condition name="EndCondition" delay="0" conditionEdge="rising">
<ByEntityCondition>
<TriggeringEntities triggeringEntitiesRule="any">
<EntityRef entityRef="hero"/>
</TriggeringEntities>
<EntityCondition>
<TraveledDistanceCondition value="200.0"/>
</EntityCondition>
</ByEntityCondition>
</Condition>
</ConditionGroup>
</StopTrigger>
</Act>
</Story>
<StopTrigger>
<ConditionGroup>
<Condition name="criteria_RunningStopTest" delay="0" conditionEdge="rising">
<ByValueCondition>
<ParameterCondition parameterRef="" value="" rule="lessThan"/>
</ByValueCondition>
</Condition>
<Condition name="criteria_RunningRedLightTest" delay="0" conditionEdge="rising">
<ByValueCondition>
<ParameterCondition parameterRef="" value="" rule="lessThan"/>
</ByValueCondition>
</Condition>
<Condition name="criteria_WrongLaneTest" delay="0" conditionEdge="rising">
<ByValueCondition>
<ParameterCondition parameterRef="" value="" rule="lessThan"/>
</ByValueCondition>
</Condition>
<Condition name="criteria_OnSidewalkTest" delay="0" conditionEdge="rising">
<ByValueCondition>
<ParameterCondition parameterRef="" value="" rule="lessThan"/>
</ByValueCondition>
</Condition>
<Condition name="criteria_KeepLaneTest" delay="0" conditionEdge="rising">
<ByValueCondition>
<ParameterCondition parameterRef="" value="" rule="lessThan"/>
</ByValueCondition>
</Condition>
<Condition name="criteria_CollisionTest" delay="0" conditionEdge="rising">
<ByValueCondition>
<ParameterCondition parameterRef="" value="" rule="lessThan"/>
</ByValueCondition>
</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_2039">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_close_to_adversary_2040">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_close_to_hero_2042">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_close_to_standing_2043">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_w_transform_2044">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_close_to_adversary_2046">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_w_transform_2047">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_w_transform_2048">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_close_to_adversary_2049">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_close_to_adversary_2050">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_w_transform_2051">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_close_to_hero_2052">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_close_to_standing_2053">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_close_to_standing_2054">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_w_transform_2055">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_w_transform_2056">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_close_to_hero_2057">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_w_transform_2059">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_close_to_adversary_2060">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_close_to_standing_2061">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_close_to_hero_2062">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
</Entities>
<Storyboard>
<Init>
<Actions>
<GlobalAction>
<EnvironmentAction>
<Environment name="Environment1">
<TimeOfDay animation="false" dateTime="2019-06-25T12:00:00"/>
<Weather cloudState="free">
<Sun intensity="0.85" azimuth="0" elevation="1.31"/>
<Fog visualRange="100000.0"/>
<Precipitation precipitationType="dry" intensity="0.0"/>
</Weather>
<RoadCondition frictionScaleFactor="1.0"/>
</Environment>
</EnvironmentAction>
</GlobalAction>
<Private entityRef="hero">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-9.4" y="-152.8" z="0.5" h="1.57079632679"/>
</Position>
</TeleportAction>
</PrivateAction>
<PrivateAction>
<ControllerAction>
<AssignControllerAction>
<Controller name="HeroAgent">
<Properties>
<Property name="module" value="external_control"/>
</Properties>
</Controller>
</AssignControllerAction>
<OverrideControllerValueAction>
<Throttle value="0" active="false"/>
<Brake value="0" active="false"/>
<Clutch value="0" active="false"/>
<ParkingBrake value="0" active="false"/>
<SteeringWheel value="0" active="false"/>
<Gear number="0" active="false"/>
</OverrideControllerValueAction>
</ControllerAction>
</PrivateAction>
</Private>
<Private entityRef="adversary">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-9.4" y="-71.0" z="0.5" h="1.57079632679"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="standing">
<PrivateAction>
<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_2039">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-10.556316375732422" y="-66.12815856933594" z="0.03381290286779404"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_close_to_adversary_2040">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-13.4119291305542" y="-76.52188873291016" z="0.03381870314478874"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_close_to_hero_2042">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-5.996799468994141" y="-139.0527801513672" z="0.0016471862327307463"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_close_to_standing_2043">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-5.064273357391357" y="24.692995071411133" z="0.0030745314434170723"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_w_transform_2044">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="92.74324798583984" y="64.33853912353516" z="0.5"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_close_to_adversary_2046">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-19.21433448791504" y="-76.015625" z="0.033808134496212006"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_w_transform_2047">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="35.98405838012695" y="16.20928192138672" z="0.5"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_w_transform_2048">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-31.00739288330078" y="44.567466735839844" z="0.5"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_close_to_adversary_2049">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="1.0005789995193481" y="-73.70138549804688" z="0.03377990797162056"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_close_to_adversary_2050">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-1.804902195930481" y="-80.08183288574219" z="0.0337793342769146"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_w_transform_2051">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="40.11684799194336" y="-32.82054138183594" z="0.5"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_close_to_hero_2052">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-11.356942176818848" y="-160.27923583984375" z="0.0016471862327307463"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_close_to_standing_2053">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="4.106285572052002" y="21.096628189086914" z="0.003065681317821145"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_close_to_standing_2054">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-9.728105545043945" y="26.65337371826172" z="0.0030412673950195312"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_w_transform_2055">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="35.996280670166016" y="75.06861114501953" z="0.5"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_w_transform_2056">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="87.85578155517578" y="-52.21904754638672" z="0.5"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_close_to_hero_2057">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-14.821328163146973" y="-144.61563110351562" z="0.0016471862327307463"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_w_transform_2059">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="17.687780380249023" y="-45.52415466308594" z="0.5"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_close_to_adversary_2060">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-12.694847106933594" y="-63.64872360229492" z="0.03378845006227493"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_close_to_standing_2061">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-15.310397148132324" y="25.515949249267578" z="0.0030770492739975452"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_close_to_hero_2062">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-3.6182942390441895" y="-153.24972534179688" 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 want you to add pedestrian at location (2.61, -58.53, 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_standing_9770">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_w_transform_9771">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_close_to_adversary_9772">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
</Entities>
<Storyboard>
<Init>
<Actions>
<GlobalAction>
<EnvironmentAction>
<Environment name="Environment1">
<TimeOfDay animation="false" dateTime="2019-06-25T12:00:00"/>
<Weather cloudState="free">
<Sun intensity="0.85" azimuth="0" elevation="1.31"/>
<Fog visualRange="100000.0"/>
<Precipitation precipitationType="dry" intensity="0.0"/>
</Weather>
<RoadCondition frictionScaleFactor="1.0"/>
</Environment>
</EnvironmentAction>
</GlobalAction>
<Private entityRef="hero">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-9.4" y="-152.8" z="0.5" h="1.57079632679"/>
</Position>
</TeleportAction>
</PrivateAction>
<PrivateAction>
<ControllerAction>
<AssignControllerAction>
<Controller name="HeroAgent">
<Properties>
<Property name="module" value="external_control"/>
</Properties>
</Controller>
</AssignControllerAction>
<OverrideControllerValueAction>
<Throttle value="0" active="false"/>
<Brake value="0" active="false"/>
<Clutch value="0" active="false"/>
<ParkingBrake value="0" active="false"/>
<SteeringWheel value="0" active="false"/>
<Gear number="0" active="false"/>
</OverrideControllerValueAction>
</ControllerAction>
</PrivateAction>
</Private>
<Private entityRef="adversary">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-9.4" y="-71.0" z="0.5" h="1.57079632679"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="standing">
<PrivateAction>
<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_9770">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-5.46322774887085" y="19.7985782623291" z="0.0030836486257612705"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_w_transform_9771">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="71.04911804199219" y="62.23117446899414" z="0.5"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_close_to_adversary_9772">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-15.66576099395752" y="-74.56790924072266" z="0.03379947692155838"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
</Actions>
</Init>
<Story name="MyStory">
<Act name="Behavior">
<ManeuverGroup maximumExecutionCount="1" name="ManeuverSequence">
<Actors selectTriggeringEntities="false">
<EntityRef entityRef="adversary"/>
</Actors>
<Maneuver name="LaneChangeSimpleManeuver">
<Event name="AdversaryAccelerates" priority="overwrite">
<Action name="AdversaryAccelerates">
<PrivateAction>
<LongitudinalAction>
<SpeedAction>
<SpeedActionDynamics dynamicsShape="step" value="50" dynamicsDimension="distance"/>
<SpeedActionTarget>
<AbsoluteTargetSpeed value="5.0"/>
</SpeedActionTarget>
</SpeedAction>
</LongitudinalAction>
</PrivateAction>
</Action>
<StartTrigger>
<ConditionGroup>
<Condition name="StartCondition" delay="0" conditionEdge="rising">
<ByEntityCondition>
<TriggeringEntities triggeringEntitiesRule="any">
<EntityRef entityRef="hero"/>
</TriggeringEntities>
<EntityCondition>
<RelativeDistanceCondition entityRef="adversary" relativeDistanceType="cartesianDistance" value="40.0" freespace="false" rule="lessThan"/>
</EntityCondition>
</ByEntityCondition>
</Condition>
</ConditionGroup>
</StartTrigger>
</Event>
<Event name="AdversaryChangesLane" priority="overwrite">
<Action name="AdversaryChangesLane">
<PrivateAction>
<LateralAction>
<LaneChangeAction>
<LaneChangeActionDynamics dynamicsShape="linear" value="25" dynamicsDimension="distance"/>
<LaneChangeTarget>
<RelativeTargetLane entityRef="adversary" value="-1"/>
</LaneChangeTarget>
</LaneChangeAction>
</LateralAction>
</PrivateAction>
</Action>
<StartTrigger>
<ConditionGroup>
<Condition name="AfterAdversaryAccelerates" delay="0" conditionEdge="rising">
<ByValueCondition>
<StoryboardElementStateCondition storyboardElementType="action" storyboardElementRef="AdversaryAccelerates" state="completeState"/>
</ByValueCondition>
</Condition>
</ConditionGroup>
</StartTrigger>
</Event>
</Maneuver>
</ManeuverGroup>
<StartTrigger>
<ConditionGroup>
<Condition name="OverallStartCondition" delay="0" conditionEdge="rising">
<ByEntityCondition>
<TriggeringEntities triggeringEntitiesRule="any">
<EntityRef entityRef="hero"/>
</TriggeringEntities>
<EntityCondition>
<TraveledDistanceCondition value="1.0"/>
</EntityCondition>
</ByEntityCondition>
</Condition>
<Condition name="StartTime" delay="0" conditionEdge="rising">
<ByValueCondition>
<SimulationTimeCondition value="0" rule="equalTo"/>
</ByValueCondition>
</Condition>
</ConditionGroup>
</StartTrigger>
<StopTrigger>
<ConditionGroup>
<Condition name="EndCondition" delay="0" conditionEdge="rising">
<ByEntityCondition>
<TriggeringEntities triggeringEntitiesRule="any">
<EntityRef entityRef="hero"/>
</TriggeringEntities>
<EntityCondition>
<TraveledDistanceCondition value="200.0"/>
</EntityCondition>
</ByEntityCondition>
</Condition>
</ConditionGroup>
</StopTrigger>
</Act>
</Story>
<StopTrigger>
<ConditionGroup>
<Condition name="criteria_RunningStopTest" delay="0" conditionEdge="rising">
<ByValueCondition>
<ParameterCondition parameterRef="" value="" rule="lessThan"/>
</ByValueCondition>
</Condition>
<Condition name="criteria_RunningRedLightTest" delay="0" conditionEdge="rising">
<ByValueCondition>
<ParameterCondition parameterRef="" value="" rule="lessThan"/>
</ByValueCondition>
</Condition>
<Condition name="criteria_WrongLaneTest" delay="0" conditionEdge="rising">
<ByValueCondition>
<ParameterCondition parameterRef="" value="" rule="lessThan"/>
</ByValueCondition>
</Condition>
<Condition name="criteria_OnSidewalkTest" delay="0" conditionEdge="rising">
<ByValueCondition>
<ParameterCondition parameterRef="" value="" rule="lessThan"/>
</ByValueCondition>
</Condition>
<Condition name="criteria_KeepLaneTest" delay="0" conditionEdge="rising">
<ByValueCondition>
<ParameterCondition parameterRef="" value="" rule="lessThan"/>
</ByValueCondition>
</Condition>
<Condition name="criteria_CollisionTest" delay="0" conditionEdge="rising">
<ByValueCondition>
<ParameterCondition parameterRef="" value="" rule="lessThan"/>
</ByValueCondition>
</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_9770">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_w_transform_9771">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_close_to_adversary_9772">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_w_transform_9774">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
</Entities>
<Storyboard>
<Init>
<Actions>
<GlobalAction>
<EnvironmentAction>
<Environment name="Environment1">
<TimeOfDay animation="false" dateTime="2019-06-25T12:00:00"/>
<Weather cloudState="free">
<Sun intensity="0.85" azimuth="0" elevation="1.31"/>
<Fog visualRange="100000.0"/>
<Precipitation precipitationType="dry" intensity="0.0"/>
</Weather>
<RoadCondition frictionScaleFactor="1.0"/>
</Environment>
</EnvironmentAction>
</GlobalAction>
<Private entityRef="hero">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-9.4" y="-152.8" z="0.5" h="1.57079632679"/>
</Position>
</TeleportAction>
</PrivateAction>
<PrivateAction>
<ControllerAction>
<AssignControllerAction>
<Controller name="HeroAgent">
<Properties>
<Property name="module" value="external_control"/>
</Properties>
</Controller>
</AssignControllerAction>
<OverrideControllerValueAction>
<Throttle value="0" active="false"/>
<Brake value="0" active="false"/>
<Clutch value="0" active="false"/>
<ParkingBrake value="0" active="false"/>
<SteeringWheel value="0" active="false"/>
<Gear number="0" active="false"/>
</OverrideControllerValueAction>
</ControllerAction>
</PrivateAction>
</Private>
<Private entityRef="adversary">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-9.4" y="-71.0" z="0.5" h="1.57079632679"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="standing">
<PrivateAction>
<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_9770">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-5.46322774887085" y="19.7985782623291" z="0.0030836486257612705"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_w_transform_9771">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="71.04911804199219" y="62.23117446899414" z="0.5"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_close_to_adversary_9772">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-15.66576099395752" y="-74.56790924072266" z="0.03379947692155838"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_w_transform_9774">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="2.6062958240509033" y="-58.527618408203125" z="0.5"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
</Actions>
</Init>
<Story name="MyStory">
<Act name="Behavior">
<ManeuverGroup maximumExecutionCount="1" name="ManeuverSequence">
<Actors selectTriggeringEntities="false">
<EntityRef entityRef="adversary"/>
</Actors>
<Maneuver name="LaneChangeSimpleManeuver">
<Event name="AdversaryAccelerates" priority="overwrite">
<Action name="AdversaryAccelerates">
<PrivateAction>
<LongitudinalAction>
<SpeedAction>
<SpeedActionDynamics dynamicsShape="step" value="50" dynamicsDimension="distance"/>
<SpeedActionTarget>
<AbsoluteTargetSpeed value="5.0"/>
</SpeedActionTarget>
</SpeedAction>
</LongitudinalAction>
</PrivateAction>
</Action>
<StartTrigger>
<ConditionGroup>
<Condition name="StartCondition" delay="0" conditionEdge="rising">
<ByEntityCondition>
<TriggeringEntities triggeringEntitiesRule="any">
<EntityRef entityRef="hero"/>
</TriggeringEntities>
<EntityCondition>
<RelativeDistanceCondition entityRef="adversary" relativeDistanceType="cartesianDistance" value="40.0" freespace="false" rule="lessThan"/>
</EntityCondition>
</ByEntityCondition>
</Condition>
</ConditionGroup>
</StartTrigger>
</Event>
<Event name="AdversaryChangesLane" priority="overwrite">
<Action name="AdversaryChangesLane">
<PrivateAction>
<LateralAction>
<LaneChangeAction>
<LaneChangeActionDynamics dynamicsShape="linear" value="25" dynamicsDimension="distance"/>
<LaneChangeTarget>
<RelativeTargetLane entityRef="adversary" value="-1"/>
</LaneChangeTarget>
</LaneChangeAction>
</LateralAction>
</PrivateAction>
</Action>
<StartTrigger>
<ConditionGroup>
<Condition name="AfterAdversaryAccelerates" delay="0" conditionEdge="rising">
<ByValueCondition>
<StoryboardElementStateCondition storyboardElementType="action" storyboardElementRef="AdversaryAccelerates" state="completeState"/>
</ByValueCondition>
</Condition>
</ConditionGroup>
</StartTrigger>
</Event>
</Maneuver>
</ManeuverGroup>
<StartTrigger>
<ConditionGroup>
<Condition name="OverallStartCondition" delay="0" conditionEdge="rising">
<ByEntityCondition>
<TriggeringEntities triggeringEntitiesRule="any">
<EntityRef entityRef="hero"/>
</TriggeringEntities>
<EntityCondition>
<TraveledDistanceCondition value="1.0"/>
</EntityCondition>
</ByEntityCondition>
</Condition>
<Condition name="StartTime" delay="0" conditionEdge="rising">
<ByValueCondition>
<SimulationTimeCondition value="0" rule="equalTo"/>
</ByValueCondition>
</Condition>
</ConditionGroup>
</StartTrigger>
<StopTrigger>
<ConditionGroup>
<Condition name="EndCondition" delay="0" conditionEdge="rising">
<ByEntityCondition>
<TriggeringEntities triggeringEntitiesRule="any">
<EntityRef entityRef="hero"/>
</TriggeringEntities>
<EntityCondition>
<TraveledDistanceCondition value="200.0"/>
</EntityCondition>
</ByEntityCondition>
</Condition>
</ConditionGroup>
</StopTrigger>
</Act>
</Story>
<StopTrigger>
<ConditionGroup>
<Condition name="criteria_RunningStopTest" delay="0" conditionEdge="rising">
<ByValueCondition>
<ParameterCondition parameterRef="" value="" rule="lessThan"/>
</ByValueCondition>
</Condition>
<Condition name="criteria_RunningRedLightTest" delay="0" conditionEdge="rising">
<ByValueCondition>
<ParameterCondition parameterRef="" value="" rule="lessThan"/>
</ByValueCondition>
</Condition>
<Condition name="criteria_WrongLaneTest" delay="0" conditionEdge="rising">
<ByValueCondition>
<ParameterCondition parameterRef="" value="" rule="lessThan"/>
</ByValueCondition>
</Condition>
<Condition name="criteria_OnSidewalkTest" delay="0" conditionEdge="rising">
<ByValueCondition>
<ParameterCondition parameterRef="" value="" rule="lessThan"/>
</ByValueCondition>
</Condition>
<Condition name="criteria_KeepLaneTest" delay="0" conditionEdge="rising">
<ByValueCondition>
<ParameterCondition parameterRef="" value="" rule="lessThan"/>
</ByValueCondition>
</Condition>
<Condition name="criteria_CollisionTest" delay="0" conditionEdge="rising">
<ByValueCondition>
<ParameterCondition parameterRef="" value="" rule="lessThan"/>
</ByValueCondition>
</Condition>
<Condition name="criteria_DrivenDistanceTest" delay="0" conditionEdge="rising">
<ByValueCondition>
<ParameterCondition parameterRef="distance_success" value="100" rule="lessThan"/>
</ByValueCondition>
</Condition>
</ConditionGroup>
</StopTrigger>
</Storyboard>
</OpenSCENARIO>
``` |
i would like to ask you to remove pedestrian close to 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_11002">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_close_to_hero_11003">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_w_transform_11004">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_w_transform_11005">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_w_transform_11006">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_close_to_adversary_11007">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_close_to_standing_11008">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_close_to_adversary_11009">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_w_transform_11010">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_close_to_adversary_11012">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_close_to_hero_11013">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_w_transform_11014">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_close_to_standing_11015">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
</Entities>
<Storyboard>
<Init>
<Actions>
<GlobalAction>
<EnvironmentAction>
<Environment name="Environment1">
<TimeOfDay animation="false" dateTime="2019-06-25T12:00:00"/>
<Weather cloudState="free">
<Sun intensity="0.85" azimuth="0" elevation="1.31"/>
<Fog visualRange="100000.0"/>
<Precipitation precipitationType="dry" intensity="0.0"/>
</Weather>
<RoadCondition frictionScaleFactor="1.0"/>
</Environment>
</EnvironmentAction>
</GlobalAction>
<Private entityRef="hero">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-9.4" y="-152.8" z="0.5" h="1.57079632679"/>
</Position>
</TeleportAction>
</PrivateAction>
<PrivateAction>
<ControllerAction>
<AssignControllerAction>
<Controller name="HeroAgent">
<Properties>
<Property name="module" value="external_control"/>
</Properties>
</Controller>
</AssignControllerAction>
<OverrideControllerValueAction>
<Throttle value="0" active="false"/>
<Brake value="0" active="false"/>
<Clutch value="0" active="false"/>
<ParkingBrake value="0" active="false"/>
<SteeringWheel value="0" active="false"/>
<Gear number="0" active="false"/>
</OverrideControllerValueAction>
</ControllerAction>
</PrivateAction>
</Private>
<Private entityRef="adversary">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-9.4" y="-71.0" z="0.5" h="1.57079632679"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="standing">
<PrivateAction>
<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_11002">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-2.675381660461426" y="-253.18023681640625" z="0.001696357736364007"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_close_to_hero_11003">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-12.486419677734375" y="-238.167724609375" z="0.0017082595732063055"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_w_transform_11004">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="54.46683883666992" y="-23.89427375793457" z="0.5"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_w_transform_11005">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-19.05554962158203" y="44.5130729675293" z="0.5"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_w_transform_11006">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-82.48204803466797" y="-47.96795654296875" z="0.5"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_close_to_adversary_11007">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-15.973062515258789" y="-78.26595306396484" z="0.033787764608860016"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_close_to_standing_11008">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-15.526615142822266" y="31.38191032409668" z="0.0030275725293904543"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_close_to_adversary_11009">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-16.13031768798828" y="-80.41893005371094" z="0.03381328657269478"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_w_transform_11010">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-53.719566345214844" y="-10.057173728942871" z="0.5"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_close_to_adversary_11012">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-9.39211368560791" y="-74.42864990234375" z="0.03376457095146179"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_close_to_hero_11013">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-15.267078399658203" y="-252.74630737304688" z="0.0017425536643713713"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_w_transform_11014">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="82.49136352539062" y="-1.9264705181121826" z="0.5"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_close_to_standing_11015">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-12.838430404663086" y="35.4440803527832" z="0.0030393600463867188"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
</Actions>
</Init>
<Story name="MyStory">
<Act name="Behavior">
<ManeuverGroup maximumExecutionCount="1" name="ManeuverSequence">
<Actors selectTriggeringEntities="false">
<EntityRef entityRef="adversary"/>
</Actors>
<Maneuver name="LaneChangeSimpleManeuver">
<Event name="AdversaryAccelerates" priority="overwrite">
<Action name="AdversaryAccelerates">
<PrivateAction>
<LongitudinalAction>
<SpeedAction>
<SpeedActionDynamics dynamicsShape="step" value="50" dynamicsDimension="distance"/>
<SpeedActionTarget>
<AbsoluteTargetSpeed value="5.0"/>
</SpeedActionTarget>
</SpeedAction>
</LongitudinalAction>
</PrivateAction>
</Action>
<StartTrigger>
<ConditionGroup>
<Condition name="StartCondition" delay="0" conditionEdge="rising">
<ByEntityCondition>
<TriggeringEntities triggeringEntitiesRule="any">
<EntityRef entityRef="hero"/>
</TriggeringEntities>
<EntityCondition>
<RelativeDistanceCondition entityRef="adversary" relativeDistanceType="cartesianDistance" value="40.0" freespace="false" rule="lessThan"/>
</EntityCondition>
</ByEntityCondition>
</Condition>
</ConditionGroup>
</StartTrigger>
</Event>
<Event name="AdversaryChangesLane" priority="overwrite">
<Action name="AdversaryChangesLane">
<PrivateAction>
<LateralAction>
<LaneChangeAction>
<LaneChangeActionDynamics dynamicsShape="linear" value="25" dynamicsDimension="distance"/>
<LaneChangeTarget>
<RelativeTargetLane entityRef="adversary" value="-1"/>
</LaneChangeTarget>
</LaneChangeAction>
</LateralAction>
</PrivateAction>
</Action>
<StartTrigger>
<ConditionGroup>
<Condition name="AfterAdversaryAccelerates" delay="0" conditionEdge="rising">
<ByValueCondition>
<StoryboardElementStateCondition storyboardElementType="action" storyboardElementRef="AdversaryAccelerates" state="completeState"/>
</ByValueCondition>
</Condition>
</ConditionGroup>
</StartTrigger>
</Event>
</Maneuver>
</ManeuverGroup>
<StartTrigger>
<ConditionGroup>
<Condition name="OverallStartCondition" delay="0" conditionEdge="rising">
<ByEntityCondition>
<TriggeringEntities triggeringEntitiesRule="any">
<EntityRef entityRef="hero"/>
</TriggeringEntities>
<EntityCondition>
<TraveledDistanceCondition value="1.0"/>
</EntityCondition>
</ByEntityCondition>
</Condition>
<Condition name="StartTime" delay="0" conditionEdge="rising">
<ByValueCondition>
<SimulationTimeCondition value="0" rule="equalTo"/>
</ByValueCondition>
</Condition>
</ConditionGroup>
</StartTrigger>
<StopTrigger>
<ConditionGroup>
<Condition name="EndCondition" delay="0" conditionEdge="rising">
<ByEntityCondition>
<TriggeringEntities triggeringEntitiesRule="any">
<EntityRef entityRef="hero"/>
</TriggeringEntities>
<EntityCondition>
<TraveledDistanceCondition value="200.0"/>
</EntityCondition>
</ByEntityCondition>
</Condition>
</ConditionGroup>
</StopTrigger>
</Act>
</Story>
<StopTrigger>
<ConditionGroup>
<Condition name="criteria_RunningStopTest" delay="0" conditionEdge="rising">
<ByValueCondition>
<ParameterCondition parameterRef="" value="" rule="lessThan"/>
</ByValueCondition>
</Condition>
<Condition name="criteria_RunningRedLightTest" delay="0" conditionEdge="rising">
<ByValueCondition>
<ParameterCondition parameterRef="" value="" rule="lessThan"/>
</ByValueCondition>
</Condition>
<Condition name="criteria_WrongLaneTest" delay="0" conditionEdge="rising">
<ByValueCondition>
<ParameterCondition parameterRef="" value="" rule="lessThan"/>
</ByValueCondition>
</Condition>
<Condition name="criteria_OnSidewalkTest" delay="0" conditionEdge="rising">
<ByValueCondition>
<ParameterCondition parameterRef="" value="" rule="lessThan"/>
</ByValueCondition>
</Condition>
<Condition name="criteria_KeepLaneTest" delay="0" conditionEdge="rising">
<ByValueCondition>
<ParameterCondition parameterRef="" value="" rule="lessThan"/>
</ByValueCondition>
</Condition>
<Condition name="criteria_CollisionTest" delay="0" conditionEdge="rising">
<ByValueCondition>
<ParameterCondition parameterRef="" value="" rule="lessThan"/>
</ByValueCondition>
</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_11002">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_close_to_hero_11003">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_w_transform_11004">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_w_transform_11005">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_w_transform_11006">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_close_to_adversary_11007">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_close_to_standing_11008">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_close_to_adversary_11009">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_w_transform_11010">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_close_to_adversary_11012">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_close_to_hero_11013">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_w_transform_11014">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
</Entities>
<Storyboard>
<Init>
<Actions>
<GlobalAction>
<EnvironmentAction>
<Environment name="Environment1">
<TimeOfDay animation="false" dateTime="2019-06-25T12:00:00"/>
<Weather cloudState="free">
<Sun intensity="0.85" azimuth="0" elevation="1.31"/>
<Fog visualRange="100000.0"/>
<Precipitation precipitationType="dry" intensity="0.0"/>
</Weather>
<RoadCondition frictionScaleFactor="1.0"/>
</Environment>
</EnvironmentAction>
</GlobalAction>
<Private entityRef="hero">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-9.4" y="-152.8" z="0.5" h="1.57079632679"/>
</Position>
</TeleportAction>
</PrivateAction>
<PrivateAction>
<ControllerAction>
<AssignControllerAction>
<Controller name="HeroAgent">
<Properties>
<Property name="module" value="external_control"/>
</Properties>
</Controller>
</AssignControllerAction>
<OverrideControllerValueAction>
<Throttle value="0" active="false"/>
<Brake value="0" active="false"/>
<Clutch value="0" active="false"/>
<ParkingBrake value="0" active="false"/>
<SteeringWheel value="0" active="false"/>
<Gear number="0" active="false"/>
</OverrideControllerValueAction>
</ControllerAction>
</PrivateAction>
</Private>
<Private entityRef="adversary">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-9.4" y="-71.0" z="0.5" h="1.57079632679"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="standing">
<PrivateAction>
<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_11002">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-2.675381660461426" y="-253.18023681640625" z="0.001696357736364007"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_close_to_hero_11003">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-12.486419677734375" y="-238.167724609375" z="0.0017082595732063055"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_w_transform_11004">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="54.46683883666992" y="-23.89427375793457" z="0.5"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_w_transform_11005">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-19.05554962158203" y="44.5130729675293" z="0.5"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_w_transform_11006">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-82.48204803466797" y="-47.96795654296875" z="0.5"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_close_to_adversary_11007">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-15.973062515258789" y="-78.26595306396484" z="0.033787764608860016"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_close_to_standing_11008">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-15.526615142822266" y="31.38191032409668" z="0.0030275725293904543"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_close_to_adversary_11009">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-16.13031768798828" y="-80.41893005371094" z="0.03381328657269478"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_w_transform_11010">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-53.719566345214844" y="-10.057173728942871" z="0.5"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_close_to_adversary_11012">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-9.39211368560791" y="-74.42864990234375" z="0.03376457095146179"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_close_to_hero_11013">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-15.267078399658203" y="-252.74630737304688" z="0.0017425536643713713"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_w_transform_11014">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="82.49136352539062" y="-1.9264705181121826" 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 remove pedestrian close to standing?
```
<?xml version="1.0" ?>
<OpenSCENARIO>
<FileHeader revMajor="1" revMinor="0" date="2020-03-24T12:00:00" description="CARLA:LaneChangeSimple" author=""/>
<ParameterDeclarations/>
<CatalogLocations/>
<RoadNetwork>
<LogicFile filepath="Town04"/>
<SceneGraphFile filepath=""/>
</RoadNetwork>
<Entities>
<ScenarioObject name="hero">
<Vehicle name="vehicle.tesla.model3" vehicleCategory="car">
<ParameterDeclarations/>
<Performance maxSpeed="69.444" maxAcceleration="200" maxDeceleration="10.0"/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2.1" length="4.5" height="1.8"/>
</BoundingBox>
<Axles>
<FrontAxle maxSteering="0.5" wheelDiameter="0.6" trackWidth="1.8" positionX="3.1" positionZ="0.3"/>
<RearAxle maxSteering="0.0" wheelDiameter="0.6" trackWidth="1.8" positionX="0.0" positionZ="0.3"/>
</Axles>
<Properties>
<Property name="type" value="ego_vehicle"/>
</Properties>
</Vehicle>
</ScenarioObject>
<ScenarioObject name="adversary">
<Vehicle name="vehicle.lincoln.mkz_2017" vehicleCategory="car">
<ParameterDeclarations/>
<Performance maxSpeed="69.444" maxAcceleration="200" maxDeceleration="10.0"/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2.1" length="4.5" height="1.8"/>
</BoundingBox>
<Axles>
<FrontAxle maxSteering="0.5" wheelDiameter="0.6" trackWidth="1.8" positionX="3.1" positionZ="0.3"/>
<RearAxle maxSteering="0.0" wheelDiameter="0.6" trackWidth="1.8" positionX="0.0" positionZ="0.3"/>
</Axles>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Vehicle>
</ScenarioObject>
<ScenarioObject name="standing">
<Vehicle name="vehicle.volkswagen.t2" vehicleCategory="car">
<ParameterDeclarations/>
<Performance maxSpeed="69.444" maxAcceleration="200" maxDeceleration="10.0"/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2.1" length="4.5" height="1.8"/>
</BoundingBox>
<Axles>
<FrontAxle maxSteering="0.5" wheelDiameter="0.6" trackWidth="1.8" positionX="3.1" positionZ="0.3"/>
<RearAxle maxSteering="0.0" wheelDiameter="0.6" trackWidth="1.8" positionX="0.0" positionZ="0.3"/>
</Axles>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Vehicle>
</ScenarioObject>
<ScenarioObject name="pedestrian_close_to_adversary_6335">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_close_to_standing_6336">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_w_transform_6337">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_close_to_standing_6338">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_close_to_standing_6341">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_close_to_standing_6342">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
</Entities>
<Storyboard>
<Init>
<Actions>
<GlobalAction>
<EnvironmentAction>
<Environment name="Environment1">
<TimeOfDay animation="false" dateTime="2019-06-25T12:00:00"/>
<Weather cloudState="free">
<Sun intensity="0.85" azimuth="0" elevation="1.31"/>
<Fog visualRange="100000.0"/>
<Precipitation precipitationType="dry" intensity="0.0"/>
</Weather>
<RoadCondition frictionScaleFactor="1.0"/>
</Environment>
</EnvironmentAction>
</GlobalAction>
<Private entityRef="hero">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-9.4" y="-152.8" z="0.5" h="1.57079632679"/>
</Position>
</TeleportAction>
</PrivateAction>
<PrivateAction>
<ControllerAction>
<AssignControllerAction>
<Controller name="HeroAgent">
<Properties>
<Property name="module" value="external_control"/>
</Properties>
</Controller>
</AssignControllerAction>
<OverrideControllerValueAction>
<Throttle value="0" active="false"/>
<Brake value="0" active="false"/>
<Clutch value="0" active="false"/>
<ParkingBrake value="0" active="false"/>
<SteeringWheel value="0" active="false"/>
<Gear number="0" active="false"/>
</OverrideControllerValueAction>
</ControllerAction>
</PrivateAction>
</Private>
<Private entityRef="adversary">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-9.4" y="-71.0" z="0.5" h="1.57079632679"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="standing">
<PrivateAction>
<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_6335">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-3.5168209075927734" y="-68.56815338134766" z="0.033829499036073685"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_close_to_standing_6336">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="1.610127568244934" y="35.200218200683594" z="0.0030692671425640583"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_w_transform_6337">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-5.0763421058654785" y="69.25406646728516" z="0.5"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_close_to_standing_6338">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="1.1426100730895996" y="27.15713119506836" z="0.003038062946870923"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_close_to_standing_6341">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-2.7003183364868164" y="24.80570411682129" z="0.0030560684390366077"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_close_to_standing_6342">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-11.189431190490723" y="22.705570220947266" z="0.003096427768468857"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
</Actions>
</Init>
<Story name="MyStory">
<Act name="Behavior">
<ManeuverGroup maximumExecutionCount="1" name="ManeuverSequence">
<Actors selectTriggeringEntities="false">
<EntityRef entityRef="adversary"/>
</Actors>
<Maneuver name="LaneChangeSimpleManeuver">
<Event name="AdversaryAccelerates" priority="overwrite">
<Action name="AdversaryAccelerates">
<PrivateAction>
<LongitudinalAction>
<SpeedAction>
<SpeedActionDynamics dynamicsShape="step" value="50" dynamicsDimension="distance"/>
<SpeedActionTarget>
<AbsoluteTargetSpeed value="5.0"/>
</SpeedActionTarget>
</SpeedAction>
</LongitudinalAction>
</PrivateAction>
</Action>
<StartTrigger>
<ConditionGroup>
<Condition name="StartCondition" delay="0" conditionEdge="rising">
<ByEntityCondition>
<TriggeringEntities triggeringEntitiesRule="any">
<EntityRef entityRef="hero"/>
</TriggeringEntities>
<EntityCondition>
<RelativeDistanceCondition entityRef="adversary" relativeDistanceType="cartesianDistance" value="40.0" freespace="false" rule="lessThan"/>
</EntityCondition>
</ByEntityCondition>
</Condition>
</ConditionGroup>
</StartTrigger>
</Event>
<Event name="AdversaryChangesLane" priority="overwrite">
<Action name="AdversaryChangesLane">
<PrivateAction>
<LateralAction>
<LaneChangeAction>
<LaneChangeActionDynamics dynamicsShape="linear" value="25" dynamicsDimension="distance"/>
<LaneChangeTarget>
<RelativeTargetLane entityRef="adversary" value="-1"/>
</LaneChangeTarget>
</LaneChangeAction>
</LateralAction>
</PrivateAction>
</Action>
<StartTrigger>
<ConditionGroup>
<Condition name="AfterAdversaryAccelerates" delay="0" conditionEdge="rising">
<ByValueCondition>
<StoryboardElementStateCondition storyboardElementType="action" storyboardElementRef="AdversaryAccelerates" state="completeState"/>
</ByValueCondition>
</Condition>
</ConditionGroup>
</StartTrigger>
</Event>
</Maneuver>
</ManeuverGroup>
<StartTrigger>
<ConditionGroup>
<Condition name="OverallStartCondition" delay="0" conditionEdge="rising">
<ByEntityCondition>
<TriggeringEntities triggeringEntitiesRule="any">
<EntityRef entityRef="hero"/>
</TriggeringEntities>
<EntityCondition>
<TraveledDistanceCondition value="1.0"/>
</EntityCondition>
</ByEntityCondition>
</Condition>
<Condition name="StartTime" delay="0" conditionEdge="rising">
<ByValueCondition>
<SimulationTimeCondition value="0" rule="equalTo"/>
</ByValueCondition>
</Condition>
</ConditionGroup>
</StartTrigger>
<StopTrigger>
<ConditionGroup>
<Condition name="EndCondition" delay="0" conditionEdge="rising">
<ByEntityCondition>
<TriggeringEntities triggeringEntitiesRule="any">
<EntityRef entityRef="hero"/>
</TriggeringEntities>
<EntityCondition>
<TraveledDistanceCondition value="200.0"/>
</EntityCondition>
</ByEntityCondition>
</Condition>
</ConditionGroup>
</StopTrigger>
</Act>
</Story>
<StopTrigger>
<ConditionGroup>
<Condition name="criteria_RunningStopTest" delay="0" conditionEdge="rising">
<ByValueCondition>
<ParameterCondition parameterRef="" value="" rule="lessThan"/>
</ByValueCondition>
</Condition>
<Condition name="criteria_RunningRedLightTest" delay="0" conditionEdge="rising">
<ByValueCondition>
<ParameterCondition parameterRef="" value="" rule="lessThan"/>
</ByValueCondition>
</Condition>
<Condition name="criteria_WrongLaneTest" delay="0" conditionEdge="rising">
<ByValueCondition>
<ParameterCondition parameterRef="" value="" rule="lessThan"/>
</ByValueCondition>
</Condition>
<Condition name="criteria_OnSidewalkTest" delay="0" conditionEdge="rising">
<ByValueCondition>
<ParameterCondition parameterRef="" value="" rule="lessThan"/>
</ByValueCondition>
</Condition>
<Condition name="criteria_KeepLaneTest" delay="0" conditionEdge="rising">
<ByValueCondition>
<ParameterCondition parameterRef="" value="" rule="lessThan"/>
</ByValueCondition>
</Condition>
<Condition name="criteria_CollisionTest" delay="0" conditionEdge="rising">
<ByValueCondition>
<ParameterCondition parameterRef="" value="" rule="lessThan"/>
</ByValueCondition>
</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_6335">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_close_to_standing_6336">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_w_transform_6337">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_close_to_standing_6338">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_close_to_standing_6341">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
</Entities>
<Storyboard>
<Init>
<Actions>
<GlobalAction>
<EnvironmentAction>
<Environment name="Environment1">
<TimeOfDay animation="false" dateTime="2019-06-25T12:00:00"/>
<Weather cloudState="free">
<Sun intensity="0.85" azimuth="0" elevation="1.31"/>
<Fog visualRange="100000.0"/>
<Precipitation precipitationType="dry" intensity="0.0"/>
</Weather>
<RoadCondition frictionScaleFactor="1.0"/>
</Environment>
</EnvironmentAction>
</GlobalAction>
<Private entityRef="hero">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-9.4" y="-152.8" z="0.5" h="1.57079632679"/>
</Position>
</TeleportAction>
</PrivateAction>
<PrivateAction>
<ControllerAction>
<AssignControllerAction>
<Controller name="HeroAgent">
<Properties>
<Property name="module" value="external_control"/>
</Properties>
</Controller>
</AssignControllerAction>
<OverrideControllerValueAction>
<Throttle value="0" active="false"/>
<Brake value="0" active="false"/>
<Clutch value="0" active="false"/>
<ParkingBrake value="0" active="false"/>
<SteeringWheel value="0" active="false"/>
<Gear number="0" active="false"/>
</OverrideControllerValueAction>
</ControllerAction>
</PrivateAction>
</Private>
<Private entityRef="adversary">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-9.4" y="-71.0" z="0.5" h="1.57079632679"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="standing">
<PrivateAction>
<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_6335">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-3.5168209075927734" y="-68.56815338134766" z="0.033829499036073685"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_close_to_standing_6336">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="1.610127568244934" y="35.200218200683594" z="0.0030692671425640583"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_w_transform_6337">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-5.0763421058654785" y="69.25406646728516" z="0.5"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_close_to_standing_6338">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="1.1426100730895996" y="27.15713119506836" z="0.003038062946870923"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_close_to_standing_6341">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-2.7003183364868164" y="24.80570411682129" z="0.0030560684390366077"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
</Actions>
</Init>
<Story name="MyStory">
<Act name="Behavior">
<ManeuverGroup maximumExecutionCount="1" name="ManeuverSequence">
<Actors selectTriggeringEntities="false">
<EntityRef entityRef="adversary"/>
</Actors>
<Maneuver name="LaneChangeSimpleManeuver">
<Event name="AdversaryAccelerates" priority="overwrite">
<Action name="AdversaryAccelerates">
<PrivateAction>
<LongitudinalAction>
<SpeedAction>
<SpeedActionDynamics dynamicsShape="step" value="50" dynamicsDimension="distance"/>
<SpeedActionTarget>
<AbsoluteTargetSpeed value="5.0"/>
</SpeedActionTarget>
</SpeedAction>
</LongitudinalAction>
</PrivateAction>
</Action>
<StartTrigger>
<ConditionGroup>
<Condition name="StartCondition" delay="0" conditionEdge="rising">
<ByEntityCondition>
<TriggeringEntities triggeringEntitiesRule="any">
<EntityRef entityRef="hero"/>
</TriggeringEntities>
<EntityCondition>
<RelativeDistanceCondition entityRef="adversary" relativeDistanceType="cartesianDistance" value="40.0" freespace="false" rule="lessThan"/>
</EntityCondition>
</ByEntityCondition>
</Condition>
</ConditionGroup>
</StartTrigger>
</Event>
<Event name="AdversaryChangesLane" priority="overwrite">
<Action name="AdversaryChangesLane">
<PrivateAction>
<LateralAction>
<LaneChangeAction>
<LaneChangeActionDynamics dynamicsShape="linear" value="25" dynamicsDimension="distance"/>
<LaneChangeTarget>
<RelativeTargetLane entityRef="adversary" value="-1"/>
</LaneChangeTarget>
</LaneChangeAction>
</LateralAction>
</PrivateAction>
</Action>
<StartTrigger>
<ConditionGroup>
<Condition name="AfterAdversaryAccelerates" delay="0" conditionEdge="rising">
<ByValueCondition>
<StoryboardElementStateCondition storyboardElementType="action" storyboardElementRef="AdversaryAccelerates" state="completeState"/>
</ByValueCondition>
</Condition>
</ConditionGroup>
</StartTrigger>
</Event>
</Maneuver>
</ManeuverGroup>
<StartTrigger>
<ConditionGroup>
<Condition name="OverallStartCondition" delay="0" conditionEdge="rising">
<ByEntityCondition>
<TriggeringEntities triggeringEntitiesRule="any">
<EntityRef entityRef="hero"/>
</TriggeringEntities>
<EntityCondition>
<TraveledDistanceCondition value="1.0"/>
</EntityCondition>
</ByEntityCondition>
</Condition>
<Condition name="StartTime" delay="0" conditionEdge="rising">
<ByValueCondition>
<SimulationTimeCondition value="0" rule="equalTo"/>
</ByValueCondition>
</Condition>
</ConditionGroup>
</StartTrigger>
<StopTrigger>
<ConditionGroup>
<Condition name="EndCondition" delay="0" conditionEdge="rising">
<ByEntityCondition>
<TriggeringEntities triggeringEntitiesRule="any">
<EntityRef entityRef="hero"/>
</TriggeringEntities>
<EntityCondition>
<TraveledDistanceCondition value="200.0"/>
</EntityCondition>
</ByEntityCondition>
</Condition>
</ConditionGroup>
</StopTrigger>
</Act>
</Story>
<StopTrigger>
<ConditionGroup>
<Condition name="criteria_RunningStopTest" delay="0" conditionEdge="rising">
<ByValueCondition>
<ParameterCondition parameterRef="" value="" rule="lessThan"/>
</ByValueCondition>
</Condition>
<Condition name="criteria_RunningRedLightTest" delay="0" conditionEdge="rising">
<ByValueCondition>
<ParameterCondition parameterRef="" value="" rule="lessThan"/>
</ByValueCondition>
</Condition>
<Condition name="criteria_WrongLaneTest" delay="0" conditionEdge="rising">
<ByValueCondition>
<ParameterCondition parameterRef="" value="" rule="lessThan"/>
</ByValueCondition>
</Condition>
<Condition name="criteria_OnSidewalkTest" delay="0" conditionEdge="rising">
<ByValueCondition>
<ParameterCondition parameterRef="" value="" rule="lessThan"/>
</ByValueCondition>
</Condition>
<Condition name="criteria_KeepLaneTest" delay="0" conditionEdge="rising">
<ByValueCondition>
<ParameterCondition parameterRef="" value="" rule="lessThan"/>
</ByValueCondition>
</Condition>
<Condition name="criteria_CollisionTest" delay="0" conditionEdge="rising">
<ByValueCondition>
<ParameterCondition parameterRef="" value="" rule="lessThan"/>
</ByValueCondition>
</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_standing_30972">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_w_transform_30973">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_close_to_standing_30974">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_w_transform_30975">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_close_to_adversary_30976">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_w_transform_30977">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_close_to_standing_30978">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_w_transform_30979">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_close_to_standing_30980">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_w_transform_30981">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_close_to_hero_30983">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_close_to_standing_30984">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_close_to_standing_30985">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_close_to_standing_30986">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_close_to_standing_30988">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_w_transform_30989">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
</Entities>
<Storyboard>
<Init>
<Actions>
<GlobalAction>
<EnvironmentAction>
<Environment name="Environment1">
<TimeOfDay animation="false" dateTime="2019-06-25T12:00:00"/>
<Weather cloudState="free">
<Sun intensity="0.85" azimuth="0" elevation="1.31"/>
<Fog visualRange="100000.0"/>
<Precipitation precipitationType="dry" intensity="0.0"/>
</Weather>
<RoadCondition frictionScaleFactor="1.0"/>
</Environment>
</EnvironmentAction>
</GlobalAction>
<Private entityRef="hero">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-9.4" y="-152.8" z="0.5" h="1.57079632679"/>
</Position>
</TeleportAction>
</PrivateAction>
<PrivateAction>
<ControllerAction>
<AssignControllerAction>
<Controller name="HeroAgent">
<Properties>
<Property name="module" value="external_control"/>
</Properties>
</Controller>
</AssignControllerAction>
<OverrideControllerValueAction>
<Throttle value="0" active="false"/>
<Brake value="0" active="false"/>
<Clutch value="0" active="false"/>
<ParkingBrake value="0" active="false"/>
<SteeringWheel value="0" active="false"/>
<Gear number="0" active="false"/>
</OverrideControllerValueAction>
</ControllerAction>
</PrivateAction>
</Private>
<Private entityRef="adversary">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-9.4" y="-71.0" z="0.5" h="1.57079632679"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="standing">
<PrivateAction>
<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_30972">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-13.759001731872559" y="34.527042388916016" z="0.0030771635938435793"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_w_transform_30973">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="81.42630004882812" y="25.770700454711914" z="0.5"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_close_to_standing_30974">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-16.31419563293457" y="13.251689910888672" z="0.0030772017780691385"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_w_transform_30975">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-13.793063163757324" y="-20.08966827392578" z="0.5"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_close_to_adversary_30976">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-15.597209930419922" y="-65.43781280517578" z="0.0337967686355114"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_w_transform_30977">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-63.686214447021484" y="69.79261779785156" z="0.5"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_close_to_standing_30978">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-9.452381134033203" y="26.4364013671875" z="0.0030384063720703125"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_w_transform_30979">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-58.346927642822266" y="91.78255462646484" z="0.5"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_close_to_standing_30980">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-11.642481803894043" y="36.290340423583984" z="0.0030722427181899548"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_w_transform_30981">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-68.9665756225586" y="-86.73517608642578" z="0.5"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_close_to_hero_30983">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-2.77018666267395" y="-159.35292053222656" z="0.001423797570168972"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_close_to_standing_30984">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-8.593310356140137" y="37.226173400878906" z="0.0030370329041033983"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_close_to_standing_30985">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-1.2899402379989624" y="35.47911071777344" z="0.003079109126701951"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_close_to_standing_30986">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="2.694352149963379" y="40.37579345703125" z="0.0030851364135742188"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_close_to_standing_30988">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-12.332954406738281" y="30.721994400024414" z="0.0030540083535015583"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_w_transform_30989">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="21.48906707763672" y="-70.22534942626953" 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_30972">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_w_transform_30973">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_close_to_standing_30974">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_w_transform_30975">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_close_to_adversary_30976">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_w_transform_30977">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_close_to_standing_30978">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_w_transform_30979">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_close_to_standing_30980">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_w_transform_30981">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_close_to_hero_30983">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_close_to_standing_30984">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_close_to_standing_30985">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_close_to_standing_30986">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_close_to_standing_30988">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_w_transform_30989">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_close_to_adversary_30990">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
</Entities>
<Storyboard>
<Init>
<Actions>
<GlobalAction>
<EnvironmentAction>
<Environment name="Environment1">
<TimeOfDay animation="false" dateTime="2019-06-25T12:00:00"/>
<Weather cloudState="free">
<Sun intensity="0.85" azimuth="0" elevation="1.31"/>
<Fog visualRange="100000.0"/>
<Precipitation precipitationType="dry" intensity="0.0"/>
</Weather>
<RoadCondition frictionScaleFactor="1.0"/>
</Environment>
</EnvironmentAction>
</GlobalAction>
<Private entityRef="hero">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-9.4" y="-152.8" z="0.5" h="1.57079632679"/>
</Position>
</TeleportAction>
</PrivateAction>
<PrivateAction>
<ControllerAction>
<AssignControllerAction>
<Controller name="HeroAgent">
<Properties>
<Property name="module" value="external_control"/>
</Properties>
</Controller>
</AssignControllerAction>
<OverrideControllerValueAction>
<Throttle value="0" active="false"/>
<Brake value="0" active="false"/>
<Clutch value="0" active="false"/>
<ParkingBrake value="0" active="false"/>
<SteeringWheel value="0" active="false"/>
<Gear number="0" active="false"/>
</OverrideControllerValueAction>
</ControllerAction>
</PrivateAction>
</Private>
<Private entityRef="adversary">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-9.4" y="-71.0" z="0.5" h="1.57079632679"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="standing">
<PrivateAction>
<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_30972">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-13.759001731872559" y="34.527042388916016" z="0.0030771635938435793"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_w_transform_30973">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="81.42630004882812" y="25.770700454711914" z="0.5"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_close_to_standing_30974">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-16.31419563293457" y="13.251689910888672" z="0.0030772017780691385"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_w_transform_30975">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-13.793063163757324" y="-20.08966827392578" z="0.5"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_close_to_adversary_30976">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-15.597209930419922" y="-65.43781280517578" z="0.0337967686355114"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_w_transform_30977">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-63.686214447021484" y="69.79261779785156" z="0.5"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_close_to_standing_30978">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-9.452381134033203" y="26.4364013671875" z="0.0030384063720703125"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_w_transform_30979">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-58.346927642822266" y="91.78255462646484" z="0.5"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_close_to_standing_30980">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-11.642481803894043" y="36.290340423583984" z="0.0030722427181899548"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_w_transform_30981">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-68.9665756225586" y="-86.73517608642578" z="0.5"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_close_to_hero_30983">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-2.77018666267395" y="-159.35292053222656" z="0.001423797570168972"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_close_to_standing_30984">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-8.593310356140137" y="37.226173400878906" z="0.0030370329041033983"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_close_to_standing_30985">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-1.2899402379989624" y="35.47911071777344" z="0.003079109126701951"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_close_to_standing_30986">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="2.694352149963379" y="40.37579345703125" z="0.0030851364135742188"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_close_to_standing_30988">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-12.332954406738281" y="30.721994400024414" z="0.0030540083535015583"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_w_transform_30989">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="21.48906707763672" y="-70.22534942626953" z="0.5"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_close_to_adversary_30990">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-10.640028953552246" y="-70.53970336914062" z="0.03374984487891197"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
</Actions>
</Init>
<Story name="MyStory">
<Act name="Behavior">
<ManeuverGroup maximumExecutionCount="1" name="ManeuverSequence">
<Actors selectTriggeringEntities="false">
<EntityRef entityRef="adversary"/>
</Actors>
<Maneuver name="LaneChangeSimpleManeuver">
<Event name="AdversaryAccelerates" priority="overwrite">
<Action name="AdversaryAccelerates">
<PrivateAction>
<LongitudinalAction>
<SpeedAction>
<SpeedActionDynamics dynamicsShape="step" value="50" dynamicsDimension="distance"/>
<SpeedActionTarget>
<AbsoluteTargetSpeed value="5.0"/>
</SpeedActionTarget>
</SpeedAction>
</LongitudinalAction>
</PrivateAction>
</Action>
<StartTrigger>
<ConditionGroup>
<Condition name="StartCondition" delay="0" conditionEdge="rising">
<ByEntityCondition>
<TriggeringEntities triggeringEntitiesRule="any">
<EntityRef entityRef="hero"/>
</TriggeringEntities>
<EntityCondition>
<RelativeDistanceCondition entityRef="adversary" relativeDistanceType="cartesianDistance" value="40.0" freespace="false" rule="lessThan"/>
</EntityCondition>
</ByEntityCondition>
</Condition>
</ConditionGroup>
</StartTrigger>
</Event>
<Event name="AdversaryChangesLane" priority="overwrite">
<Action name="AdversaryChangesLane">
<PrivateAction>
<LateralAction>
<LaneChangeAction>
<LaneChangeActionDynamics dynamicsShape="linear" value="25" dynamicsDimension="distance"/>
<LaneChangeTarget>
<RelativeTargetLane entityRef="adversary" value="-1"/>
</LaneChangeTarget>
</LaneChangeAction>
</LateralAction>
</PrivateAction>
</Action>
<StartTrigger>
<ConditionGroup>
<Condition name="AfterAdversaryAccelerates" delay="0" conditionEdge="rising">
<ByValueCondition>
<StoryboardElementStateCondition storyboardElementType="action" storyboardElementRef="AdversaryAccelerates" state="completeState"/>
</ByValueCondition>
</Condition>
</ConditionGroup>
</StartTrigger>
</Event>
</Maneuver>
</ManeuverGroup>
<StartTrigger>
<ConditionGroup>
<Condition name="OverallStartCondition" delay="0" conditionEdge="rising">
<ByEntityCondition>
<TriggeringEntities triggeringEntitiesRule="any">
<EntityRef entityRef="hero"/>
</TriggeringEntities>
<EntityCondition>
<TraveledDistanceCondition value="1.0"/>
</EntityCondition>
</ByEntityCondition>
</Condition>
<Condition name="StartTime" delay="0" conditionEdge="rising">
<ByValueCondition>
<SimulationTimeCondition value="0" rule="equalTo"/>
</ByValueCondition>
</Condition>
</ConditionGroup>
</StartTrigger>
<StopTrigger>
<ConditionGroup>
<Condition name="EndCondition" delay="0" conditionEdge="rising">
<ByEntityCondition>
<TriggeringEntities triggeringEntitiesRule="any">
<EntityRef entityRef="hero"/>
</TriggeringEntities>
<EntityCondition>
<TraveledDistanceCondition value="200.0"/>
</EntityCondition>
</ByEntityCondition>
</Condition>
</ConditionGroup>
</StopTrigger>
</Act>
</Story>
<StopTrigger>
<ConditionGroup>
<Condition name="criteria_RunningStopTest" delay="0" conditionEdge="rising">
<ByValueCondition>
<ParameterCondition parameterRef="" value="" rule="lessThan"/>
</ByValueCondition>
</Condition>
<Condition name="criteria_RunningRedLightTest" delay="0" conditionEdge="rising">
<ByValueCondition>
<ParameterCondition parameterRef="" value="" rule="lessThan"/>
</ByValueCondition>
</Condition>
<Condition name="criteria_WrongLaneTest" delay="0" conditionEdge="rising">
<ByValueCondition>
<ParameterCondition parameterRef="" value="" rule="lessThan"/>
</ByValueCondition>
</Condition>
<Condition name="criteria_OnSidewalkTest" delay="0" conditionEdge="rising">
<ByValueCondition>
<ParameterCondition parameterRef="" value="" rule="lessThan"/>
</ByValueCondition>
</Condition>
<Condition name="criteria_KeepLaneTest" delay="0" conditionEdge="rising">
<ByValueCondition>
<ParameterCondition parameterRef="" value="" rule="lessThan"/>
</ByValueCondition>
</Condition>
<Condition name="criteria_CollisionTest" delay="0" conditionEdge="rising">
<ByValueCondition>
<ParameterCondition parameterRef="" value="" rule="lessThan"/>
</ByValueCondition>
</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_22747?
```
<?xml version="1.0" ?>
<OpenSCENARIO>
<FileHeader revMajor="1" revMinor="0" date="2020-03-24T12:00:00" description="CARLA:LaneChangeSimple" author=""/>
<ParameterDeclarations/>
<CatalogLocations/>
<RoadNetwork>
<LogicFile filepath="Town04"/>
<SceneGraphFile filepath=""/>
</RoadNetwork>
<Entities>
<ScenarioObject name="hero">
<Vehicle name="vehicle.tesla.model3" vehicleCategory="car">
<ParameterDeclarations/>
<Performance maxSpeed="69.444" maxAcceleration="200" maxDeceleration="10.0"/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2.1" length="4.5" height="1.8"/>
</BoundingBox>
<Axles>
<FrontAxle maxSteering="0.5" wheelDiameter="0.6" trackWidth="1.8" positionX="3.1" positionZ="0.3"/>
<RearAxle maxSteering="0.0" wheelDiameter="0.6" trackWidth="1.8" positionX="0.0" positionZ="0.3"/>
</Axles>
<Properties>
<Property name="type" value="ego_vehicle"/>
</Properties>
</Vehicle>
</ScenarioObject>
<ScenarioObject name="adversary">
<Vehicle name="vehicle.lincoln.mkz_2017" vehicleCategory="car">
<ParameterDeclarations/>
<Performance maxSpeed="69.444" maxAcceleration="200" maxDeceleration="10.0"/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2.1" length="4.5" height="1.8"/>
</BoundingBox>
<Axles>
<FrontAxle maxSteering="0.5" wheelDiameter="0.6" trackWidth="1.8" positionX="3.1" positionZ="0.3"/>
<RearAxle maxSteering="0.0" wheelDiameter="0.6" trackWidth="1.8" positionX="0.0" positionZ="0.3"/>
</Axles>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Vehicle>
</ScenarioObject>
<ScenarioObject name="standing">
<Vehicle name="vehicle.volkswagen.t2" vehicleCategory="car">
<ParameterDeclarations/>
<Performance maxSpeed="69.444" maxAcceleration="200" maxDeceleration="10.0"/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2.1" length="4.5" height="1.8"/>
</BoundingBox>
<Axles>
<FrontAxle maxSteering="0.5" wheelDiameter="0.6" trackWidth="1.8" positionX="3.1" positionZ="0.3"/>
<RearAxle maxSteering="0.0" wheelDiameter="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_22739">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_w_transform_22740">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_w_transform_22742">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_w_transform_22743">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_w_transform_22744">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_w_transform_22745">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_w_transform_22747">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_w_transform_22749">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_w_transform_22750">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_close_to_standing_22752">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_w_transform_22753">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_w_transform_22754">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_w_transform_22755">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_w_transform_22756">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_w_transform_22757">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_w_transform_22760">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_close_to_adversary_22763">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
</Entities>
<Storyboard>
<Init>
<Actions>
<GlobalAction>
<EnvironmentAction>
<Environment name="Environment1">
<TimeOfDay animation="false" dateTime="2019-06-25T12:00:00"/>
<Weather cloudState="free">
<Sun intensity="0.85" azimuth="0" elevation="1.31"/>
<Fog visualRange="100000.0"/>
<Precipitation precipitationType="dry" intensity="0.0"/>
</Weather>
<RoadCondition frictionScaleFactor="1.0"/>
</Environment>
</EnvironmentAction>
</GlobalAction>
<Private entityRef="hero">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-9.4" y="-152.8" z="0.5" h="1.57079632679"/>
</Position>
</TeleportAction>
</PrivateAction>
<PrivateAction>
<ControllerAction>
<AssignControllerAction>
<Controller name="HeroAgent">
<Properties>
<Property name="module" value="external_control"/>
</Properties>
</Controller>
</AssignControllerAction>
<OverrideControllerValueAction>
<Throttle value="0" active="false"/>
<Brake value="0" active="false"/>
<Clutch value="0" active="false"/>
<ParkingBrake value="0" active="false"/>
<SteeringWheel value="0" active="false"/>
<Gear number="0" active="false"/>
</OverrideControllerValueAction>
</ControllerAction>
</PrivateAction>
</Private>
<Private entityRef="adversary">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-9.4" y="-71.0" z="0.5" h="1.57079632679"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="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_22739">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="16.151424407958984" y="21.776700973510742" z="0.5"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_w_transform_22740">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-28.704044342041016" y="44.09556198120117" z="0.5"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_w_transform_22742">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="41.83133316040039" y="76.80335998535156" z="0.5"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_w_transform_22743">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-36.57304382324219" y="14.157742500305176" z="0.5"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_w_transform_22744">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-58.517024993896484" y="93.40873718261719" z="0.5"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_w_transform_22745">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-48.00788116455078" y="11.572737693786621" z="0.5"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_w_transform_22747">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="12.532703399658203" y="35.301795959472656" z="0.5"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_w_transform_22749">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-11.604601860046387" y="9.822243690490723" z="0.5"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_w_transform_22750">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-11.0122652053833" y="-14.455004692077637" z="0.5"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_close_to_standing_22752">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-5.400219440460205" y="25.191221237182617" z="0.0030484390445053577"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_w_transform_22753">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-78.08605194091797" y="-38.269935607910156" z="0.5"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_w_transform_22754">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="1.8971368074417114" y="11.47839641571045" z="0.5"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_w_transform_22755">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-68.36822509765625" y="-53.14701461791992" z="0.5"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_w_transform_22756">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="55.549808502197266" y="-11.908845901489258" z="0.5"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_w_transform_22757">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="0.5609022974967957" y="-26.416738510131836" z="0.5"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_w_transform_22760">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-17.318803787231445" y="7.038626670837402" z="0.5"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_close_to_adversary_22763">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-20.717134475708008" y="-59.61332321166992" z="0.0338190458714962"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
</Actions>
</Init>
<Story name="MyStory">
<Act name="Behavior">
<ManeuverGroup maximumExecutionCount="1" name="ManeuverSequence">
<Actors selectTriggeringEntities="false">
<EntityRef entityRef="adversary"/>
</Actors>
<Maneuver name="LaneChangeSimpleManeuver">
<Event name="AdversaryAccelerates" priority="overwrite">
<Action name="AdversaryAccelerates">
<PrivateAction>
<LongitudinalAction>
<SpeedAction>
<SpeedActionDynamics dynamicsShape="step" value="50" dynamicsDimension="distance"/>
<SpeedActionTarget>
<AbsoluteTargetSpeed value="5.0"/>
</SpeedActionTarget>
</SpeedAction>
</LongitudinalAction>
</PrivateAction>
</Action>
<StartTrigger>
<ConditionGroup>
<Condition name="StartCondition" delay="0" conditionEdge="rising">
<ByEntityCondition>
<TriggeringEntities triggeringEntitiesRule="any">
<EntityRef entityRef="hero"/>
</TriggeringEntities>
<EntityCondition>
<RelativeDistanceCondition entityRef="adversary" relativeDistanceType="cartesianDistance" value="40.0" freespace="false" rule="lessThan"/>
</EntityCondition>
</ByEntityCondition>
</Condition>
</ConditionGroup>
</StartTrigger>
</Event>
<Event name="AdversaryChangesLane" priority="overwrite">
<Action name="AdversaryChangesLane">
<PrivateAction>
<LateralAction>
<LaneChangeAction>
<LaneChangeActionDynamics dynamicsShape="linear" value="25" dynamicsDimension="distance"/>
<LaneChangeTarget>
<RelativeTargetLane entityRef="adversary" value="-1"/>
</LaneChangeTarget>
</LaneChangeAction>
</LateralAction>
</PrivateAction>
</Action>
<StartTrigger>
<ConditionGroup>
<Condition name="AfterAdversaryAccelerates" delay="0" conditionEdge="rising">
<ByValueCondition>
<StoryboardElementStateCondition storyboardElementType="action" storyboardElementRef="AdversaryAccelerates" state="completeState"/>
</ByValueCondition>
</Condition>
</ConditionGroup>
</StartTrigger>
</Event>
</Maneuver>
</ManeuverGroup>
<StartTrigger>
<ConditionGroup>
<Condition name="OverallStartCondition" delay="0" conditionEdge="rising">
<ByEntityCondition>
<TriggeringEntities triggeringEntitiesRule="any">
<EntityRef entityRef="hero"/>
</TriggeringEntities>
<EntityCondition>
<TraveledDistanceCondition value="1.0"/>
</EntityCondition>
</ByEntityCondition>
</Condition>
<Condition name="StartTime" delay="0" conditionEdge="rising">
<ByValueCondition>
<SimulationTimeCondition value="0" rule="equalTo"/>
</ByValueCondition>
</Condition>
</ConditionGroup>
</StartTrigger>
<StopTrigger>
<ConditionGroup>
<Condition name="EndCondition" delay="0" conditionEdge="rising">
<ByEntityCondition>
<TriggeringEntities triggeringEntitiesRule="any">
<EntityRef entityRef="hero"/>
</TriggeringEntities>
<EntityCondition>
<TraveledDistanceCondition value="200.0"/>
</EntityCondition>
</ByEntityCondition>
</Condition>
</ConditionGroup>
</StopTrigger>
</Act>
</Story>
<StopTrigger>
<ConditionGroup>
<Condition name="criteria_RunningStopTest" delay="0" conditionEdge="rising">
<ByValueCondition>
<ParameterCondition parameterRef="" value="" rule="lessThan"/>
</ByValueCondition>
</Condition>
<Condition name="criteria_RunningRedLightTest" delay="0" conditionEdge="rising">
<ByValueCondition>
<ParameterCondition parameterRef="" value="" rule="lessThan"/>
</ByValueCondition>
</Condition>
<Condition name="criteria_WrongLaneTest" delay="0" conditionEdge="rising">
<ByValueCondition>
<ParameterCondition parameterRef="" value="" rule="lessThan"/>
</ByValueCondition>
</Condition>
<Condition name="criteria_OnSidewalkTest" delay="0" conditionEdge="rising">
<ByValueCondition>
<ParameterCondition parameterRef="" value="" rule="lessThan"/>
</ByValueCondition>
</Condition>
<Condition name="criteria_KeepLaneTest" delay="0" conditionEdge="rising">
<ByValueCondition>
<ParameterCondition parameterRef="" value="" rule="lessThan"/>
</ByValueCondition>
</Condition>
<Condition name="criteria_CollisionTest" delay="0" conditionEdge="rising">
<ByValueCondition>
<ParameterCondition parameterRef="" value="" rule="lessThan"/>
</ByValueCondition>
</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_22739">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_w_transform_22740">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_w_transform_22742">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_w_transform_22743">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_w_transform_22744">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_w_transform_22745">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_w_transform_22749">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_w_transform_22750">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_close_to_standing_22752">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_w_transform_22753">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_w_transform_22754">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_w_transform_22755">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_w_transform_22756">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_w_transform_22757">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_w_transform_22760">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_close_to_adversary_22763">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
</Entities>
<Storyboard>
<Init>
<Actions>
<GlobalAction>
<EnvironmentAction>
<Environment name="Environment1">
<TimeOfDay animation="false" dateTime="2019-06-25T12:00:00"/>
<Weather cloudState="free">
<Sun intensity="0.85" azimuth="0" elevation="1.31"/>
<Fog visualRange="100000.0"/>
<Precipitation precipitationType="dry" intensity="0.0"/>
</Weather>
<RoadCondition frictionScaleFactor="1.0"/>
</Environment>
</EnvironmentAction>
</GlobalAction>
<Private entityRef="hero">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-9.4" y="-152.8" z="0.5" h="1.57079632679"/>
</Position>
</TeleportAction>
</PrivateAction>
<PrivateAction>
<ControllerAction>
<AssignControllerAction>
<Controller name="HeroAgent">
<Properties>
<Property name="module" value="external_control"/>
</Properties>
</Controller>
</AssignControllerAction>
<OverrideControllerValueAction>
<Throttle value="0" active="false"/>
<Brake value="0" active="false"/>
<Clutch value="0" active="false"/>
<ParkingBrake value="0" active="false"/>
<SteeringWheel value="0" active="false"/>
<Gear number="0" active="false"/>
</OverrideControllerValueAction>
</ControllerAction>
</PrivateAction>
</Private>
<Private entityRef="adversary">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-9.4" y="-71.0" z="0.5" h="1.57079632679"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="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_22739">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="16.151424407958984" y="21.776700973510742" z="0.5"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_w_transform_22740">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-28.704044342041016" y="44.09556198120117" z="0.5"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_w_transform_22742">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="41.83133316040039" y="76.80335998535156" z="0.5"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_w_transform_22743">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-36.57304382324219" y="14.157742500305176" z="0.5"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_w_transform_22744">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-58.517024993896484" y="93.40873718261719" z="0.5"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_w_transform_22745">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-48.00788116455078" y="11.572737693786621" z="0.5"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_w_transform_22749">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-11.604601860046387" y="9.822243690490723" z="0.5"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_w_transform_22750">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-11.0122652053833" y="-14.455004692077637" z="0.5"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_close_to_standing_22752">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-5.400219440460205" y="25.191221237182617" z="0.0030484390445053577"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_w_transform_22753">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-78.08605194091797" y="-38.269935607910156" z="0.5"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_w_transform_22754">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="1.8971368074417114" y="11.47839641571045" z="0.5"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_w_transform_22755">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-68.36822509765625" y="-53.14701461791992" z="0.5"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_w_transform_22756">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="55.549808502197266" y="-11.908845901489258" z="0.5"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_w_transform_22757">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="0.5609022974967957" y="-26.416738510131836" z="0.5"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_w_transform_22760">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-17.318803787231445" y="7.038626670837402" z="0.5"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_close_to_adversary_22763">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-20.717134475708008" y="-59.61332321166992" z="0.0338190458714962"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
</Actions>
</Init>
<Story name="MyStory">
<Act name="Behavior">
<ManeuverGroup maximumExecutionCount="1" name="ManeuverSequence">
<Actors selectTriggeringEntities="false">
<EntityRef entityRef="adversary"/>
</Actors>
<Maneuver name="LaneChangeSimpleManeuver">
<Event name="AdversaryAccelerates" priority="overwrite">
<Action name="AdversaryAccelerates">
<PrivateAction>
<LongitudinalAction>
<SpeedAction>
<SpeedActionDynamics dynamicsShape="step" value="50" dynamicsDimension="distance"/>
<SpeedActionTarget>
<AbsoluteTargetSpeed value="5.0"/>
</SpeedActionTarget>
</SpeedAction>
</LongitudinalAction>
</PrivateAction>
</Action>
<StartTrigger>
<ConditionGroup>
<Condition name="StartCondition" delay="0" conditionEdge="rising">
<ByEntityCondition>
<TriggeringEntities triggeringEntitiesRule="any">
<EntityRef entityRef="hero"/>
</TriggeringEntities>
<EntityCondition>
<RelativeDistanceCondition entityRef="adversary" relativeDistanceType="cartesianDistance" value="40.0" freespace="false" rule="lessThan"/>
</EntityCondition>
</ByEntityCondition>
</Condition>
</ConditionGroup>
</StartTrigger>
</Event>
<Event name="AdversaryChangesLane" priority="overwrite">
<Action name="AdversaryChangesLane">
<PrivateAction>
<LateralAction>
<LaneChangeAction>
<LaneChangeActionDynamics dynamicsShape="linear" value="25" dynamicsDimension="distance"/>
<LaneChangeTarget>
<RelativeTargetLane entityRef="adversary" value="-1"/>
</LaneChangeTarget>
</LaneChangeAction>
</LateralAction>
</PrivateAction>
</Action>
<StartTrigger>
<ConditionGroup>
<Condition name="AfterAdversaryAccelerates" delay="0" conditionEdge="rising">
<ByValueCondition>
<StoryboardElementStateCondition storyboardElementType="action" storyboardElementRef="AdversaryAccelerates" state="completeState"/>
</ByValueCondition>
</Condition>
</ConditionGroup>
</StartTrigger>
</Event>
</Maneuver>
</ManeuverGroup>
<StartTrigger>
<ConditionGroup>
<Condition name="OverallStartCondition" delay="0" conditionEdge="rising">
<ByEntityCondition>
<TriggeringEntities triggeringEntitiesRule="any">
<EntityRef entityRef="hero"/>
</TriggeringEntities>
<EntityCondition>
<TraveledDistanceCondition value="1.0"/>
</EntityCondition>
</ByEntityCondition>
</Condition>
<Condition name="StartTime" delay="0" conditionEdge="rising">
<ByValueCondition>
<SimulationTimeCondition value="0" rule="equalTo"/>
</ByValueCondition>
</Condition>
</ConditionGroup>
</StartTrigger>
<StopTrigger>
<ConditionGroup>
<Condition name="EndCondition" delay="0" conditionEdge="rising">
<ByEntityCondition>
<TriggeringEntities triggeringEntitiesRule="any">
<EntityRef entityRef="hero"/>
</TriggeringEntities>
<EntityCondition>
<TraveledDistanceCondition value="200.0"/>
</EntityCondition>
</ByEntityCondition>
</Condition>
</ConditionGroup>
</StopTrigger>
</Act>
</Story>
<StopTrigger>
<ConditionGroup>
<Condition name="criteria_RunningStopTest" delay="0" conditionEdge="rising">
<ByValueCondition>
<ParameterCondition parameterRef="" value="" rule="lessThan"/>
</ByValueCondition>
</Condition>
<Condition name="criteria_RunningRedLightTest" delay="0" conditionEdge="rising">
<ByValueCondition>
<ParameterCondition parameterRef="" value="" rule="lessThan"/>
</ByValueCondition>
</Condition>
<Condition name="criteria_WrongLaneTest" delay="0" conditionEdge="rising">
<ByValueCondition>
<ParameterCondition parameterRef="" value="" rule="lessThan"/>
</ByValueCondition>
</Condition>
<Condition name="criteria_OnSidewalkTest" delay="0" conditionEdge="rising">
<ByValueCondition>
<ParameterCondition parameterRef="" value="" rule="lessThan"/>
</ByValueCondition>
</Condition>
<Condition name="criteria_KeepLaneTest" delay="0" conditionEdge="rising">
<ByValueCondition>
<ParameterCondition parameterRef="" value="" rule="lessThan"/>
</ByValueCondition>
</Condition>
<Condition name="criteria_CollisionTest" delay="0" conditionEdge="rising">
<ByValueCondition>
<ParameterCondition parameterRef="" value="" rule="lessThan"/>
</ByValueCondition>
</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_standing_27134">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_w_transform_27135">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_close_to_standing_27136">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_close_to_hero_27137">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_close_to_hero_27138">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_close_to_hero_27139">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_close_to_adversary_27140">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
</Entities>
<Storyboard>
<Init>
<Actions>
<GlobalAction>
<EnvironmentAction>
<Environment name="Environment1">
<TimeOfDay animation="false" dateTime="2019-06-25T12:00:00"/>
<Weather cloudState="free">
<Sun intensity="0.85" azimuth="0" elevation="1.31"/>
<Fog visualRange="100000.0"/>
<Precipitation precipitationType="dry" intensity="0.0"/>
</Weather>
<RoadCondition frictionScaleFactor="1.0"/>
</Environment>
</EnvironmentAction>
</GlobalAction>
<Private entityRef="hero">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-9.4" y="-152.8" z="0.5" h="1.57079632679"/>
</Position>
</TeleportAction>
</PrivateAction>
<PrivateAction>
<ControllerAction>
<AssignControllerAction>
<Controller name="HeroAgent">
<Properties>
<Property name="module" value="external_control"/>
</Properties>
</Controller>
</AssignControllerAction>
<OverrideControllerValueAction>
<Throttle value="0" active="false"/>
<Brake value="0" active="false"/>
<Clutch value="0" active="false"/>
<ParkingBrake value="0" active="false"/>
<SteeringWheel value="0" active="false"/>
<Gear number="0" active="false"/>
</OverrideControllerValueAction>
</ControllerAction>
</PrivateAction>
</Private>
<Private entityRef="adversary">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-9.4" y="-71.0" z="0.5" h="1.57079632679"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="standing">
<PrivateAction>
<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_27134">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-8.46254825592041" y="22.268524169921875" z="0.003122215159237385"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_w_transform_27135">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-26.658416748046875" y="-50.192466735839844" z="0.5"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_close_to_standing_27136">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-9.18913459777832" y="37.61547088623047" z="0.0031151962466537952"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_close_to_hero_27137">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-10.630918502807617" y="-145.048583984375" z="0.0019445419311523438"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_close_to_hero_27138">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-25.441471099853516" y="-142.05580139160156" z="0.0019445419311523438"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_close_to_hero_27139">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-1.8549509048461914" y="-152.01373291015625" z="0.0019445419311523438"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_close_to_adversary_27140">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-14.889211654663086" y="-67.31781768798828" z="0.033873479813337326"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
</Actions>
</Init>
<Story name="MyStory">
<Act name="Behavior">
<ManeuverGroup maximumExecutionCount="1" name="ManeuverSequence">
<Actors selectTriggeringEntities="false">
<EntityRef entityRef="adversary"/>
</Actors>
<Maneuver name="LaneChangeSimpleManeuver">
<Event name="AdversaryAccelerates" priority="overwrite">
<Action name="AdversaryAccelerates">
<PrivateAction>
<LongitudinalAction>
<SpeedAction>
<SpeedActionDynamics dynamicsShape="step" value="50" dynamicsDimension="distance"/>
<SpeedActionTarget>
<AbsoluteTargetSpeed value="5.0"/>
</SpeedActionTarget>
</SpeedAction>
</LongitudinalAction>
</PrivateAction>
</Action>
<StartTrigger>
<ConditionGroup>
<Condition name="StartCondition" delay="0" conditionEdge="rising">
<ByEntityCondition>
<TriggeringEntities triggeringEntitiesRule="any">
<EntityRef entityRef="hero"/>
</TriggeringEntities>
<EntityCondition>
<RelativeDistanceCondition entityRef="adversary" relativeDistanceType="cartesianDistance" value="40.0" freespace="false" rule="lessThan"/>
</EntityCondition>
</ByEntityCondition>
</Condition>
</ConditionGroup>
</StartTrigger>
</Event>
<Event name="AdversaryChangesLane" priority="overwrite">
<Action name="AdversaryChangesLane">
<PrivateAction>
<LateralAction>
<LaneChangeAction>
<LaneChangeActionDynamics dynamicsShape="linear" value="25" dynamicsDimension="distance"/>
<LaneChangeTarget>
<RelativeTargetLane entityRef="adversary" value="-1"/>
</LaneChangeTarget>
</LaneChangeAction>
</LateralAction>
</PrivateAction>
</Action>
<StartTrigger>
<ConditionGroup>
<Condition name="AfterAdversaryAccelerates" delay="0" conditionEdge="rising">
<ByValueCondition>
<StoryboardElementStateCondition storyboardElementType="action" storyboardElementRef="AdversaryAccelerates" state="completeState"/>
</ByValueCondition>
</Condition>
</ConditionGroup>
</StartTrigger>
</Event>
</Maneuver>
</ManeuverGroup>
<StartTrigger>
<ConditionGroup>
<Condition name="OverallStartCondition" delay="0" conditionEdge="rising">
<ByEntityCondition>
<TriggeringEntities triggeringEntitiesRule="any">
<EntityRef entityRef="hero"/>
</TriggeringEntities>
<EntityCondition>
<TraveledDistanceCondition value="1.0"/>
</EntityCondition>
</ByEntityCondition>
</Condition>
<Condition name="StartTime" delay="0" conditionEdge="rising">
<ByValueCondition>
<SimulationTimeCondition value="0" rule="equalTo"/>
</ByValueCondition>
</Condition>
</ConditionGroup>
</StartTrigger>
<StopTrigger>
<ConditionGroup>
<Condition name="EndCondition" delay="0" conditionEdge="rising">
<ByEntityCondition>
<TriggeringEntities triggeringEntitiesRule="any">
<EntityRef entityRef="hero"/>
</TriggeringEntities>
<EntityCondition>
<TraveledDistanceCondition value="200.0"/>
</EntityCondition>
</ByEntityCondition>
</Condition>
</ConditionGroup>
</StopTrigger>
</Act>
</Story>
<StopTrigger>
<ConditionGroup>
<Condition name="criteria_RunningStopTest" delay="0" conditionEdge="rising">
<ByValueCondition>
<ParameterCondition parameterRef="" value="" rule="lessThan"/>
</ByValueCondition>
</Condition>
<Condition name="criteria_RunningRedLightTest" delay="0" conditionEdge="rising">
<ByValueCondition>
<ParameterCondition parameterRef="" value="" rule="lessThan"/>
</ByValueCondition>
</Condition>
<Condition name="criteria_WrongLaneTest" delay="0" conditionEdge="rising">
<ByValueCondition>
<ParameterCondition parameterRef="" value="" rule="lessThan"/>
</ByValueCondition>
</Condition>
<Condition name="criteria_OnSidewalkTest" delay="0" conditionEdge="rising">
<ByValueCondition>
<ParameterCondition parameterRef="" value="" rule="lessThan"/>
</ByValueCondition>
</Condition>
<Condition name="criteria_KeepLaneTest" delay="0" conditionEdge="rising">
<ByValueCondition>
<ParameterCondition parameterRef="" value="" rule="lessThan"/>
</ByValueCondition>
</Condition>
<Condition name="criteria_CollisionTest" delay="0" conditionEdge="rising">
<ByValueCondition>
<ParameterCondition parameterRef="" value="" rule="lessThan"/>
</ByValueCondition>
</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_27134">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_w_transform_27135">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_close_to_standing_27136">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_close_to_hero_27137">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_close_to_hero_27138">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_close_to_hero_27139">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_close_to_adversary_27140">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_close_to_hero_27141">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
</Entities>
<Storyboard>
<Init>
<Actions>
<GlobalAction>
<EnvironmentAction>
<Environment name="Environment1">
<TimeOfDay animation="false" dateTime="2019-06-25T12:00:00"/>
<Weather cloudState="free">
<Sun intensity="0.85" azimuth="0" elevation="1.31"/>
<Fog visualRange="100000.0"/>
<Precipitation precipitationType="dry" intensity="0.0"/>
</Weather>
<RoadCondition frictionScaleFactor="1.0"/>
</Environment>
</EnvironmentAction>
</GlobalAction>
<Private entityRef="hero">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-9.4" y="-152.8" z="0.5" h="1.57079632679"/>
</Position>
</TeleportAction>
</PrivateAction>
<PrivateAction>
<ControllerAction>
<AssignControllerAction>
<Controller name="HeroAgent">
<Properties>
<Property name="module" value="external_control"/>
</Properties>
</Controller>
</AssignControllerAction>
<OverrideControllerValueAction>
<Throttle value="0" active="false"/>
<Brake value="0" active="false"/>
<Clutch value="0" active="false"/>
<ParkingBrake value="0" active="false"/>
<SteeringWheel value="0" active="false"/>
<Gear number="0" active="false"/>
</OverrideControllerValueAction>
</ControllerAction>
</PrivateAction>
</Private>
<Private entityRef="adversary">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-9.4" y="-71.0" z="0.5" h="1.57079632679"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="standing">
<PrivateAction>
<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_27134">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-8.46254825592041" y="22.268524169921875" z="0.003122215159237385"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_w_transform_27135">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-26.658416748046875" y="-50.192466735839844" z="0.5"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_close_to_standing_27136">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-9.18913459777832" y="37.61547088623047" z="0.0031151962466537952"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_close_to_hero_27137">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-10.630918502807617" y="-145.048583984375" z="0.0019445419311523438"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_close_to_hero_27138">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-25.441471099853516" y="-142.05580139160156" z="0.0019445419311523438"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_close_to_hero_27139">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-1.8549509048461914" y="-152.01373291015625" z="0.0019445419311523438"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_close_to_adversary_27140">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-14.889211654663086" y="-67.31781768798828" z="0.033873479813337326"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_close_to_hero_27141">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-15.81692123413086" y="-151.94992065429688" z="0.0019445419311523438"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
</Actions>
</Init>
<Story name="MyStory">
<Act name="Behavior">
<ManeuverGroup maximumExecutionCount="1" name="ManeuverSequence">
<Actors selectTriggeringEntities="false">
<EntityRef entityRef="adversary"/>
</Actors>
<Maneuver name="LaneChangeSimpleManeuver">
<Event name="AdversaryAccelerates" priority="overwrite">
<Action name="AdversaryAccelerates">
<PrivateAction>
<LongitudinalAction>
<SpeedAction>
<SpeedActionDynamics dynamicsShape="step" value="50" dynamicsDimension="distance"/>
<SpeedActionTarget>
<AbsoluteTargetSpeed value="5.0"/>
</SpeedActionTarget>
</SpeedAction>
</LongitudinalAction>
</PrivateAction>
</Action>
<StartTrigger>
<ConditionGroup>
<Condition name="StartCondition" delay="0" conditionEdge="rising">
<ByEntityCondition>
<TriggeringEntities triggeringEntitiesRule="any">
<EntityRef entityRef="hero"/>
</TriggeringEntities>
<EntityCondition>
<RelativeDistanceCondition entityRef="adversary" relativeDistanceType="cartesianDistance" value="40.0" freespace="false" rule="lessThan"/>
</EntityCondition>
</ByEntityCondition>
</Condition>
</ConditionGroup>
</StartTrigger>
</Event>
<Event name="AdversaryChangesLane" priority="overwrite">
<Action name="AdversaryChangesLane">
<PrivateAction>
<LateralAction>
<LaneChangeAction>
<LaneChangeActionDynamics dynamicsShape="linear" value="25" dynamicsDimension="distance"/>
<LaneChangeTarget>
<RelativeTargetLane entityRef="adversary" value="-1"/>
</LaneChangeTarget>
</LaneChangeAction>
</LateralAction>
</PrivateAction>
</Action>
<StartTrigger>
<ConditionGroup>
<Condition name="AfterAdversaryAccelerates" delay="0" conditionEdge="rising">
<ByValueCondition>
<StoryboardElementStateCondition storyboardElementType="action" storyboardElementRef="AdversaryAccelerates" state="completeState"/>
</ByValueCondition>
</Condition>
</ConditionGroup>
</StartTrigger>
</Event>
</Maneuver>
</ManeuverGroup>
<StartTrigger>
<ConditionGroup>
<Condition name="OverallStartCondition" delay="0" conditionEdge="rising">
<ByEntityCondition>
<TriggeringEntities triggeringEntitiesRule="any">
<EntityRef entityRef="hero"/>
</TriggeringEntities>
<EntityCondition>
<TraveledDistanceCondition value="1.0"/>
</EntityCondition>
</ByEntityCondition>
</Condition>
<Condition name="StartTime" delay="0" conditionEdge="rising">
<ByValueCondition>
<SimulationTimeCondition value="0" rule="equalTo"/>
</ByValueCondition>
</Condition>
</ConditionGroup>
</StartTrigger>
<StopTrigger>
<ConditionGroup>
<Condition name="EndCondition" delay="0" conditionEdge="rising">
<ByEntityCondition>
<TriggeringEntities triggeringEntitiesRule="any">
<EntityRef entityRef="hero"/>
</TriggeringEntities>
<EntityCondition>
<TraveledDistanceCondition value="200.0"/>
</EntityCondition>
</ByEntityCondition>
</Condition>
</ConditionGroup>
</StopTrigger>
</Act>
</Story>
<StopTrigger>
<ConditionGroup>
<Condition name="criteria_RunningStopTest" delay="0" conditionEdge="rising">
<ByValueCondition>
<ParameterCondition parameterRef="" value="" rule="lessThan"/>
</ByValueCondition>
</Condition>
<Condition name="criteria_RunningRedLightTest" delay="0" conditionEdge="rising">
<ByValueCondition>
<ParameterCondition parameterRef="" value="" rule="lessThan"/>
</ByValueCondition>
</Condition>
<Condition name="criteria_WrongLaneTest" delay="0" conditionEdge="rising">
<ByValueCondition>
<ParameterCondition parameterRef="" value="" rule="lessThan"/>
</ByValueCondition>
</Condition>
<Condition name="criteria_OnSidewalkTest" delay="0" conditionEdge="rising">
<ByValueCondition>
<ParameterCondition parameterRef="" value="" rule="lessThan"/>
</ByValueCondition>
</Condition>
<Condition name="criteria_KeepLaneTest" delay="0" conditionEdge="rising">
<ByValueCondition>
<ParameterCondition parameterRef="" value="" rule="lessThan"/>
</ByValueCondition>
</Condition>
<Condition name="criteria_CollisionTest" delay="0" conditionEdge="rising">
<ByValueCondition>
<ParameterCondition parameterRef="" value="" rule="lessThan"/>
</ByValueCondition>
</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_hero_27960">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_w_transform_27961">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_close_to_standing_27962">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_close_to_adversary_27963">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_close_to_adversary_27964">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_w_transform_27965">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_w_transform_27967">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_w_transform_27968">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
</Entities>
<Storyboard>
<Init>
<Actions>
<GlobalAction>
<EnvironmentAction>
<Environment name="Environment1">
<TimeOfDay animation="false" dateTime="2019-06-25T12:00:00"/>
<Weather cloudState="free">
<Sun intensity="0.85" azimuth="0" elevation="1.31"/>
<Fog visualRange="100000.0"/>
<Precipitation precipitationType="dry" intensity="0.0"/>
</Weather>
<RoadCondition frictionScaleFactor="1.0"/>
</Environment>
</EnvironmentAction>
</GlobalAction>
<Private entityRef="hero">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-9.4" y="-152.8" z="0.5" h="1.57079632679"/>
</Position>
</TeleportAction>
</PrivateAction>
<PrivateAction>
<ControllerAction>
<AssignControllerAction>
<Controller name="HeroAgent">
<Properties>
<Property name="module" value="external_control"/>
</Properties>
</Controller>
</AssignControllerAction>
<OverrideControllerValueAction>
<Throttle value="0" active="false"/>
<Brake value="0" active="false"/>
<Clutch value="0" active="false"/>
<ParkingBrake value="0" active="false"/>
<SteeringWheel value="0" active="false"/>
<Gear number="0" active="false"/>
</OverrideControllerValueAction>
</ControllerAction>
</PrivateAction>
</Private>
<Private entityRef="adversary">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-9.4" y="-71.0" z="0.5" h="1.57079632679"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="standing">
<PrivateAction>
<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_27960">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-16.033693313598633" y="-143.28802490234375" z="0.0014652633108198643"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_w_transform_27961">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="23.05034828186035" y="-72.61640167236328" z="0.5"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_close_to_standing_27962">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-18.161117553710938" y="22.79922103881836" z="0.0030653381254523993"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_close_to_adversary_27963">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-8.504376411437988" y="-61.90061569213867" z="0.033764418214559555"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_close_to_adversary_27964">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-1.1019312143325806" y="-68.94446563720703" z="0.033791158348321915"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_w_transform_27965">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-65.86830139160156" y="74.85478973388672" z="0.5"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_w_transform_27967">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-67.1143569946289" y="31.81977653503418" z="0.5"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_w_transform_27968">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="24.2928524017334" y="-5.380152225494385" 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_27960">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_w_transform_27961">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_close_to_standing_27962">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_close_to_adversary_27963">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_close_to_adversary_27964">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_w_transform_27965">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_w_transform_27967">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_w_transform_27968">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_close_to_standing_27969">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
</Entities>
<Storyboard>
<Init>
<Actions>
<GlobalAction>
<EnvironmentAction>
<Environment name="Environment1">
<TimeOfDay animation="false" dateTime="2019-06-25T12:00:00"/>
<Weather cloudState="free">
<Sun intensity="0.85" azimuth="0" elevation="1.31"/>
<Fog visualRange="100000.0"/>
<Precipitation precipitationType="dry" intensity="0.0"/>
</Weather>
<RoadCondition frictionScaleFactor="1.0"/>
</Environment>
</EnvironmentAction>
</GlobalAction>
<Private entityRef="hero">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-9.4" y="-152.8" z="0.5" h="1.57079632679"/>
</Position>
</TeleportAction>
</PrivateAction>
<PrivateAction>
<ControllerAction>
<AssignControllerAction>
<Controller name="HeroAgent">
<Properties>
<Property name="module" value="external_control"/>
</Properties>
</Controller>
</AssignControllerAction>
<OverrideControllerValueAction>
<Throttle value="0" active="false"/>
<Brake value="0" active="false"/>
<Clutch value="0" active="false"/>
<ParkingBrake value="0" active="false"/>
<SteeringWheel value="0" active="false"/>
<Gear number="0" active="false"/>
</OverrideControllerValueAction>
</ControllerAction>
</PrivateAction>
</Private>
<Private entityRef="adversary">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-9.4" y="-71.0" z="0.5" h="1.57079632679"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="standing">
<PrivateAction>
<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_27960">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-16.033693313598633" y="-143.28802490234375" z="0.0014652633108198643"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_w_transform_27961">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="23.05034828186035" y="-72.61640167236328" z="0.5"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_close_to_standing_27962">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-18.161117553710938" y="22.79922103881836" z="0.0030653381254523993"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_close_to_adversary_27963">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-8.504376411437988" y="-61.90061569213867" z="0.033764418214559555"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_close_to_adversary_27964">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-1.1019312143325806" y="-68.94446563720703" z="0.033791158348321915"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_w_transform_27965">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-65.86830139160156" y="74.85478973388672" z="0.5"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_w_transform_27967">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-67.1143569946289" y="31.81977653503418" z="0.5"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_w_transform_27968">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="24.2928524017334" y="-5.380152225494385" z="0.5"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_close_to_standing_27969">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-13.52224349975586" y="34.838985443115234" z="0.0030487440526485443"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
</Actions>
</Init>
<Story name="MyStory">
<Act name="Behavior">
<ManeuverGroup maximumExecutionCount="1" name="ManeuverSequence">
<Actors selectTriggeringEntities="false">
<EntityRef entityRef="adversary"/>
</Actors>
<Maneuver name="LaneChangeSimpleManeuver">
<Event name="AdversaryAccelerates" priority="overwrite">
<Action name="AdversaryAccelerates">
<PrivateAction>
<LongitudinalAction>
<SpeedAction>
<SpeedActionDynamics dynamicsShape="step" value="50" dynamicsDimension="distance"/>
<SpeedActionTarget>
<AbsoluteTargetSpeed value="5.0"/>
</SpeedActionTarget>
</SpeedAction>
</LongitudinalAction>
</PrivateAction>
</Action>
<StartTrigger>
<ConditionGroup>
<Condition name="StartCondition" delay="0" conditionEdge="rising">
<ByEntityCondition>
<TriggeringEntities triggeringEntitiesRule="any">
<EntityRef entityRef="hero"/>
</TriggeringEntities>
<EntityCondition>
<RelativeDistanceCondition entityRef="adversary" relativeDistanceType="cartesianDistance" value="40.0" freespace="false" rule="lessThan"/>
</EntityCondition>
</ByEntityCondition>
</Condition>
</ConditionGroup>
</StartTrigger>
</Event>
<Event name="AdversaryChangesLane" priority="overwrite">
<Action name="AdversaryChangesLane">
<PrivateAction>
<LateralAction>
<LaneChangeAction>
<LaneChangeActionDynamics dynamicsShape="linear" value="25" dynamicsDimension="distance"/>
<LaneChangeTarget>
<RelativeTargetLane entityRef="adversary" value="-1"/>
</LaneChangeTarget>
</LaneChangeAction>
</LateralAction>
</PrivateAction>
</Action>
<StartTrigger>
<ConditionGroup>
<Condition name="AfterAdversaryAccelerates" delay="0" conditionEdge="rising">
<ByValueCondition>
<StoryboardElementStateCondition storyboardElementType="action" storyboardElementRef="AdversaryAccelerates" state="completeState"/>
</ByValueCondition>
</Condition>
</ConditionGroup>
</StartTrigger>
</Event>
</Maneuver>
</ManeuverGroup>
<StartTrigger>
<ConditionGroup>
<Condition name="OverallStartCondition" delay="0" conditionEdge="rising">
<ByEntityCondition>
<TriggeringEntities triggeringEntitiesRule="any">
<EntityRef entityRef="hero"/>
</TriggeringEntities>
<EntityCondition>
<TraveledDistanceCondition value="1.0"/>
</EntityCondition>
</ByEntityCondition>
</Condition>
<Condition name="StartTime" delay="0" conditionEdge="rising">
<ByValueCondition>
<SimulationTimeCondition value="0" rule="equalTo"/>
</ByValueCondition>
</Condition>
</ConditionGroup>
</StartTrigger>
<StopTrigger>
<ConditionGroup>
<Condition name="EndCondition" delay="0" conditionEdge="rising">
<ByEntityCondition>
<TriggeringEntities triggeringEntitiesRule="any">
<EntityRef entityRef="hero"/>
</TriggeringEntities>
<EntityCondition>
<TraveledDistanceCondition value="200.0"/>
</EntityCondition>
</ByEntityCondition>
</Condition>
</ConditionGroup>
</StopTrigger>
</Act>
</Story>
<StopTrigger>
<ConditionGroup>
<Condition name="criteria_RunningStopTest" delay="0" conditionEdge="rising">
<ByValueCondition>
<ParameterCondition parameterRef="" value="" rule="lessThan"/>
</ByValueCondition>
</Condition>
<Condition name="criteria_RunningRedLightTest" delay="0" conditionEdge="rising">
<ByValueCondition>
<ParameterCondition parameterRef="" value="" rule="lessThan"/>
</ByValueCondition>
</Condition>
<Condition name="criteria_WrongLaneTest" delay="0" conditionEdge="rising">
<ByValueCondition>
<ParameterCondition parameterRef="" value="" rule="lessThan"/>
</ByValueCondition>
</Condition>
<Condition name="criteria_OnSidewalkTest" delay="0" conditionEdge="rising">
<ByValueCondition>
<ParameterCondition parameterRef="" value="" rule="lessThan"/>
</ByValueCondition>
</Condition>
<Condition name="criteria_KeepLaneTest" delay="0" conditionEdge="rising">
<ByValueCondition>
<ParameterCondition parameterRef="" value="" rule="lessThan"/>
</ByValueCondition>
</Condition>
<Condition name="criteria_CollisionTest" delay="0" conditionEdge="rising">
<ByValueCondition>
<ParameterCondition parameterRef="" value="" rule="lessThan"/>
</ByValueCondition>
</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_4169">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_w_transform_4170">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_w_transform_4171">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_w_transform_4172">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_w_transform_4173">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_close_to_standing_4174">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_w_transform_4175">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_close_to_adversary_4176">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_close_to_standing_4177">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
</Entities>
<Storyboard>
<Init>
<Actions>
<GlobalAction>
<EnvironmentAction>
<Environment name="Environment1">
<TimeOfDay animation="false" dateTime="2019-06-25T12:00:00"/>
<Weather cloudState="free">
<Sun intensity="0.85" azimuth="0" elevation="1.31"/>
<Fog visualRange="100000.0"/>
<Precipitation precipitationType="dry" intensity="0.0"/>
</Weather>
<RoadCondition frictionScaleFactor="1.0"/>
</Environment>
</EnvironmentAction>
</GlobalAction>
<Private entityRef="hero">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-9.4" y="-152.8" z="0.5" h="1.57079632679"/>
</Position>
</TeleportAction>
</PrivateAction>
<PrivateAction>
<ControllerAction>
<AssignControllerAction>
<Controller name="HeroAgent">
<Properties>
<Property name="module" value="external_control"/>
</Properties>
</Controller>
</AssignControllerAction>
<OverrideControllerValueAction>
<Throttle value="0" active="false"/>
<Brake value="0" active="false"/>
<Clutch value="0" active="false"/>
<ParkingBrake value="0" active="false"/>
<SteeringWheel value="0" active="false"/>
<Gear number="0" active="false"/>
</OverrideControllerValueAction>
</ControllerAction>
</PrivateAction>
</Private>
<Private entityRef="adversary">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-9.4" y="-71.0" z="0.5" h="1.57079632679"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="standing">
<PrivateAction>
<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_4169">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-9.380114555358887" y="20.252958297729492" z="0.0030211256816983223"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_w_transform_4170">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-8.664488792419434" y="55.37576675415039" z="0.5"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_w_transform_4171">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-61.389892578125" y="92.11434936523438" z="0.5"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_w_transform_4172">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-81.9643783569336" y="31.62161636352539" z="0.5"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_w_transform_4173">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="28.837202072143555" y="-16.21917724609375" z="0.5"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_close_to_standing_4174">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-8.746496200561523" y="35.7647590637207" z="0.003052368061617017"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_w_transform_4175">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-3.1070337295532227" y="68.75618743896484" z="0.5"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_close_to_adversary_4176">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-7.867145538330078" y="-68.39027404785156" z="0.03377288579940796"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_close_to_standing_4177">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-14.788677215576172" y="33.765220642089844" z="0.0030977630522102118"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
</Actions>
</Init>
<Story name="MyStory">
<Act name="Behavior">
<ManeuverGroup maximumExecutionCount="1" name="ManeuverSequence">
<Actors selectTriggeringEntities="false">
<EntityRef entityRef="adversary"/>
</Actors>
<Maneuver name="LaneChangeSimpleManeuver">
<Event name="AdversaryAccelerates" priority="overwrite">
<Action name="AdversaryAccelerates">
<PrivateAction>
<LongitudinalAction>
<SpeedAction>
<SpeedActionDynamics dynamicsShape="step" value="50" dynamicsDimension="distance"/>
<SpeedActionTarget>
<AbsoluteTargetSpeed value="5.0"/>
</SpeedActionTarget>
</SpeedAction>
</LongitudinalAction>
</PrivateAction>
</Action>
<StartTrigger>
<ConditionGroup>
<Condition name="StartCondition" delay="0" conditionEdge="rising">
<ByEntityCondition>
<TriggeringEntities triggeringEntitiesRule="any">
<EntityRef entityRef="hero"/>
</TriggeringEntities>
<EntityCondition>
<RelativeDistanceCondition entityRef="adversary" relativeDistanceType="cartesianDistance" value="40.0" freespace="false" rule="lessThan"/>
</EntityCondition>
</ByEntityCondition>
</Condition>
</ConditionGroup>
</StartTrigger>
</Event>
<Event name="AdversaryChangesLane" priority="overwrite">
<Action name="AdversaryChangesLane">
<PrivateAction>
<LateralAction>
<LaneChangeAction>
<LaneChangeActionDynamics dynamicsShape="linear" value="25" dynamicsDimension="distance"/>
<LaneChangeTarget>
<RelativeTargetLane entityRef="adversary" value="-1"/>
</LaneChangeTarget>
</LaneChangeAction>
</LateralAction>
</PrivateAction>
</Action>
<StartTrigger>
<ConditionGroup>
<Condition name="AfterAdversaryAccelerates" delay="0" conditionEdge="rising">
<ByValueCondition>
<StoryboardElementStateCondition storyboardElementType="action" storyboardElementRef="AdversaryAccelerates" state="completeState"/>
</ByValueCondition>
</Condition>
</ConditionGroup>
</StartTrigger>
</Event>
</Maneuver>
</ManeuverGroup>
<StartTrigger>
<ConditionGroup>
<Condition name="OverallStartCondition" delay="0" conditionEdge="rising">
<ByEntityCondition>
<TriggeringEntities triggeringEntitiesRule="any">
<EntityRef entityRef="hero"/>
</TriggeringEntities>
<EntityCondition>
<TraveledDistanceCondition value="1.0"/>
</EntityCondition>
</ByEntityCondition>
</Condition>
<Condition name="StartTime" delay="0" conditionEdge="rising">
<ByValueCondition>
<SimulationTimeCondition value="0" rule="equalTo"/>
</ByValueCondition>
</Condition>
</ConditionGroup>
</StartTrigger>
<StopTrigger>
<ConditionGroup>
<Condition name="EndCondition" delay="0" conditionEdge="rising">
<ByEntityCondition>
<TriggeringEntities triggeringEntitiesRule="any">
<EntityRef entityRef="hero"/>
</TriggeringEntities>
<EntityCondition>
<TraveledDistanceCondition value="200.0"/>
</EntityCondition>
</ByEntityCondition>
</Condition>
</ConditionGroup>
</StopTrigger>
</Act>
</Story>
<StopTrigger>
<ConditionGroup>
<Condition name="criteria_RunningStopTest" delay="0" conditionEdge="rising">
<ByValueCondition>
<ParameterCondition parameterRef="" value="" rule="lessThan"/>
</ByValueCondition>
</Condition>
<Condition name="criteria_RunningRedLightTest" delay="0" conditionEdge="rising">
<ByValueCondition>
<ParameterCondition parameterRef="" value="" rule="lessThan"/>
</ByValueCondition>
</Condition>
<Condition name="criteria_WrongLaneTest" delay="0" conditionEdge="rising">
<ByValueCondition>
<ParameterCondition parameterRef="" value="" rule="lessThan"/>
</ByValueCondition>
</Condition>
<Condition name="criteria_OnSidewalkTest" delay="0" conditionEdge="rising">
<ByValueCondition>
<ParameterCondition parameterRef="" value="" rule="lessThan"/>
</ByValueCondition>
</Condition>
<Condition name="criteria_KeepLaneTest" delay="0" conditionEdge="rising">
<ByValueCondition>
<ParameterCondition parameterRef="" value="" rule="lessThan"/>
</ByValueCondition>
</Condition>
<Condition name="criteria_CollisionTest" delay="0" conditionEdge="rising">
<ByValueCondition>
<ParameterCondition parameterRef="" value="" rule="lessThan"/>
</ByValueCondition>
</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_4169">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_w_transform_4170">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_w_transform_4171">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_w_transform_4172">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_w_transform_4173">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_close_to_standing_4174">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_w_transform_4175">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_close_to_adversary_4176">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_close_to_standing_4177">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_close_to_standing_4178">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
</Entities>
<Storyboard>
<Init>
<Actions>
<GlobalAction>
<EnvironmentAction>
<Environment name="Environment1">
<TimeOfDay animation="false" dateTime="2019-06-25T12:00:00"/>
<Weather cloudState="free">
<Sun intensity="0.85" azimuth="0" elevation="1.31"/>
<Fog visualRange="100000.0"/>
<Precipitation precipitationType="dry" intensity="0.0"/>
</Weather>
<RoadCondition frictionScaleFactor="1.0"/>
</Environment>
</EnvironmentAction>
</GlobalAction>
<Private entityRef="hero">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-9.4" y="-152.8" z="0.5" h="1.57079632679"/>
</Position>
</TeleportAction>
</PrivateAction>
<PrivateAction>
<ControllerAction>
<AssignControllerAction>
<Controller name="HeroAgent">
<Properties>
<Property name="module" value="external_control"/>
</Properties>
</Controller>
</AssignControllerAction>
<OverrideControllerValueAction>
<Throttle value="0" active="false"/>
<Brake value="0" active="false"/>
<Clutch value="0" active="false"/>
<ParkingBrake value="0" active="false"/>
<SteeringWheel value="0" active="false"/>
<Gear number="0" active="false"/>
</OverrideControllerValueAction>
</ControllerAction>
</PrivateAction>
</Private>
<Private entityRef="adversary">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-9.4" y="-71.0" z="0.5" h="1.57079632679"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="standing">
<PrivateAction>
<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_4169">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-9.380114555358887" y="20.252958297729492" z="0.0030211256816983223"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_w_transform_4170">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-8.664488792419434" y="55.37576675415039" z="0.5"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_w_transform_4171">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-61.389892578125" y="92.11434936523438" z="0.5"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_w_transform_4172">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-81.9643783569336" y="31.62161636352539" z="0.5"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_w_transform_4173">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="28.837202072143555" y="-16.21917724609375" z="0.5"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_close_to_standing_4174">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-8.746496200561523" y="35.7647590637207" z="0.003052368061617017"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_w_transform_4175">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-3.1070337295532227" y="68.75618743896484" z="0.5"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_close_to_adversary_4176">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-7.867145538330078" y="-68.39027404785156" z="0.03377288579940796"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_close_to_standing_4177">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-14.788677215576172" y="33.765220642089844" z="0.0030977630522102118"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_close_to_standing_4178">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="0.6353797912597656" y="33.58778762817383" z="0.0030896759126335382"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
</Actions>
</Init>
<Story name="MyStory">
<Act name="Behavior">
<ManeuverGroup maximumExecutionCount="1" name="ManeuverSequence">
<Actors selectTriggeringEntities="false">
<EntityRef entityRef="adversary"/>
</Actors>
<Maneuver name="LaneChangeSimpleManeuver">
<Event name="AdversaryAccelerates" priority="overwrite">
<Action name="AdversaryAccelerates">
<PrivateAction>
<LongitudinalAction>
<SpeedAction>
<SpeedActionDynamics dynamicsShape="step" value="50" dynamicsDimension="distance"/>
<SpeedActionTarget>
<AbsoluteTargetSpeed value="5.0"/>
</SpeedActionTarget>
</SpeedAction>
</LongitudinalAction>
</PrivateAction>
</Action>
<StartTrigger>
<ConditionGroup>
<Condition name="StartCondition" delay="0" conditionEdge="rising">
<ByEntityCondition>
<TriggeringEntities triggeringEntitiesRule="any">
<EntityRef entityRef="hero"/>
</TriggeringEntities>
<EntityCondition>
<RelativeDistanceCondition entityRef="adversary" relativeDistanceType="cartesianDistance" value="40.0" freespace="false" rule="lessThan"/>
</EntityCondition>
</ByEntityCondition>
</Condition>
</ConditionGroup>
</StartTrigger>
</Event>
<Event name="AdversaryChangesLane" priority="overwrite">
<Action name="AdversaryChangesLane">
<PrivateAction>
<LateralAction>
<LaneChangeAction>
<LaneChangeActionDynamics dynamicsShape="linear" value="25" dynamicsDimension="distance"/>
<LaneChangeTarget>
<RelativeTargetLane entityRef="adversary" value="-1"/>
</LaneChangeTarget>
</LaneChangeAction>
</LateralAction>
</PrivateAction>
</Action>
<StartTrigger>
<ConditionGroup>
<Condition name="AfterAdversaryAccelerates" delay="0" conditionEdge="rising">
<ByValueCondition>
<StoryboardElementStateCondition storyboardElementType="action" storyboardElementRef="AdversaryAccelerates" state="completeState"/>
</ByValueCondition>
</Condition>
</ConditionGroup>
</StartTrigger>
</Event>
</Maneuver>
</ManeuverGroup>
<StartTrigger>
<ConditionGroup>
<Condition name="OverallStartCondition" delay="0" conditionEdge="rising">
<ByEntityCondition>
<TriggeringEntities triggeringEntitiesRule="any">
<EntityRef entityRef="hero"/>
</TriggeringEntities>
<EntityCondition>
<TraveledDistanceCondition value="1.0"/>
</EntityCondition>
</ByEntityCondition>
</Condition>
<Condition name="StartTime" delay="0" conditionEdge="rising">
<ByValueCondition>
<SimulationTimeCondition value="0" rule="equalTo"/>
</ByValueCondition>
</Condition>
</ConditionGroup>
</StartTrigger>
<StopTrigger>
<ConditionGroup>
<Condition name="EndCondition" delay="0" conditionEdge="rising">
<ByEntityCondition>
<TriggeringEntities triggeringEntitiesRule="any">
<EntityRef entityRef="hero"/>
</TriggeringEntities>
<EntityCondition>
<TraveledDistanceCondition value="200.0"/>
</EntityCondition>
</ByEntityCondition>
</Condition>
</ConditionGroup>
</StopTrigger>
</Act>
</Story>
<StopTrigger>
<ConditionGroup>
<Condition name="criteria_RunningStopTest" delay="0" conditionEdge="rising">
<ByValueCondition>
<ParameterCondition parameterRef="" value="" rule="lessThan"/>
</ByValueCondition>
</Condition>
<Condition name="criteria_RunningRedLightTest" delay="0" conditionEdge="rising">
<ByValueCondition>
<ParameterCondition parameterRef="" value="" rule="lessThan"/>
</ByValueCondition>
</Condition>
<Condition name="criteria_WrongLaneTest" delay="0" conditionEdge="rising">
<ByValueCondition>
<ParameterCondition parameterRef="" value="" rule="lessThan"/>
</ByValueCondition>
</Condition>
<Condition name="criteria_OnSidewalkTest" delay="0" conditionEdge="rising">
<ByValueCondition>
<ParameterCondition parameterRef="" value="" rule="lessThan"/>
</ByValueCondition>
</Condition>
<Condition name="criteria_KeepLaneTest" delay="0" conditionEdge="rising">
<ByValueCondition>
<ParameterCondition parameterRef="" value="" rule="lessThan"/>
</ByValueCondition>
</Condition>
<Condition name="criteria_CollisionTest" delay="0" conditionEdge="rising">
<ByValueCondition>
<ParameterCondition parameterRef="" value="" rule="lessThan"/>
</ByValueCondition>
</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 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_31173">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_close_to_standing_31174">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_w_transform_31175">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_close_to_standing_31176">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_close_to_standing_31177">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_close_to_adversary_31178">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_close_to_standing_31179">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
</Entities>
<Storyboard>
<Init>
<Actions>
<GlobalAction>
<EnvironmentAction>
<Environment name="Environment1">
<TimeOfDay animation="false" dateTime="2019-06-25T12:00:00"/>
<Weather cloudState="free">
<Sun intensity="0.85" azimuth="0" elevation="1.31"/>
<Fog visualRange="100000.0"/>
<Precipitation precipitationType="dry" intensity="0.0"/>
</Weather>
<RoadCondition frictionScaleFactor="1.0"/>
</Environment>
</EnvironmentAction>
</GlobalAction>
<Private entityRef="hero">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-9.4" y="-152.8" z="0.5" h="1.57079632679"/>
</Position>
</TeleportAction>
</PrivateAction>
<PrivateAction>
<ControllerAction>
<AssignControllerAction>
<Controller name="HeroAgent">
<Properties>
<Property name="module" value="external_control"/>
</Properties>
</Controller>
</AssignControllerAction>
<OverrideControllerValueAction>
<Throttle value="0" active="false"/>
<Brake value="0" active="false"/>
<Clutch value="0" active="false"/>
<ParkingBrake value="0" active="false"/>
<SteeringWheel value="0" active="false"/>
<Gear number="0" active="false"/>
</OverrideControllerValueAction>
</ControllerAction>
</PrivateAction>
</Private>
<Private entityRef="adversary">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-9.4" y="-71.0" z="0.5" h="1.57079632679"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="standing">
<PrivateAction>
<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_31173">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-15.466878890991211" y="26.181140899658203" z="0.003068046411499381"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_close_to_standing_31174">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="7.109917163848877" y="20.92983627319336" z="0.003065566997975111"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_w_transform_31175">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="30.327184677124023" y="-83.5549087524414" z="0.5"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_close_to_standing_31176">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-16.020071029663086" y="34.8183708190918" z="0.0030666731763631105"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_close_to_standing_31177">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-1.269127607345581" y="39.33772659301758" z="0.003062629606574774"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_close_to_adversary_31178">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-13.992231369018555" y="-75.69684600830078" z="0.033795278519392014"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_close_to_standing_31179">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-4.7171735763549805" y="22.571346282958984" z="0.003045959398150444"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
</Actions>
</Init>
<Story name="MyStory">
<Act name="Behavior">
<ManeuverGroup maximumExecutionCount="1" name="ManeuverSequence">
<Actors selectTriggeringEntities="false">
<EntityRef entityRef="adversary"/>
</Actors>
<Maneuver name="LaneChangeSimpleManeuver">
<Event name="AdversaryAccelerates" priority="overwrite">
<Action name="AdversaryAccelerates">
<PrivateAction>
<LongitudinalAction>
<SpeedAction>
<SpeedActionDynamics dynamicsShape="step" value="50" dynamicsDimension="distance"/>
<SpeedActionTarget>
<AbsoluteTargetSpeed value="5.0"/>
</SpeedActionTarget>
</SpeedAction>
</LongitudinalAction>
</PrivateAction>
</Action>
<StartTrigger>
<ConditionGroup>
<Condition name="StartCondition" delay="0" conditionEdge="rising">
<ByEntityCondition>
<TriggeringEntities triggeringEntitiesRule="any">
<EntityRef entityRef="hero"/>
</TriggeringEntities>
<EntityCondition>
<RelativeDistanceCondition entityRef="adversary" relativeDistanceType="cartesianDistance" value="40.0" freespace="false" rule="lessThan"/>
</EntityCondition>
</ByEntityCondition>
</Condition>
</ConditionGroup>
</StartTrigger>
</Event>
<Event name="AdversaryChangesLane" priority="overwrite">
<Action name="AdversaryChangesLane">
<PrivateAction>
<LateralAction>
<LaneChangeAction>
<LaneChangeActionDynamics dynamicsShape="linear" value="25" dynamicsDimension="distance"/>
<LaneChangeTarget>
<RelativeTargetLane entityRef="adversary" value="-1"/>
</LaneChangeTarget>
</LaneChangeAction>
</LateralAction>
</PrivateAction>
</Action>
<StartTrigger>
<ConditionGroup>
<Condition name="AfterAdversaryAccelerates" delay="0" conditionEdge="rising">
<ByValueCondition>
<StoryboardElementStateCondition storyboardElementType="action" storyboardElementRef="AdversaryAccelerates" state="completeState"/>
</ByValueCondition>
</Condition>
</ConditionGroup>
</StartTrigger>
</Event>
</Maneuver>
</ManeuverGroup>
<StartTrigger>
<ConditionGroup>
<Condition name="OverallStartCondition" delay="0" conditionEdge="rising">
<ByEntityCondition>
<TriggeringEntities triggeringEntitiesRule="any">
<EntityRef entityRef="hero"/>
</TriggeringEntities>
<EntityCondition>
<TraveledDistanceCondition value="1.0"/>
</EntityCondition>
</ByEntityCondition>
</Condition>
<Condition name="StartTime" delay="0" conditionEdge="rising">
<ByValueCondition>
<SimulationTimeCondition value="0" rule="equalTo"/>
</ByValueCondition>
</Condition>
</ConditionGroup>
</StartTrigger>
<StopTrigger>
<ConditionGroup>
<Condition name="EndCondition" delay="0" conditionEdge="rising">
<ByEntityCondition>
<TriggeringEntities triggeringEntitiesRule="any">
<EntityRef entityRef="hero"/>
</TriggeringEntities>
<EntityCondition>
<TraveledDistanceCondition value="200.0"/>
</EntityCondition>
</ByEntityCondition>
</Condition>
</ConditionGroup>
</StopTrigger>
</Act>
</Story>
<StopTrigger>
<ConditionGroup>
<Condition name="criteria_RunningStopTest" delay="0" conditionEdge="rising">
<ByValueCondition>
<ParameterCondition parameterRef="" value="" rule="lessThan"/>
</ByValueCondition>
</Condition>
<Condition name="criteria_RunningRedLightTest" delay="0" conditionEdge="rising">
<ByValueCondition>
<ParameterCondition parameterRef="" value="" rule="lessThan"/>
</ByValueCondition>
</Condition>
<Condition name="criteria_WrongLaneTest" delay="0" conditionEdge="rising">
<ByValueCondition>
<ParameterCondition parameterRef="" value="" rule="lessThan"/>
</ByValueCondition>
</Condition>
<Condition name="criteria_OnSidewalkTest" delay="0" conditionEdge="rising">
<ByValueCondition>
<ParameterCondition parameterRef="" value="" rule="lessThan"/>
</ByValueCondition>
</Condition>
<Condition name="criteria_KeepLaneTest" delay="0" conditionEdge="rising">
<ByValueCondition>
<ParameterCondition parameterRef="" value="" rule="lessThan"/>
</ByValueCondition>
</Condition>
<Condition name="criteria_CollisionTest" delay="0" conditionEdge="rising">
<ByValueCondition>
<ParameterCondition parameterRef="" value="" rule="lessThan"/>
</ByValueCondition>
</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_31173">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_close_to_standing_31174">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_w_transform_31175">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_close_to_standing_31176">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_close_to_standing_31177">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_close_to_adversary_31178">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_close_to_standing_31179">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_close_to_hero_31180">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
</Entities>
<Storyboard>
<Init>
<Actions>
<GlobalAction>
<EnvironmentAction>
<Environment name="Environment1">
<TimeOfDay animation="false" dateTime="2019-06-25T12:00:00"/>
<Weather cloudState="free">
<Sun intensity="0.85" azimuth="0" elevation="1.31"/>
<Fog visualRange="100000.0"/>
<Precipitation precipitationType="dry" intensity="0.0"/>
</Weather>
<RoadCondition frictionScaleFactor="1.0"/>
</Environment>
</EnvironmentAction>
</GlobalAction>
<Private entityRef="hero">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-9.4" y="-152.8" z="0.5" h="1.57079632679"/>
</Position>
</TeleportAction>
</PrivateAction>
<PrivateAction>
<ControllerAction>
<AssignControllerAction>
<Controller name="HeroAgent">
<Properties>
<Property name="module" value="external_control"/>
</Properties>
</Controller>
</AssignControllerAction>
<OverrideControllerValueAction>
<Throttle value="0" active="false"/>
<Brake value="0" active="false"/>
<Clutch value="0" active="false"/>
<ParkingBrake value="0" active="false"/>
<SteeringWheel value="0" active="false"/>
<Gear number="0" active="false"/>
</OverrideControllerValueAction>
</ControllerAction>
</PrivateAction>
</Private>
<Private entityRef="adversary">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-9.4" y="-71.0" z="0.5" h="1.57079632679"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="standing">
<PrivateAction>
<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_31173">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-15.466878890991211" y="26.181140899658203" z="0.003068046411499381"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_close_to_standing_31174">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="7.109917163848877" y="20.92983627319336" z="0.003065566997975111"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_w_transform_31175">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="30.327184677124023" y="-83.5549087524414" z="0.5"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_close_to_standing_31176">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-16.020071029663086" y="34.8183708190918" z="0.0030666731763631105"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_close_to_standing_31177">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-1.269127607345581" y="39.33772659301758" z="0.003062629606574774"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_close_to_adversary_31178">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-13.992231369018555" y="-75.69684600830078" z="0.033795278519392014"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_close_to_standing_31179">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-4.7171735763549805" y="22.571346282958984" z="0.003045959398150444"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_close_to_hero_31180">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-13.221742630004883" y="-161.02804565429688" z="0.001708297641016543"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
</Actions>
</Init>
<Story name="MyStory">
<Act name="Behavior">
<ManeuverGroup maximumExecutionCount="1" name="ManeuverSequence">
<Actors selectTriggeringEntities="false">
<EntityRef entityRef="adversary"/>
</Actors>
<Maneuver name="LaneChangeSimpleManeuver">
<Event name="AdversaryAccelerates" priority="overwrite">
<Action name="AdversaryAccelerates">
<PrivateAction>
<LongitudinalAction>
<SpeedAction>
<SpeedActionDynamics dynamicsShape="step" value="50" dynamicsDimension="distance"/>
<SpeedActionTarget>
<AbsoluteTargetSpeed value="5.0"/>
</SpeedActionTarget>
</SpeedAction>
</LongitudinalAction>
</PrivateAction>
</Action>
<StartTrigger>
<ConditionGroup>
<Condition name="StartCondition" delay="0" conditionEdge="rising">
<ByEntityCondition>
<TriggeringEntities triggeringEntitiesRule="any">
<EntityRef entityRef="hero"/>
</TriggeringEntities>
<EntityCondition>
<RelativeDistanceCondition entityRef="adversary" relativeDistanceType="cartesianDistance" value="40.0" freespace="false" rule="lessThan"/>
</EntityCondition>
</ByEntityCondition>
</Condition>
</ConditionGroup>
</StartTrigger>
</Event>
<Event name="AdversaryChangesLane" priority="overwrite">
<Action name="AdversaryChangesLane">
<PrivateAction>
<LateralAction>
<LaneChangeAction>
<LaneChangeActionDynamics dynamicsShape="linear" value="25" dynamicsDimension="distance"/>
<LaneChangeTarget>
<RelativeTargetLane entityRef="adversary" value="-1"/>
</LaneChangeTarget>
</LaneChangeAction>
</LateralAction>
</PrivateAction>
</Action>
<StartTrigger>
<ConditionGroup>
<Condition name="AfterAdversaryAccelerates" delay="0" conditionEdge="rising">
<ByValueCondition>
<StoryboardElementStateCondition storyboardElementType="action" storyboardElementRef="AdversaryAccelerates" state="completeState"/>
</ByValueCondition>
</Condition>
</ConditionGroup>
</StartTrigger>
</Event>
</Maneuver>
</ManeuverGroup>
<StartTrigger>
<ConditionGroup>
<Condition name="OverallStartCondition" delay="0" conditionEdge="rising">
<ByEntityCondition>
<TriggeringEntities triggeringEntitiesRule="any">
<EntityRef entityRef="hero"/>
</TriggeringEntities>
<EntityCondition>
<TraveledDistanceCondition value="1.0"/>
</EntityCondition>
</ByEntityCondition>
</Condition>
<Condition name="StartTime" delay="0" conditionEdge="rising">
<ByValueCondition>
<SimulationTimeCondition value="0" rule="equalTo"/>
</ByValueCondition>
</Condition>
</ConditionGroup>
</StartTrigger>
<StopTrigger>
<ConditionGroup>
<Condition name="EndCondition" delay="0" conditionEdge="rising">
<ByEntityCondition>
<TriggeringEntities triggeringEntitiesRule="any">
<EntityRef entityRef="hero"/>
</TriggeringEntities>
<EntityCondition>
<TraveledDistanceCondition value="200.0"/>
</EntityCondition>
</ByEntityCondition>
</Condition>
</ConditionGroup>
</StopTrigger>
</Act>
</Story>
<StopTrigger>
<ConditionGroup>
<Condition name="criteria_RunningStopTest" delay="0" conditionEdge="rising">
<ByValueCondition>
<ParameterCondition parameterRef="" value="" rule="lessThan"/>
</ByValueCondition>
</Condition>
<Condition name="criteria_RunningRedLightTest" delay="0" conditionEdge="rising">
<ByValueCondition>
<ParameterCondition parameterRef="" value="" rule="lessThan"/>
</ByValueCondition>
</Condition>
<Condition name="criteria_WrongLaneTest" delay="0" conditionEdge="rising">
<ByValueCondition>
<ParameterCondition parameterRef="" value="" rule="lessThan"/>
</ByValueCondition>
</Condition>
<Condition name="criteria_OnSidewalkTest" delay="0" conditionEdge="rising">
<ByValueCondition>
<ParameterCondition parameterRef="" value="" rule="lessThan"/>
</ByValueCondition>
</Condition>
<Condition name="criteria_KeepLaneTest" delay="0" conditionEdge="rising">
<ByValueCondition>
<ParameterCondition parameterRef="" value="" rule="lessThan"/>
</ByValueCondition>
</Condition>
<Condition name="criteria_CollisionTest" delay="0" conditionEdge="rising">
<ByValueCondition>
<ParameterCondition parameterRef="" value="" rule="lessThan"/>
</ByValueCondition>
</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 actor named pedestrian_w_transform_25031?
```
<?xml version="1.0" ?>
<OpenSCENARIO>
<FileHeader revMajor="1" revMinor="0" date="2020-03-24T12:00:00" description="CARLA:LaneChangeSimple" author=""/>
<ParameterDeclarations/>
<CatalogLocations/>
<RoadNetwork>
<LogicFile filepath="Town04"/>
<SceneGraphFile filepath=""/>
</RoadNetwork>
<Entities>
<ScenarioObject name="hero">
<Vehicle name="vehicle.tesla.model3" vehicleCategory="car">
<ParameterDeclarations/>
<Performance maxSpeed="69.444" maxAcceleration="200" maxDeceleration="10.0"/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2.1" length="4.5" height="1.8"/>
</BoundingBox>
<Axles>
<FrontAxle maxSteering="0.5" wheelDiameter="0.6" trackWidth="1.8" positionX="3.1" positionZ="0.3"/>
<RearAxle maxSteering="0.0" wheelDiameter="0.6" trackWidth="1.8" positionX="0.0" positionZ="0.3"/>
</Axles>
<Properties>
<Property name="type" value="ego_vehicle"/>
</Properties>
</Vehicle>
</ScenarioObject>
<ScenarioObject name="adversary">
<Vehicle name="vehicle.lincoln.mkz_2017" vehicleCategory="car">
<ParameterDeclarations/>
<Performance maxSpeed="69.444" maxAcceleration="200" maxDeceleration="10.0"/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2.1" length="4.5" height="1.8"/>
</BoundingBox>
<Axles>
<FrontAxle maxSteering="0.5" wheelDiameter="0.6" trackWidth="1.8" positionX="3.1" positionZ="0.3"/>
<RearAxle maxSteering="0.0" wheelDiameter="0.6" trackWidth="1.8" positionX="0.0" positionZ="0.3"/>
</Axles>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Vehicle>
</ScenarioObject>
<ScenarioObject name="standing">
<Vehicle name="vehicle.volkswagen.t2" vehicleCategory="car">
<ParameterDeclarations/>
<Performance maxSpeed="69.444" maxAcceleration="200" maxDeceleration="10.0"/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2.1" length="4.5" height="1.8"/>
</BoundingBox>
<Axles>
<FrontAxle maxSteering="0.5" wheelDiameter="0.6" trackWidth="1.8" positionX="3.1" positionZ="0.3"/>
<RearAxle maxSteering="0.0" wheelDiameter="0.6" 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_25025">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_w_transform_25027">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_w_transform_25029">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_w_transform_25030">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_w_transform_25031">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_w_transform_25032">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_close_to_hero_25033">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_w_transform_25034">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_close_to_standing_25035">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_w_transform_25036">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_w_transform_25037">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
</Entities>
<Storyboard>
<Init>
<Actions>
<GlobalAction>
<EnvironmentAction>
<Environment name="Environment1">
<TimeOfDay animation="false" dateTime="2019-06-25T12:00:00"/>
<Weather cloudState="free">
<Sun intensity="0.85" azimuth="0" elevation="1.31"/>
<Fog visualRange="100000.0"/>
<Precipitation precipitationType="dry" intensity="0.0"/>
</Weather>
<RoadCondition frictionScaleFactor="1.0"/>
</Environment>
</EnvironmentAction>
</GlobalAction>
<Private entityRef="hero">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-9.4" y="-152.8" z="0.5" h="1.57079632679"/>
</Position>
</TeleportAction>
</PrivateAction>
<PrivateAction>
<ControllerAction>
<AssignControllerAction>
<Controller name="HeroAgent">
<Properties>
<Property name="module" value="external_control"/>
</Properties>
</Controller>
</AssignControllerAction>
<OverrideControllerValueAction>
<Throttle value="0" active="false"/>
<Brake value="0" active="false"/>
<Clutch value="0" active="false"/>
<ParkingBrake value="0" active="false"/>
<SteeringWheel value="0" active="false"/>
<Gear number="0" active="false"/>
</OverrideControllerValueAction>
</ControllerAction>
</PrivateAction>
</Private>
<Private entityRef="adversary">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-9.4" y="-71.0" z="0.5" h="1.57079632679"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="standing">
<PrivateAction>
<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_25025">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-3.1128289699554443" y="-151.31832885742188" z="0.0019445419311523438"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_w_transform_25027">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-24.67504119873047" y="-48.38704299926758" z="0.5"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_w_transform_25029">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-85.28479766845703" y="40.378456115722656" z="0.5"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_w_transform_25030">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-61.6682243347168" y="20.333498001098633" z="0.5"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_w_transform_25031">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="30.360593795776367" y="-99.5031509399414" z="0.5"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_w_transform_25032">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-8.727401733398438" y="64.17862701416016" z="0.5"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_close_to_hero_25033">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-17.292451858520508" y="-151.5205078125" z="0.0019445419311523438"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_w_transform_25034">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-11.028846740722656" y="49.57899475097656" z="0.5"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_close_to_standing_25035">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-14.57386589050293" y="30.794483184814453" z="0.003153915284201503"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_w_transform_25036">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-61.31789779663086" y="15.281980514526367" z="0.5"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_w_transform_25037">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-90.99938201904297" y="90.77017211914062" 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_25025">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_w_transform_25027">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_w_transform_25029">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_w_transform_25030">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_w_transform_25032">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_close_to_hero_25033">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_w_transform_25034">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_close_to_standing_25035">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_w_transform_25036">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_w_transform_25037">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
</Entities>
<Storyboard>
<Init>
<Actions>
<GlobalAction>
<EnvironmentAction>
<Environment name="Environment1">
<TimeOfDay animation="false" dateTime="2019-06-25T12:00:00"/>
<Weather cloudState="free">
<Sun intensity="0.85" azimuth="0" elevation="1.31"/>
<Fog visualRange="100000.0"/>
<Precipitation precipitationType="dry" intensity="0.0"/>
</Weather>
<RoadCondition frictionScaleFactor="1.0"/>
</Environment>
</EnvironmentAction>
</GlobalAction>
<Private entityRef="hero">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-9.4" y="-152.8" z="0.5" h="1.57079632679"/>
</Position>
</TeleportAction>
</PrivateAction>
<PrivateAction>
<ControllerAction>
<AssignControllerAction>
<Controller name="HeroAgent">
<Properties>
<Property name="module" value="external_control"/>
</Properties>
</Controller>
</AssignControllerAction>
<OverrideControllerValueAction>
<Throttle value="0" active="false"/>
<Brake value="0" active="false"/>
<Clutch value="0" active="false"/>
<ParkingBrake value="0" active="false"/>
<SteeringWheel value="0" active="false"/>
<Gear number="0" active="false"/>
</OverrideControllerValueAction>
</ControllerAction>
</PrivateAction>
</Private>
<Private entityRef="adversary">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-9.4" y="-71.0" z="0.5" h="1.57079632679"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="standing">
<PrivateAction>
<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_25025">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-3.1128289699554443" y="-151.31832885742188" z="0.0019445419311523438"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_w_transform_25027">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-24.67504119873047" y="-48.38704299926758" z="0.5"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_w_transform_25029">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-85.28479766845703" y="40.378456115722656" z="0.5"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_w_transform_25030">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-61.6682243347168" y="20.333498001098633" z="0.5"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_w_transform_25032">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-8.727401733398438" y="64.17862701416016" z="0.5"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_close_to_hero_25033">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-17.292451858520508" y="-151.5205078125" z="0.0019445419311523438"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_w_transform_25034">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-11.028846740722656" y="49.57899475097656" z="0.5"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_close_to_standing_25035">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-14.57386589050293" y="30.794483184814453" z="0.003153915284201503"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_w_transform_25036">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-61.31789779663086" y="15.281980514526367" z="0.5"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_w_transform_25037">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-90.99938201904297" y="90.77017211914062" 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 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_25193">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
</Entities>
<Storyboard>
<Init>
<Actions>
<GlobalAction>
<EnvironmentAction>
<Environment name="Environment1">
<TimeOfDay animation="false" dateTime="2019-06-25T12:00:00"/>
<Weather cloudState="free">
<Sun intensity="0.85" azimuth="0" elevation="1.31"/>
<Fog visualRange="100000.0"/>
<Precipitation precipitationType="dry" intensity="0.0"/>
</Weather>
<RoadCondition frictionScaleFactor="1.0"/>
</Environment>
</EnvironmentAction>
</GlobalAction>
<Private entityRef="hero">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-9.4" y="-152.8" z="0.5" h="1.57079632679"/>
</Position>
</TeleportAction>
</PrivateAction>
<PrivateAction>
<ControllerAction>
<AssignControllerAction>
<Controller name="HeroAgent">
<Properties>
<Property name="module" value="external_control"/>
</Properties>
</Controller>
</AssignControllerAction>
<OverrideControllerValueAction>
<Throttle value="0" active="false"/>
<Brake value="0" active="false"/>
<Clutch value="0" active="false"/>
<ParkingBrake value="0" active="false"/>
<SteeringWheel value="0" active="false"/>
<Gear number="0" active="false"/>
</OverrideControllerValueAction>
</ControllerAction>
</PrivateAction>
</Private>
<Private entityRef="adversary">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-9.4" y="-71.0" z="0.5" h="1.57079632679"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="standing">
<PrivateAction>
<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_25193">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-6.121636390686035" y="-147.48876953125" 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_25193">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_close_to_hero_25195">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
</Entities>
<Storyboard>
<Init>
<Actions>
<GlobalAction>
<EnvironmentAction>
<Environment name="Environment1">
<TimeOfDay animation="false" dateTime="2019-06-25T12:00:00"/>
<Weather cloudState="free">
<Sun intensity="0.85" azimuth="0" elevation="1.31"/>
<Fog visualRange="100000.0"/>
<Precipitation precipitationType="dry" intensity="0.0"/>
</Weather>
<RoadCondition frictionScaleFactor="1.0"/>
</Environment>
</EnvironmentAction>
</GlobalAction>
<Private entityRef="hero">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-9.4" y="-152.8" z="0.5" h="1.57079632679"/>
</Position>
</TeleportAction>
</PrivateAction>
<PrivateAction>
<ControllerAction>
<AssignControllerAction>
<Controller name="HeroAgent">
<Properties>
<Property name="module" value="external_control"/>
</Properties>
</Controller>
</AssignControllerAction>
<OverrideControllerValueAction>
<Throttle value="0" active="false"/>
<Brake value="0" active="false"/>
<Clutch value="0" active="false"/>
<ParkingBrake value="0" active="false"/>
<SteeringWheel value="0" active="false"/>
<Gear number="0" active="false"/>
</OverrideControllerValueAction>
</ControllerAction>
</PrivateAction>
</Private>
<Private entityRef="adversary">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-9.4" y="-71.0" z="0.5" h="1.57079632679"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="standing">
<PrivateAction>
<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_25193">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-6.121636390686035" y="-147.48876953125" z="0.0013734435196965933"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_close_to_hero_25195">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-1.7177566289901733" y="-153.2915496826172" 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 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_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>
</Entities>
<Storyboard>
<Init>
<Actions>
<GlobalAction>
<EnvironmentAction>
<Environment name="Environment1">
<TimeOfDay animation="false" dateTime="2019-06-25T12:00:00"/>
<Weather cloudState="free">
<Sun intensity="0.85" azimuth="0" elevation="1.31"/>
<Fog visualRange="100000.0"/>
<Precipitation precipitationType="dry" intensity="0.0"/>
</Weather>
<RoadCondition frictionScaleFactor="1.0"/>
</Environment>
</EnvironmentAction>
</GlobalAction>
<Private entityRef="hero">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-9.4" y="-152.8" z="0.5" h="1.57079632679"/>
</Position>
</TeleportAction>
</PrivateAction>
<PrivateAction>
<ControllerAction>
<AssignControllerAction>
<Controller name="HeroAgent">
<Properties>
<Property name="module" value="external_control"/>
</Properties>
</Controller>
</AssignControllerAction>
<OverrideControllerValueAction>
<Throttle value="0" active="false"/>
<Brake value="0" active="false"/>
<Clutch value="0" active="false"/>
<ParkingBrake value="0" active="false"/>
<SteeringWheel value="0" active="false"/>
<Gear number="0" active="false"/>
</OverrideControllerValueAction>
</ControllerAction>
</PrivateAction>
</Private>
<Private entityRef="adversary">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-9.4" y="-71.0" z="0.5" h="1.57079632679"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="standing">
<PrivateAction>
<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>
</Actions>
</Init>
<Story name="MyStory">
<Act name="Behavior">
<ManeuverGroup maximumExecutionCount="1" name="ManeuverSequence">
<Actors selectTriggeringEntities="false">
<EntityRef entityRef="adversary"/>
</Actors>
<Maneuver name="LaneChangeSimpleManeuver">
<Event name="AdversaryAccelerates" priority="overwrite">
<Action name="AdversaryAccelerates">
<PrivateAction>
<LongitudinalAction>
<SpeedAction>
<SpeedActionDynamics dynamicsShape="step" value="50" dynamicsDimension="distance"/>
<SpeedActionTarget>
<AbsoluteTargetSpeed value="5.0"/>
</SpeedActionTarget>
</SpeedAction>
</LongitudinalAction>
</PrivateAction>
</Action>
<StartTrigger>
<ConditionGroup>
<Condition name="StartCondition" delay="0" conditionEdge="rising">
<ByEntityCondition>
<TriggeringEntities triggeringEntitiesRule="any">
<EntityRef entityRef="hero"/>
</TriggeringEntities>
<EntityCondition>
<RelativeDistanceCondition entityRef="adversary" relativeDistanceType="cartesianDistance" value="40.0" freespace="false" rule="lessThan"/>
</EntityCondition>
</ByEntityCondition>
</Condition>
</ConditionGroup>
</StartTrigger>
</Event>
<Event name="AdversaryChangesLane" priority="overwrite">
<Action name="AdversaryChangesLane">
<PrivateAction>
<LateralAction>
<LaneChangeAction>
<LaneChangeActionDynamics dynamicsShape="linear" value="25" dynamicsDimension="distance"/>
<LaneChangeTarget>
<RelativeTargetLane entityRef="adversary" value="-1"/>
</LaneChangeTarget>
</LaneChangeAction>
</LateralAction>
</PrivateAction>
</Action>
<StartTrigger>
<ConditionGroup>
<Condition name="AfterAdversaryAccelerates" delay="0" conditionEdge="rising">
<ByValueCondition>
<StoryboardElementStateCondition storyboardElementType="action" storyboardElementRef="AdversaryAccelerates" state="completeState"/>
</ByValueCondition>
</Condition>
</ConditionGroup>
</StartTrigger>
</Event>
</Maneuver>
</ManeuverGroup>
<StartTrigger>
<ConditionGroup>
<Condition name="OverallStartCondition" delay="0" conditionEdge="rising">
<ByEntityCondition>
<TriggeringEntities triggeringEntitiesRule="any">
<EntityRef entityRef="hero"/>
</TriggeringEntities>
<EntityCondition>
<TraveledDistanceCondition value="1.0"/>
</EntityCondition>
</ByEntityCondition>
</Condition>
<Condition name="StartTime" delay="0" conditionEdge="rising">
<ByValueCondition>
<SimulationTimeCondition value="0" rule="equalTo"/>
</ByValueCondition>
</Condition>
</ConditionGroup>
</StartTrigger>
<StopTrigger>
<ConditionGroup>
<Condition name="EndCondition" delay="0" conditionEdge="rising">
<ByEntityCondition>
<TriggeringEntities triggeringEntitiesRule="any">
<EntityRef entityRef="hero"/>
</TriggeringEntities>
<EntityCondition>
<TraveledDistanceCondition value="200.0"/>
</EntityCondition>
</ByEntityCondition>
</Condition>
</ConditionGroup>
</StopTrigger>
</Act>
</Story>
<StopTrigger>
<ConditionGroup>
<Condition name="criteria_RunningStopTest" delay="0" conditionEdge="rising">
<ByValueCondition>
<ParameterCondition parameterRef="" value="" rule="lessThan"/>
</ByValueCondition>
</Condition>
<Condition name="criteria_RunningRedLightTest" delay="0" conditionEdge="rising">
<ByValueCondition>
<ParameterCondition parameterRef="" value="" rule="lessThan"/>
</ByValueCondition>
</Condition>
<Condition name="criteria_WrongLaneTest" delay="0" conditionEdge="rising">
<ByValueCondition>
<ParameterCondition parameterRef="" value="" rule="lessThan"/>
</ByValueCondition>
</Condition>
<Condition name="criteria_OnSidewalkTest" delay="0" conditionEdge="rising">
<ByValueCondition>
<ParameterCondition parameterRef="" value="" rule="lessThan"/>
</ByValueCondition>
</Condition>
<Condition name="criteria_KeepLaneTest" delay="0" conditionEdge="rising">
<ByValueCondition>
<ParameterCondition parameterRef="" value="" rule="lessThan"/>
</ByValueCondition>
</Condition>
<Condition name="criteria_CollisionTest" delay="0" conditionEdge="rising">
<ByValueCondition>
<ParameterCondition parameterRef="" value="" rule="lessThan"/>
</ByValueCondition>
</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>
</Entities>
<Storyboard>
<Init>
<Actions>
<GlobalAction>
<EnvironmentAction>
<Environment name="Environment1">
<TimeOfDay animation="false" dateTime="2019-06-25T12:00:00"/>
<Weather cloudState="free">
<Sun intensity="0.85" azimuth="0" elevation="1.31"/>
<Fog visualRange="100000.0"/>
<Precipitation precipitationType="dry" intensity="0.0"/>
</Weather>
<RoadCondition frictionScaleFactor="1.0"/>
</Environment>
</EnvironmentAction>
</GlobalAction>
<Private entityRef="hero">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-9.4" y="-152.8" z="0.5" h="1.57079632679"/>
</Position>
</TeleportAction>
</PrivateAction>
<PrivateAction>
<ControllerAction>
<AssignControllerAction>
<Controller name="HeroAgent">
<Properties>
<Property name="module" value="external_control"/>
</Properties>
</Controller>
</AssignControllerAction>
<OverrideControllerValueAction>
<Throttle value="0" active="false"/>
<Brake value="0" active="false"/>
<Clutch value="0" active="false"/>
<ParkingBrake value="0" active="false"/>
<SteeringWheel value="0" active="false"/>
<Gear number="0" active="false"/>
</OverrideControllerValueAction>
</ControllerAction>
</PrivateAction>
</Private>
<Private entityRef="adversary">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-9.4" y="-71.0" z="0.5" h="1.57079632679"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="standing">
<PrivateAction>
<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>
</Actions>
</Init>
<Story name="MyStory">
<Act name="Behavior">
<ManeuverGroup maximumExecutionCount="1" name="ManeuverSequence">
<Actors selectTriggeringEntities="false">
<EntityRef entityRef="adversary"/>
</Actors>
<Maneuver name="LaneChangeSimpleManeuver">
<Event name="AdversaryAccelerates" priority="overwrite">
<Action name="AdversaryAccelerates">
<PrivateAction>
<LongitudinalAction>
<SpeedAction>
<SpeedActionDynamics dynamicsShape="step" value="50" dynamicsDimension="distance"/>
<SpeedActionTarget>
<AbsoluteTargetSpeed value="5.0"/>
</SpeedActionTarget>
</SpeedAction>
</LongitudinalAction>
</PrivateAction>
</Action>
<StartTrigger>
<ConditionGroup>
<Condition name="StartCondition" delay="0" conditionEdge="rising">
<ByEntityCondition>
<TriggeringEntities triggeringEntitiesRule="any">
<EntityRef entityRef="hero"/>
</TriggeringEntities>
<EntityCondition>
<RelativeDistanceCondition entityRef="adversary" relativeDistanceType="cartesianDistance" value="40.0" freespace="false" rule="lessThan"/>
</EntityCondition>
</ByEntityCondition>
</Condition>
</ConditionGroup>
</StartTrigger>
</Event>
<Event name="AdversaryChangesLane" priority="overwrite">
<Action name="AdversaryChangesLane">
<PrivateAction>
<LateralAction>
<LaneChangeAction>
<LaneChangeActionDynamics dynamicsShape="linear" value="25" dynamicsDimension="distance"/>
<LaneChangeTarget>
<RelativeTargetLane entityRef="adversary" value="-1"/>
</LaneChangeTarget>
</LaneChangeAction>
</LateralAction>
</PrivateAction>
</Action>
<StartTrigger>
<ConditionGroup>
<Condition name="AfterAdversaryAccelerates" delay="0" conditionEdge="rising">
<ByValueCondition>
<StoryboardElementStateCondition storyboardElementType="action" storyboardElementRef="AdversaryAccelerates" state="completeState"/>
</ByValueCondition>
</Condition>
</ConditionGroup>
</StartTrigger>
</Event>
</Maneuver>
</ManeuverGroup>
<StartTrigger>
<ConditionGroup>
<Condition name="OverallStartCondition" delay="0" conditionEdge="rising">
<ByEntityCondition>
<TriggeringEntities triggeringEntitiesRule="any">
<EntityRef entityRef="hero"/>
</TriggeringEntities>
<EntityCondition>
<TraveledDistanceCondition value="1.0"/>
</EntityCondition>
</ByEntityCondition>
</Condition>
<Condition name="StartTime" delay="0" conditionEdge="rising">
<ByValueCondition>
<SimulationTimeCondition value="0" rule="equalTo"/>
</ByValueCondition>
</Condition>
</ConditionGroup>
</StartTrigger>
<StopTrigger>
<ConditionGroup>
<Condition name="EndCondition" delay="0" conditionEdge="rising">
<ByEntityCondition>
<TriggeringEntities triggeringEntitiesRule="any">
<EntityRef entityRef="hero"/>
</TriggeringEntities>
<EntityCondition>
<TraveledDistanceCondition value="200.0"/>
</EntityCondition>
</ByEntityCondition>
</Condition>
</ConditionGroup>
</StopTrigger>
</Act>
</Story>
<StopTrigger>
<ConditionGroup>
<Condition name="criteria_RunningStopTest" delay="0" conditionEdge="rising">
<ByValueCondition>
<ParameterCondition parameterRef="" value="" rule="lessThan"/>
</ByValueCondition>
</Condition>
<Condition name="criteria_RunningRedLightTest" delay="0" conditionEdge="rising">
<ByValueCondition>
<ParameterCondition parameterRef="" value="" rule="lessThan"/>
</ByValueCondition>
</Condition>
<Condition name="criteria_WrongLaneTest" delay="0" conditionEdge="rising">
<ByValueCondition>
<ParameterCondition parameterRef="" value="" rule="lessThan"/>
</ByValueCondition>
</Condition>
<Condition name="criteria_OnSidewalkTest" delay="0" conditionEdge="rising">
<ByValueCondition>
<ParameterCondition parameterRef="" value="" rule="lessThan"/>
</ByValueCondition>
</Condition>
<Condition name="criteria_KeepLaneTest" delay="0" conditionEdge="rising">
<ByValueCondition>
<ParameterCondition parameterRef="" value="" rule="lessThan"/>
</ByValueCondition>
</Condition>
<Condition name="criteria_CollisionTest" delay="0" conditionEdge="rising">
<ByValueCondition>
<ParameterCondition parameterRef="" value="" rule="lessThan"/>
</ByValueCondition>
</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 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_28848">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_w_transform_28849">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_close_to_adversary_28850">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_close_to_standing_28851">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_close_to_hero_28852">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_close_to_standing_28853">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_w_transform_28854">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_close_to_adversary_28855">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_close_to_standing_28856">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_w_transform_28857">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_w_transform_28858">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_close_to_hero_28859">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_close_to_hero_28860">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_w_transform_28861">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_w_transform_28862">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_close_to_standing_28863">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_close_to_standing_28864">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_close_to_standing_28865">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_w_transform_28866">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_w_transform_28867">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_w_transform_28868">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
</Entities>
<Storyboard>
<Init>
<Actions>
<GlobalAction>
<EnvironmentAction>
<Environment name="Environment1">
<TimeOfDay animation="false" dateTime="2019-06-25T12:00:00"/>
<Weather cloudState="free">
<Sun intensity="0.85" azimuth="0" elevation="1.31"/>
<Fog visualRange="100000.0"/>
<Precipitation precipitationType="dry" intensity="0.0"/>
</Weather>
<RoadCondition frictionScaleFactor="1.0"/>
</Environment>
</EnvironmentAction>
</GlobalAction>
<Private entityRef="hero">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-9.4" y="-152.8" z="0.5" h="1.57079632679"/>
</Position>
</TeleportAction>
</PrivateAction>
<PrivateAction>
<ControllerAction>
<AssignControllerAction>
<Controller name="HeroAgent">
<Properties>
<Property name="module" value="external_control"/>
</Properties>
</Controller>
</AssignControllerAction>
<OverrideControllerValueAction>
<Throttle value="0" active="false"/>
<Brake value="0" active="false"/>
<Clutch value="0" active="false"/>
<ParkingBrake value="0" active="false"/>
<SteeringWheel value="0" active="false"/>
<Gear number="0" active="false"/>
</OverrideControllerValueAction>
</ControllerAction>
</PrivateAction>
</Private>
<Private entityRef="adversary">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-9.4" y="-71.0" z="0.5" h="1.57079632679"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="standing">
<PrivateAction>
<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_28848">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-9.968817710876465" y="-77.35447692871094" z="0.033794935792684555"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_w_transform_28849">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="22.102205276489258" y="71.57157135009766" z="0.5"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_close_to_adversary_28850">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="1.3149032592773438" y="-82.46793365478516" z="0.03380550444126129"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_close_to_standing_28851">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-1.9820579290390015" y="35.6302490234375" z="0.0030137633439153433"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_close_to_hero_28852">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-16.4755802154541" y="-252.20208740234375" z="0.001678848173469305"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_close_to_standing_28853">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-2.9986798763275146" y="22.300432205200195" z="0.0030683516524732113"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_w_transform_28854">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="64.8219223022461" y="23.912471771240234" z="0.5"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_close_to_adversary_28855">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-10.465309143066406" y="-70.26612854003906" z="0.03376922383904457"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_close_to_standing_28856">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-2.0473990440368652" y="35.09114456176758" z="0.0030391693580895662"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_w_transform_28857">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="15.310510635375977" y="45.32758712768555" z="0.5"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_w_transform_28858">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-42.089111328125" y="-48.692588806152344" z="0.5"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_close_to_hero_28859">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-11.033174514770508" y="-243.40220642089844" z="0.001678848173469305"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_close_to_hero_28860">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-6.170989513397217" y="-251.64093017578125" z="0.001678848173469305"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_w_transform_28861">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-40.45523452758789" y="-56.07103729248047" z="0.5"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_w_transform_28862">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="76.50861358642578" y="-54.45339584350586" z="0.5"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_close_to_standing_28863">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-13.729108810424805" y="29.378923416137695" z="0.0030247496906667948"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_close_to_standing_28864">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-6.349286079406738" y="24.32501983642578" z="0.003009223844856024"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_close_to_standing_28865">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-1.9534276723861694" y="25.557331085205078" z="0.0030292891897261143"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_w_transform_28866">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-98.87246704101562" y="-73.5679931640625" z="0.5"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_w_transform_28867">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="61.090877532958984" y="-75.75626373291016" z="0.5"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_w_transform_28868">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="84.64071655273438" y="5.622504234313965" 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_28848">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_w_transform_28849">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_close_to_adversary_28850">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_close_to_standing_28851">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_close_to_hero_28852">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_close_to_standing_28853">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_w_transform_28854">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_close_to_standing_28856">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_w_transform_28857">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_w_transform_28858">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_close_to_hero_28859">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_close_to_hero_28860">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_w_transform_28861">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_w_transform_28862">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_close_to_standing_28863">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_close_to_standing_28864">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_close_to_standing_28865">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_w_transform_28866">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_w_transform_28867">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_w_transform_28868">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
</Entities>
<Storyboard>
<Init>
<Actions>
<GlobalAction>
<EnvironmentAction>
<Environment name="Environment1">
<TimeOfDay animation="false" dateTime="2019-06-25T12:00:00"/>
<Weather cloudState="free">
<Sun intensity="0.85" azimuth="0" elevation="1.31"/>
<Fog visualRange="100000.0"/>
<Precipitation precipitationType="dry" intensity="0.0"/>
</Weather>
<RoadCondition frictionScaleFactor="1.0"/>
</Environment>
</EnvironmentAction>
</GlobalAction>
<Private entityRef="hero">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-9.4" y="-152.8" z="0.5" h="1.57079632679"/>
</Position>
</TeleportAction>
</PrivateAction>
<PrivateAction>
<ControllerAction>
<AssignControllerAction>
<Controller name="HeroAgent">
<Properties>
<Property name="module" value="external_control"/>
</Properties>
</Controller>
</AssignControllerAction>
<OverrideControllerValueAction>
<Throttle value="0" active="false"/>
<Brake value="0" active="false"/>
<Clutch value="0" active="false"/>
<ParkingBrake value="0" active="false"/>
<SteeringWheel value="0" active="false"/>
<Gear number="0" active="false"/>
</OverrideControllerValueAction>
</ControllerAction>
</PrivateAction>
</Private>
<Private entityRef="adversary">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-9.4" y="-71.0" z="0.5" h="1.57079632679"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="standing">
<PrivateAction>
<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_28848">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-9.968817710876465" y="-77.35447692871094" z="0.033794935792684555"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_w_transform_28849">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="22.102205276489258" y="71.57157135009766" z="0.5"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_close_to_adversary_28850">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="1.3149032592773438" y="-82.46793365478516" z="0.03380550444126129"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_close_to_standing_28851">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-1.9820579290390015" y="35.6302490234375" z="0.0030137633439153433"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_close_to_hero_28852">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-16.4755802154541" y="-252.20208740234375" z="0.001678848173469305"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_close_to_standing_28853">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-2.9986798763275146" y="22.300432205200195" z="0.0030683516524732113"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_w_transform_28854">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="64.8219223022461" y="23.912471771240234" z="0.5"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_close_to_standing_28856">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-2.0473990440368652" y="35.09114456176758" z="0.0030391693580895662"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_w_transform_28857">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="15.310510635375977" y="45.32758712768555" z="0.5"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_w_transform_28858">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-42.089111328125" y="-48.692588806152344" z="0.5"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_close_to_hero_28859">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-11.033174514770508" y="-243.40220642089844" z="0.001678848173469305"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_close_to_hero_28860">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-6.170989513397217" y="-251.64093017578125" z="0.001678848173469305"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_w_transform_28861">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-40.45523452758789" y="-56.07103729248047" z="0.5"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_w_transform_28862">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="76.50861358642578" y="-54.45339584350586" z="0.5"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_close_to_standing_28863">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-13.729108810424805" y="29.378923416137695" z="0.0030247496906667948"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_close_to_standing_28864">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-6.349286079406738" y="24.32501983642578" z="0.003009223844856024"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_close_to_standing_28865">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-1.9534276723861694" y="25.557331085205078" z="0.0030292891897261143"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_w_transform_28866">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-98.87246704101562" y="-73.5679931640625" z="0.5"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_w_transform_28867">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="61.090877532958984" y="-75.75626373291016" z="0.5"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_w_transform_28868">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="84.64071655273438" y="5.622504234313965" 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_hero_6895">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_w_transform_6896">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_close_to_adversary_6897">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_w_transform_6898">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_close_to_hero_6899">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_close_to_standing_6900">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_close_to_hero_6901">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
</Entities>
<Storyboard>
<Init>
<Actions>
<GlobalAction>
<EnvironmentAction>
<Environment name="Environment1">
<TimeOfDay animation="false" dateTime="2019-06-25T12:00:00"/>
<Weather cloudState="free">
<Sun intensity="0.85" azimuth="0" elevation="1.31"/>
<Fog visualRange="100000.0"/>
<Precipitation precipitationType="dry" intensity="0.0"/>
</Weather>
<RoadCondition frictionScaleFactor="1.0"/>
</Environment>
</EnvironmentAction>
</GlobalAction>
<Private entityRef="hero">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-9.4" y="-152.8" z="0.5" h="1.57079632679"/>
</Position>
</TeleportAction>
</PrivateAction>
<PrivateAction>
<ControllerAction>
<AssignControllerAction>
<Controller name="HeroAgent">
<Properties>
<Property name="module" value="external_control"/>
</Properties>
</Controller>
</AssignControllerAction>
<OverrideControllerValueAction>
<Throttle value="0" active="false"/>
<Brake value="0" active="false"/>
<Clutch value="0" active="false"/>
<ParkingBrake value="0" active="false"/>
<SteeringWheel value="0" active="false"/>
<Gear number="0" active="false"/>
</OverrideControllerValueAction>
</ControllerAction>
</PrivateAction>
</Private>
<Private entityRef="adversary">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-9.4" y="-71.0" z="0.5" h="1.57079632679"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="standing">
<PrivateAction>
<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_6895">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-6.932005882263184" y="-161.3332061767578" z="0.0014652633108198643"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_w_transform_6896">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="0.37850016355514526" y="-81.12969207763672" z="0.5"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_close_to_adversary_6897">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-9.124845504760742" y="-76.76551055908203" z="0.0338163748383522"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_w_transform_6898">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-42.72059631347656" y="12.019530296325684" z="0.5"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_close_to_hero_6899">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-4.115943431854248" y="-141.4126434326172" z="0.0014652633108198643"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_close_to_standing_6900">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-5.9926605224609375" y="24.13115692138672" z="0.0030851364135742188"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_close_to_hero_6901">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-10.561895370483398" y="-160.83493041992188" 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_6895">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_w_transform_6896">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_close_to_adversary_6897">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_w_transform_6898">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_close_to_hero_6899">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_close_to_standing_6900">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_close_to_hero_6901">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_close_to_adversary_6902">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
</Entities>
<Storyboard>
<Init>
<Actions>
<GlobalAction>
<EnvironmentAction>
<Environment name="Environment1">
<TimeOfDay animation="false" dateTime="2019-06-25T12:00:00"/>
<Weather cloudState="free">
<Sun intensity="0.85" azimuth="0" elevation="1.31"/>
<Fog visualRange="100000.0"/>
<Precipitation precipitationType="dry" intensity="0.0"/>
</Weather>
<RoadCondition frictionScaleFactor="1.0"/>
</Environment>
</EnvironmentAction>
</GlobalAction>
<Private entityRef="hero">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-9.4" y="-152.8" z="0.5" h="1.57079632679"/>
</Position>
</TeleportAction>
</PrivateAction>
<PrivateAction>
<ControllerAction>
<AssignControllerAction>
<Controller name="HeroAgent">
<Properties>
<Property name="module" value="external_control"/>
</Properties>
</Controller>
</AssignControllerAction>
<OverrideControllerValueAction>
<Throttle value="0" active="false"/>
<Brake value="0" active="false"/>
<Clutch value="0" active="false"/>
<ParkingBrake value="0" active="false"/>
<SteeringWheel value="0" active="false"/>
<Gear number="0" active="false"/>
</OverrideControllerValueAction>
</ControllerAction>
</PrivateAction>
</Private>
<Private entityRef="adversary">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-9.4" y="-71.0" z="0.5" h="1.57079632679"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="standing">
<PrivateAction>
<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_6895">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-6.932005882263184" y="-161.3332061767578" z="0.0014652633108198643"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_w_transform_6896">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="0.37850016355514526" y="-81.12969207763672" z="0.5"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_close_to_adversary_6897">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-9.124845504760742" y="-76.76551055908203" z="0.0338163748383522"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_w_transform_6898">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-42.72059631347656" y="12.019530296325684" z="0.5"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_close_to_hero_6899">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-4.115943431854248" y="-141.4126434326172" z="0.0014652633108198643"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_close_to_standing_6900">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-5.9926605224609375" y="24.13115692138672" z="0.0030851364135742188"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_close_to_hero_6901">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-10.561895370483398" y="-160.83493041992188" z="0.0014652633108198643"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_close_to_adversary_6902">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="0.9697199463844299" y="-67.0028076171875" z="0.03381164371967316"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
</Actions>
</Init>
<Story name="MyStory">
<Act name="Behavior">
<ManeuverGroup maximumExecutionCount="1" name="ManeuverSequence">
<Actors selectTriggeringEntities="false">
<EntityRef entityRef="adversary"/>
</Actors>
<Maneuver name="LaneChangeSimpleManeuver">
<Event name="AdversaryAccelerates" priority="overwrite">
<Action name="AdversaryAccelerates">
<PrivateAction>
<LongitudinalAction>
<SpeedAction>
<SpeedActionDynamics dynamicsShape="step" value="50" dynamicsDimension="distance"/>
<SpeedActionTarget>
<AbsoluteTargetSpeed value="5.0"/>
</SpeedActionTarget>
</SpeedAction>
</LongitudinalAction>
</PrivateAction>
</Action>
<StartTrigger>
<ConditionGroup>
<Condition name="StartCondition" delay="0" conditionEdge="rising">
<ByEntityCondition>
<TriggeringEntities triggeringEntitiesRule="any">
<EntityRef entityRef="hero"/>
</TriggeringEntities>
<EntityCondition>
<RelativeDistanceCondition entityRef="adversary" relativeDistanceType="cartesianDistance" value="40.0" freespace="false" rule="lessThan"/>
</EntityCondition>
</ByEntityCondition>
</Condition>
</ConditionGroup>
</StartTrigger>
</Event>
<Event name="AdversaryChangesLane" priority="overwrite">
<Action name="AdversaryChangesLane">
<PrivateAction>
<LateralAction>
<LaneChangeAction>
<LaneChangeActionDynamics dynamicsShape="linear" value="25" dynamicsDimension="distance"/>
<LaneChangeTarget>
<RelativeTargetLane entityRef="adversary" value="-1"/>
</LaneChangeTarget>
</LaneChangeAction>
</LateralAction>
</PrivateAction>
</Action>
<StartTrigger>
<ConditionGroup>
<Condition name="AfterAdversaryAccelerates" delay="0" conditionEdge="rising">
<ByValueCondition>
<StoryboardElementStateCondition storyboardElementType="action" storyboardElementRef="AdversaryAccelerates" state="completeState"/>
</ByValueCondition>
</Condition>
</ConditionGroup>
</StartTrigger>
</Event>
</Maneuver>
</ManeuverGroup>
<StartTrigger>
<ConditionGroup>
<Condition name="OverallStartCondition" delay="0" conditionEdge="rising">
<ByEntityCondition>
<TriggeringEntities triggeringEntitiesRule="any">
<EntityRef entityRef="hero"/>
</TriggeringEntities>
<EntityCondition>
<TraveledDistanceCondition value="1.0"/>
</EntityCondition>
</ByEntityCondition>
</Condition>
<Condition name="StartTime" delay="0" conditionEdge="rising">
<ByValueCondition>
<SimulationTimeCondition value="0" rule="equalTo"/>
</ByValueCondition>
</Condition>
</ConditionGroup>
</StartTrigger>
<StopTrigger>
<ConditionGroup>
<Condition name="EndCondition" delay="0" conditionEdge="rising">
<ByEntityCondition>
<TriggeringEntities triggeringEntitiesRule="any">
<EntityRef entityRef="hero"/>
</TriggeringEntities>
<EntityCondition>
<TraveledDistanceCondition value="200.0"/>
</EntityCondition>
</ByEntityCondition>
</Condition>
</ConditionGroup>
</StopTrigger>
</Act>
</Story>
<StopTrigger>
<ConditionGroup>
<Condition name="criteria_RunningStopTest" delay="0" conditionEdge="rising">
<ByValueCondition>
<ParameterCondition parameterRef="" value="" rule="lessThan"/>
</ByValueCondition>
</Condition>
<Condition name="criteria_RunningRedLightTest" delay="0" conditionEdge="rising">
<ByValueCondition>
<ParameterCondition parameterRef="" value="" rule="lessThan"/>
</ByValueCondition>
</Condition>
<Condition name="criteria_WrongLaneTest" delay="0" conditionEdge="rising">
<ByValueCondition>
<ParameterCondition parameterRef="" value="" rule="lessThan"/>
</ByValueCondition>
</Condition>
<Condition name="criteria_OnSidewalkTest" delay="0" conditionEdge="rising">
<ByValueCondition>
<ParameterCondition parameterRef="" value="" rule="lessThan"/>
</ByValueCondition>
</Condition>
<Condition name="criteria_KeepLaneTest" delay="0" conditionEdge="rising">
<ByValueCondition>
<ParameterCondition parameterRef="" value="" rule="lessThan"/>
</ByValueCondition>
</Condition>
<Condition name="criteria_CollisionTest" delay="0" conditionEdge="rising">
<ByValueCondition>
<ParameterCondition parameterRef="" value="" rule="lessThan"/>
</ByValueCondition>
</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_close_to_hero_518?
```
<?xml version="1.0" ?>
<OpenSCENARIO>
<FileHeader revMajor="1" revMinor="0" date="2020-03-24T12:00:00" description="CARLA:LaneChangeSimple" author=""/>
<ParameterDeclarations/>
<CatalogLocations/>
<RoadNetwork>
<LogicFile filepath="Town04"/>
<SceneGraphFile filepath=""/>
</RoadNetwork>
<Entities>
<ScenarioObject name="hero">
<Vehicle name="vehicle.tesla.model3" vehicleCategory="car">
<ParameterDeclarations/>
<Performance maxSpeed="69.444" maxAcceleration="200" maxDeceleration="10.0"/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2.1" length="4.5" height="1.8"/>
</BoundingBox>
<Axles>
<FrontAxle maxSteering="0.5" wheelDiameter="0.6" trackWidth="1.8" positionX="3.1" positionZ="0.3"/>
<RearAxle maxSteering="0.0" wheelDiameter="0.6" trackWidth="1.8" positionX="0.0" positionZ="0.3"/>
</Axles>
<Properties>
<Property name="type" value="ego_vehicle"/>
</Properties>
</Vehicle>
</ScenarioObject>
<ScenarioObject name="adversary">
<Vehicle name="vehicle.lincoln.mkz_2017" vehicleCategory="car">
<ParameterDeclarations/>
<Performance maxSpeed="69.444" maxAcceleration="200" maxDeceleration="10.0"/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2.1" length="4.5" height="1.8"/>
</BoundingBox>
<Axles>
<FrontAxle maxSteering="0.5" wheelDiameter="0.6" trackWidth="1.8" positionX="3.1" positionZ="0.3"/>
<RearAxle maxSteering="0.0" wheelDiameter="0.6" trackWidth="1.8" positionX="0.0" positionZ="0.3"/>
</Axles>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Vehicle>
</ScenarioObject>
<ScenarioObject name="standing">
<Vehicle name="vehicle.volkswagen.t2" vehicleCategory="car">
<ParameterDeclarations/>
<Performance maxSpeed="69.444" maxAcceleration="200" maxDeceleration="10.0"/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2.1" length="4.5" height="1.8"/>
</BoundingBox>
<Axles>
<FrontAxle maxSteering="0.5" wheelDiameter="0.6" trackWidth="1.8" positionX="3.1" positionZ="0.3"/>
<RearAxle maxSteering="0.0" wheelDiameter="0.6" 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_505">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_w_transform_506">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_w_transform_507">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_close_to_standing_509">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_close_to_standing_510">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_close_to_standing_511">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_w_transform_512">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_close_to_hero_514">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_w_transform_515">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_close_to_hero_516">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_close_to_adversary_517">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_close_to_hero_518">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_w_transform_519">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_w_transform_520">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_w_transform_521">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_w_transform_522">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_w_transform_523">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_close_to_hero_524">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_close_to_adversary_526">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_w_transform_527">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_w_transform_529">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_close_to_standing_530">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
</Entities>
<Storyboard>
<Init>
<Actions>
<GlobalAction>
<EnvironmentAction>
<Environment name="Environment1">
<TimeOfDay animation="false" dateTime="2019-06-25T12:00:00"/>
<Weather cloudState="free">
<Sun intensity="0.85" azimuth="0" elevation="1.31"/>
<Fog visualRange="100000.0"/>
<Precipitation precipitationType="dry" intensity="0.0"/>
</Weather>
<RoadCondition frictionScaleFactor="1.0"/>
</Environment>
</EnvironmentAction>
</GlobalAction>
<Private entityRef="hero">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-9.4" y="-152.8" z="0.5" h="1.57079632679"/>
</Position>
</TeleportAction>
</PrivateAction>
<PrivateAction>
<ControllerAction>
<AssignControllerAction>
<Controller name="HeroAgent">
<Properties>
<Property name="module" value="external_control"/>
</Properties>
</Controller>
</AssignControllerAction>
<OverrideControllerValueAction>
<Throttle value="0" active="false"/>
<Brake value="0" active="false"/>
<Clutch value="0" active="false"/>
<ParkingBrake value="0" active="false"/>
<SteeringWheel value="0" active="false"/>
<Gear number="0" active="false"/>
</OverrideControllerValueAction>
</ControllerAction>
</PrivateAction>
</Private>
<Private entityRef="adversary">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-9.4" y="-71.0" z="0.5" h="1.57079632679"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="standing">
<PrivateAction>
<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_505">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-10.456932067871094" y="-76.41544342041016" z="0.03375789523124695"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_w_transform_506">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-1.4135438203811646" y="-59.22283172607422" z="0.5"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_w_transform_507">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="58.66645812988281" y="-31.463945388793945" z="0.5"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_close_to_standing_509">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-8.041783332824707" y="34.39944839477539" z="0.003018875140696764"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_close_to_standing_510">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-10.022761344909668" y="36.489532470703125" z="0.003018875140696764"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_close_to_standing_511">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-13.983838081359863" y="33.19185256958008" z="0.003018875140696764"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_w_transform_512">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-67.07072448730469" y="25.880884170532227" z="0.5"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_close_to_hero_514">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-19.036670684814453" y="-155.82003784179688" z="0.0013734435196965933"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_w_transform_515">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-29.166221618652344" y="-91.86367797851562" z="0.5"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_close_to_hero_516">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-6.4961652755737305" y="-144.87913513183594" z="0.0013734435196965933"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_close_to_adversary_517">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-5.567488670349121" y="-72.15681457519531" z="0.03375789523124695"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_close_to_hero_518">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-12.804126739501953" y="-158.6978759765625" z="0.0013734435196965933"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_w_transform_519">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="54.09222412109375" y="77.0041732788086" z="0.5"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_w_transform_520">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="61.08133316040039" y="-77.00916290283203" z="0.5"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_w_transform_521">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-40.58673095703125" y="58.88469696044922" z="0.5"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_w_transform_522">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-70.47529602050781" y="45.26140213012695" z="0.5"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_w_transform_523">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="9.990406036376953" y="-33.66546630859375" z="0.5"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_close_to_hero_524">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-2.8845722675323486" y="-160.11154174804688" z="0.0013734435196965933"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_close_to_adversary_526">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-20.91098976135254" y="-71.15887451171875" z="0.03375789523124695"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_w_transform_527">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-83.53594207763672" y="-1.8130687475204468" z="0.5"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_w_transform_529">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-55.98503494262695" y="-70.44896697998047" z="0.5"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_close_to_standing_530">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-2.630678653717041" y="23.7639217376709" z="0.003018875140696764"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
</Actions>
</Init>
<Story name="MyStory">
<Act name="Behavior">
<ManeuverGroup maximumExecutionCount="1" name="ManeuverSequence">
<Actors selectTriggeringEntities="false">
<EntityRef entityRef="adversary"/>
</Actors>
<Maneuver name="LaneChangeSimpleManeuver">
<Event name="AdversaryAccelerates" priority="overwrite">
<Action name="AdversaryAccelerates">
<PrivateAction>
<LongitudinalAction>
<SpeedAction>
<SpeedActionDynamics dynamicsShape="step" value="50" dynamicsDimension="distance"/>
<SpeedActionTarget>
<AbsoluteTargetSpeed value="5.0"/>
</SpeedActionTarget>
</SpeedAction>
</LongitudinalAction>
</PrivateAction>
</Action>
<StartTrigger>
<ConditionGroup>
<Condition name="StartCondition" delay="0" conditionEdge="rising">
<ByEntityCondition>
<TriggeringEntities triggeringEntitiesRule="any">
<EntityRef entityRef="hero"/>
</TriggeringEntities>
<EntityCondition>
<RelativeDistanceCondition entityRef="adversary" relativeDistanceType="cartesianDistance" value="40.0" freespace="false" rule="lessThan"/>
</EntityCondition>
</ByEntityCondition>
</Condition>
</ConditionGroup>
</StartTrigger>
</Event>
<Event name="AdversaryChangesLane" priority="overwrite">
<Action name="AdversaryChangesLane">
<PrivateAction>
<LateralAction>
<LaneChangeAction>
<LaneChangeActionDynamics dynamicsShape="linear" value="25" dynamicsDimension="distance"/>
<LaneChangeTarget>
<RelativeTargetLane entityRef="adversary" value="-1"/>
</LaneChangeTarget>
</LaneChangeAction>
</LateralAction>
</PrivateAction>
</Action>
<StartTrigger>
<ConditionGroup>
<Condition name="AfterAdversaryAccelerates" delay="0" conditionEdge="rising">
<ByValueCondition>
<StoryboardElementStateCondition storyboardElementType="action" storyboardElementRef="AdversaryAccelerates" state="completeState"/>
</ByValueCondition>
</Condition>
</ConditionGroup>
</StartTrigger>
</Event>
</Maneuver>
</ManeuverGroup>
<StartTrigger>
<ConditionGroup>
<Condition name="OverallStartCondition" delay="0" conditionEdge="rising">
<ByEntityCondition>
<TriggeringEntities triggeringEntitiesRule="any">
<EntityRef entityRef="hero"/>
</TriggeringEntities>
<EntityCondition>
<TraveledDistanceCondition value="1.0"/>
</EntityCondition>
</ByEntityCondition>
</Condition>
<Condition name="StartTime" delay="0" conditionEdge="rising">
<ByValueCondition>
<SimulationTimeCondition value="0" rule="equalTo"/>
</ByValueCondition>
</Condition>
</ConditionGroup>
</StartTrigger>
<StopTrigger>
<ConditionGroup>
<Condition name="EndCondition" delay="0" conditionEdge="rising">
<ByEntityCondition>
<TriggeringEntities triggeringEntitiesRule="any">
<EntityRef entityRef="hero"/>
</TriggeringEntities>
<EntityCondition>
<TraveledDistanceCondition value="200.0"/>
</EntityCondition>
</ByEntityCondition>
</Condition>
</ConditionGroup>
</StopTrigger>
</Act>
</Story>
<StopTrigger>
<ConditionGroup>
<Condition name="criteria_RunningStopTest" delay="0" conditionEdge="rising">
<ByValueCondition>
<ParameterCondition parameterRef="" value="" rule="lessThan"/>
</ByValueCondition>
</Condition>
<Condition name="criteria_RunningRedLightTest" delay="0" conditionEdge="rising">
<ByValueCondition>
<ParameterCondition parameterRef="" value="" rule="lessThan"/>
</ByValueCondition>
</Condition>
<Condition name="criteria_WrongLaneTest" delay="0" conditionEdge="rising">
<ByValueCondition>
<ParameterCondition parameterRef="" value="" rule="lessThan"/>
</ByValueCondition>
</Condition>
<Condition name="criteria_OnSidewalkTest" delay="0" conditionEdge="rising">
<ByValueCondition>
<ParameterCondition parameterRef="" value="" rule="lessThan"/>
</ByValueCondition>
</Condition>
<Condition name="criteria_KeepLaneTest" delay="0" conditionEdge="rising">
<ByValueCondition>
<ParameterCondition parameterRef="" value="" rule="lessThan"/>
</ByValueCondition>
</Condition>
<Condition name="criteria_CollisionTest" delay="0" conditionEdge="rising">
<ByValueCondition>
<ParameterCondition parameterRef="" value="" rule="lessThan"/>
</ByValueCondition>
</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_505">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_w_transform_506">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_w_transform_507">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_close_to_standing_509">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_close_to_standing_510">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_close_to_standing_511">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_w_transform_512">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_close_to_hero_514">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_w_transform_515">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_close_to_hero_516">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_close_to_adversary_517">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_w_transform_519">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_w_transform_520">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_w_transform_521">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_w_transform_522">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_w_transform_523">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_close_to_hero_524">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_close_to_adversary_526">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_w_transform_527">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_w_transform_529">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_close_to_standing_530">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
</Entities>
<Storyboard>
<Init>
<Actions>
<GlobalAction>
<EnvironmentAction>
<Environment name="Environment1">
<TimeOfDay animation="false" dateTime="2019-06-25T12:00:00"/>
<Weather cloudState="free">
<Sun intensity="0.85" azimuth="0" elevation="1.31"/>
<Fog visualRange="100000.0"/>
<Precipitation precipitationType="dry" intensity="0.0"/>
</Weather>
<RoadCondition frictionScaleFactor="1.0"/>
</Environment>
</EnvironmentAction>
</GlobalAction>
<Private entityRef="hero">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-9.4" y="-152.8" z="0.5" h="1.57079632679"/>
</Position>
</TeleportAction>
</PrivateAction>
<PrivateAction>
<ControllerAction>
<AssignControllerAction>
<Controller name="HeroAgent">
<Properties>
<Property name="module" value="external_control"/>
</Properties>
</Controller>
</AssignControllerAction>
<OverrideControllerValueAction>
<Throttle value="0" active="false"/>
<Brake value="0" active="false"/>
<Clutch value="0" active="false"/>
<ParkingBrake value="0" active="false"/>
<SteeringWheel value="0" active="false"/>
<Gear number="0" active="false"/>
</OverrideControllerValueAction>
</ControllerAction>
</PrivateAction>
</Private>
<Private entityRef="adversary">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-9.4" y="-71.0" z="0.5" h="1.57079632679"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="standing">
<PrivateAction>
<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_505">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-10.456932067871094" y="-76.41544342041016" z="0.03375789523124695"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_w_transform_506">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-1.4135438203811646" y="-59.22283172607422" z="0.5"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_w_transform_507">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="58.66645812988281" y="-31.463945388793945" z="0.5"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_close_to_standing_509">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-8.041783332824707" y="34.39944839477539" z="0.003018875140696764"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_close_to_standing_510">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-10.022761344909668" y="36.489532470703125" z="0.003018875140696764"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_close_to_standing_511">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-13.983838081359863" y="33.19185256958008" z="0.003018875140696764"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_w_transform_512">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-67.07072448730469" y="25.880884170532227" z="0.5"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_close_to_hero_514">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-19.036670684814453" y="-155.82003784179688" z="0.0013734435196965933"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_w_transform_515">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-29.166221618652344" y="-91.86367797851562" z="0.5"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_close_to_hero_516">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-6.4961652755737305" y="-144.87913513183594" z="0.0013734435196965933"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_close_to_adversary_517">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-5.567488670349121" y="-72.15681457519531" z="0.03375789523124695"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_w_transform_519">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="54.09222412109375" y="77.0041732788086" z="0.5"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_w_transform_520">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="61.08133316040039" y="-77.00916290283203" z="0.5"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_w_transform_521">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-40.58673095703125" y="58.88469696044922" z="0.5"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_w_transform_522">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-70.47529602050781" y="45.26140213012695" z="0.5"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_w_transform_523">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="9.990406036376953" y="-33.66546630859375" z="0.5"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_close_to_hero_524">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-2.8845722675323486" y="-160.11154174804688" z="0.0013734435196965933"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_close_to_adversary_526">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-20.91098976135254" y="-71.15887451171875" z="0.03375789523124695"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_w_transform_527">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-83.53594207763672" y="-1.8130687475204468" z="0.5"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_w_transform_529">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-55.98503494262695" y="-70.44896697998047" z="0.5"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_close_to_standing_530">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-2.630678653717041" y="23.7639217376709" z="0.003018875140696764"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
</Actions>
</Init>
<Story name="MyStory">
<Act name="Behavior">
<ManeuverGroup maximumExecutionCount="1" name="ManeuverSequence">
<Actors selectTriggeringEntities="false">
<EntityRef entityRef="adversary"/>
</Actors>
<Maneuver name="LaneChangeSimpleManeuver">
<Event name="AdversaryAccelerates" priority="overwrite">
<Action name="AdversaryAccelerates">
<PrivateAction>
<LongitudinalAction>
<SpeedAction>
<SpeedActionDynamics dynamicsShape="step" value="50" dynamicsDimension="distance"/>
<SpeedActionTarget>
<AbsoluteTargetSpeed value="5.0"/>
</SpeedActionTarget>
</SpeedAction>
</LongitudinalAction>
</PrivateAction>
</Action>
<StartTrigger>
<ConditionGroup>
<Condition name="StartCondition" delay="0" conditionEdge="rising">
<ByEntityCondition>
<TriggeringEntities triggeringEntitiesRule="any">
<EntityRef entityRef="hero"/>
</TriggeringEntities>
<EntityCondition>
<RelativeDistanceCondition entityRef="adversary" relativeDistanceType="cartesianDistance" value="40.0" freespace="false" rule="lessThan"/>
</EntityCondition>
</ByEntityCondition>
</Condition>
</ConditionGroup>
</StartTrigger>
</Event>
<Event name="AdversaryChangesLane" priority="overwrite">
<Action name="AdversaryChangesLane">
<PrivateAction>
<LateralAction>
<LaneChangeAction>
<LaneChangeActionDynamics dynamicsShape="linear" value="25" dynamicsDimension="distance"/>
<LaneChangeTarget>
<RelativeTargetLane entityRef="adversary" value="-1"/>
</LaneChangeTarget>
</LaneChangeAction>
</LateralAction>
</PrivateAction>
</Action>
<StartTrigger>
<ConditionGroup>
<Condition name="AfterAdversaryAccelerates" delay="0" conditionEdge="rising">
<ByValueCondition>
<StoryboardElementStateCondition storyboardElementType="action" storyboardElementRef="AdversaryAccelerates" state="completeState"/>
</ByValueCondition>
</Condition>
</ConditionGroup>
</StartTrigger>
</Event>
</Maneuver>
</ManeuverGroup>
<StartTrigger>
<ConditionGroup>
<Condition name="OverallStartCondition" delay="0" conditionEdge="rising">
<ByEntityCondition>
<TriggeringEntities triggeringEntitiesRule="any">
<EntityRef entityRef="hero"/>
</TriggeringEntities>
<EntityCondition>
<TraveledDistanceCondition value="1.0"/>
</EntityCondition>
</ByEntityCondition>
</Condition>
<Condition name="StartTime" delay="0" conditionEdge="rising">
<ByValueCondition>
<SimulationTimeCondition value="0" rule="equalTo"/>
</ByValueCondition>
</Condition>
</ConditionGroup>
</StartTrigger>
<StopTrigger>
<ConditionGroup>
<Condition name="EndCondition" delay="0" conditionEdge="rising">
<ByEntityCondition>
<TriggeringEntities triggeringEntitiesRule="any">
<EntityRef entityRef="hero"/>
</TriggeringEntities>
<EntityCondition>
<TraveledDistanceCondition value="200.0"/>
</EntityCondition>
</ByEntityCondition>
</Condition>
</ConditionGroup>
</StopTrigger>
</Act>
</Story>
<StopTrigger>
<ConditionGroup>
<Condition name="criteria_RunningStopTest" delay="0" conditionEdge="rising">
<ByValueCondition>
<ParameterCondition parameterRef="" value="" rule="lessThan"/>
</ByValueCondition>
</Condition>
<Condition name="criteria_RunningRedLightTest" delay="0" conditionEdge="rising">
<ByValueCondition>
<ParameterCondition parameterRef="" value="" rule="lessThan"/>
</ByValueCondition>
</Condition>
<Condition name="criteria_WrongLaneTest" delay="0" conditionEdge="rising">
<ByValueCondition>
<ParameterCondition parameterRef="" value="" rule="lessThan"/>
</ByValueCondition>
</Condition>
<Condition name="criteria_OnSidewalkTest" delay="0" conditionEdge="rising">
<ByValueCondition>
<ParameterCondition parameterRef="" value="" rule="lessThan"/>
</ByValueCondition>
</Condition>
<Condition name="criteria_KeepLaneTest" delay="0" conditionEdge="rising">
<ByValueCondition>
<ParameterCondition parameterRef="" value="" rule="lessThan"/>
</ByValueCondition>
</Condition>
<Condition name="criteria_CollisionTest" delay="0" conditionEdge="rising">
<ByValueCondition>
<ParameterCondition parameterRef="" value="" rule="lessThan"/>
</ByValueCondition>
</Condition>
<Condition name="criteria_DrivenDistanceTest" delay="0" conditionEdge="rising">
<ByValueCondition>
<ParameterCondition parameterRef="distance_success" value="100" rule="lessThan"/>
</ByValueCondition>
</Condition>
</ConditionGroup>
</StopTrigger>
</Storyboard>
</OpenSCENARIO>
``` |
i would like to lead you to add pedestrian close to adversary?
```
<?xml version="1.0" ?>
<OpenSCENARIO>
<FileHeader revMajor="1" revMinor="0" date="2020-03-24T12:00:00" description="CARLA:LaneChangeSimple" author=""/>
<ParameterDeclarations/>
<CatalogLocations/>
<RoadNetwork>
<LogicFile filepath="Town04"/>
<SceneGraphFile filepath=""/>
</RoadNetwork>
<Entities>
<ScenarioObject name="hero">
<Vehicle name="vehicle.tesla.model3" vehicleCategory="car">
<ParameterDeclarations/>
<Performance maxSpeed="69.444" maxAcceleration="200" maxDeceleration="10.0"/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2.1" length="4.5" height="1.8"/>
</BoundingBox>
<Axles>
<FrontAxle maxSteering="0.5" wheelDiameter="0.6" trackWidth="1.8" positionX="3.1" positionZ="0.3"/>
<RearAxle maxSteering="0.0" wheelDiameter="0.6" trackWidth="1.8" positionX="0.0" positionZ="0.3"/>
</Axles>
<Properties>
<Property name="type" value="ego_vehicle"/>
</Properties>
</Vehicle>
</ScenarioObject>
<ScenarioObject name="adversary">
<Vehicle name="vehicle.lincoln.mkz_2017" vehicleCategory="car">
<ParameterDeclarations/>
<Performance maxSpeed="69.444" maxAcceleration="200" maxDeceleration="10.0"/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2.1" length="4.5" height="1.8"/>
</BoundingBox>
<Axles>
<FrontAxle maxSteering="0.5" wheelDiameter="0.6" trackWidth="1.8" positionX="3.1" positionZ="0.3"/>
<RearAxle maxSteering="0.0" wheelDiameter="0.6" trackWidth="1.8" positionX="0.0" positionZ="0.3"/>
</Axles>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Vehicle>
</ScenarioObject>
<ScenarioObject name="standing">
<Vehicle name="vehicle.volkswagen.t2" vehicleCategory="car">
<ParameterDeclarations/>
<Performance maxSpeed="69.444" maxAcceleration="200" maxDeceleration="10.0"/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2.1" length="4.5" height="1.8"/>
</BoundingBox>
<Axles>
<FrontAxle maxSteering="0.5" wheelDiameter="0.6" trackWidth="1.8" positionX="3.1" positionZ="0.3"/>
<RearAxle maxSteering="0.0" wheelDiameter="0.6" trackWidth="1.8" positionX="0.0" positionZ="0.3"/>
</Axles>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Vehicle>
</ScenarioObject>
<ScenarioObject name="pedestrian_close_to_standing_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>
</Entities>
<Storyboard>
<Init>
<Actions>
<GlobalAction>
<EnvironmentAction>
<Environment name="Environment1">
<TimeOfDay animation="false" dateTime="2019-06-25T12:00:00"/>
<Weather cloudState="free">
<Sun intensity="0.85" azimuth="0" elevation="1.31"/>
<Fog visualRange="100000.0"/>
<Precipitation precipitationType="dry" intensity="0.0"/>
</Weather>
<RoadCondition frictionScaleFactor="1.0"/>
</Environment>
</EnvironmentAction>
</GlobalAction>
<Private entityRef="hero">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-9.4" y="-152.8" z="0.5" h="1.57079632679"/>
</Position>
</TeleportAction>
</PrivateAction>
<PrivateAction>
<ControllerAction>
<AssignControllerAction>
<Controller name="HeroAgent">
<Properties>
<Property name="module" value="external_control"/>
</Properties>
</Controller>
</AssignControllerAction>
<OverrideControllerValueAction>
<Throttle value="0" active="false"/>
<Brake value="0" active="false"/>
<Clutch value="0" active="false"/>
<ParkingBrake value="0" active="false"/>
<SteeringWheel value="0" active="false"/>
<Gear number="0" active="false"/>
</OverrideControllerValueAction>
</ControllerAction>
</PrivateAction>
</Private>
<Private entityRef="adversary">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-9.4" y="-71.0" z="0.5" h="1.57079632679"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="standing">
<PrivateAction>
<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_4854">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-9.305509567260742" y="21.340526580810547" z="0.0030686950776726007"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_w_transform_4855">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="18.558332443237305" y="-77.10173797607422" z="0.5"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_w_transform_4856">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="64.66104888916016" y="-58.731689453125" 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_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_adversary_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>
</Entities>
<Storyboard>
<Init>
<Actions>
<GlobalAction>
<EnvironmentAction>
<Environment name="Environment1">
<TimeOfDay animation="false" dateTime="2019-06-25T12:00:00"/>
<Weather cloudState="free">
<Sun intensity="0.85" azimuth="0" elevation="1.31"/>
<Fog visualRange="100000.0"/>
<Precipitation precipitationType="dry" intensity="0.0"/>
</Weather>
<RoadCondition frictionScaleFactor="1.0"/>
</Environment>
</EnvironmentAction>
</GlobalAction>
<Private entityRef="hero">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-9.4" y="-152.8" z="0.5" h="1.57079632679"/>
</Position>
</TeleportAction>
</PrivateAction>
<PrivateAction>
<ControllerAction>
<AssignControllerAction>
<Controller name="HeroAgent">
<Properties>
<Property name="module" value="external_control"/>
</Properties>
</Controller>
</AssignControllerAction>
<OverrideControllerValueAction>
<Throttle value="0" active="false"/>
<Brake value="0" active="false"/>
<Clutch value="0" active="false"/>
<ParkingBrake value="0" active="false"/>
<SteeringWheel value="0" active="false"/>
<Gear number="0" active="false"/>
</OverrideControllerValueAction>
</ControllerAction>
</PrivateAction>
</Private>
<Private entityRef="adversary">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-9.4" y="-71.0" z="0.5" h="1.57079632679"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="standing">
<PrivateAction>
<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_4854">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-9.305509567260742" y="21.340526580810547" z="0.0030686950776726007"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_w_transform_4855">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="18.558332443237305" y="-77.10173797607422" z="0.5"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_w_transform_4856">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="64.66104888916016" y="-58.731689453125" z="0.5"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_close_to_adversary_4857">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-13.856050491333008" y="-70.84828186035156" z="0.03384540602564812"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
</Actions>
</Init>
<Story name="MyStory">
<Act name="Behavior">
<ManeuverGroup maximumExecutionCount="1" name="ManeuverSequence">
<Actors selectTriggeringEntities="false">
<EntityRef entityRef="adversary"/>
</Actors>
<Maneuver name="LaneChangeSimpleManeuver">
<Event name="AdversaryAccelerates" priority="overwrite">
<Action name="AdversaryAccelerates">
<PrivateAction>
<LongitudinalAction>
<SpeedAction>
<SpeedActionDynamics dynamicsShape="step" value="50" dynamicsDimension="distance"/>
<SpeedActionTarget>
<AbsoluteTargetSpeed value="5.0"/>
</SpeedActionTarget>
</SpeedAction>
</LongitudinalAction>
</PrivateAction>
</Action>
<StartTrigger>
<ConditionGroup>
<Condition name="StartCondition" delay="0" conditionEdge="rising">
<ByEntityCondition>
<TriggeringEntities triggeringEntitiesRule="any">
<EntityRef entityRef="hero"/>
</TriggeringEntities>
<EntityCondition>
<RelativeDistanceCondition entityRef="adversary" relativeDistanceType="cartesianDistance" value="40.0" freespace="false" rule="lessThan"/>
</EntityCondition>
</ByEntityCondition>
</Condition>
</ConditionGroup>
</StartTrigger>
</Event>
<Event name="AdversaryChangesLane" priority="overwrite">
<Action name="AdversaryChangesLane">
<PrivateAction>
<LateralAction>
<LaneChangeAction>
<LaneChangeActionDynamics dynamicsShape="linear" value="25" dynamicsDimension="distance"/>
<LaneChangeTarget>
<RelativeTargetLane entityRef="adversary" value="-1"/>
</LaneChangeTarget>
</LaneChangeAction>
</LateralAction>
</PrivateAction>
</Action>
<StartTrigger>
<ConditionGroup>
<Condition name="AfterAdversaryAccelerates" delay="0" conditionEdge="rising">
<ByValueCondition>
<StoryboardElementStateCondition storyboardElementType="action" storyboardElementRef="AdversaryAccelerates" state="completeState"/>
</ByValueCondition>
</Condition>
</ConditionGroup>
</StartTrigger>
</Event>
</Maneuver>
</ManeuverGroup>
<StartTrigger>
<ConditionGroup>
<Condition name="OverallStartCondition" delay="0" conditionEdge="rising">
<ByEntityCondition>
<TriggeringEntities triggeringEntitiesRule="any">
<EntityRef entityRef="hero"/>
</TriggeringEntities>
<EntityCondition>
<TraveledDistanceCondition value="1.0"/>
</EntityCondition>
</ByEntityCondition>
</Condition>
<Condition name="StartTime" delay="0" conditionEdge="rising">
<ByValueCondition>
<SimulationTimeCondition value="0" rule="equalTo"/>
</ByValueCondition>
</Condition>
</ConditionGroup>
</StartTrigger>
<StopTrigger>
<ConditionGroup>
<Condition name="EndCondition" delay="0" conditionEdge="rising">
<ByEntityCondition>
<TriggeringEntities triggeringEntitiesRule="any">
<EntityRef entityRef="hero"/>
</TriggeringEntities>
<EntityCondition>
<TraveledDistanceCondition value="200.0"/>
</EntityCondition>
</ByEntityCondition>
</Condition>
</ConditionGroup>
</StopTrigger>
</Act>
</Story>
<StopTrigger>
<ConditionGroup>
<Condition name="criteria_RunningStopTest" delay="0" conditionEdge="rising">
<ByValueCondition>
<ParameterCondition parameterRef="" value="" rule="lessThan"/>
</ByValueCondition>
</Condition>
<Condition name="criteria_RunningRedLightTest" delay="0" conditionEdge="rising">
<ByValueCondition>
<ParameterCondition parameterRef="" value="" rule="lessThan"/>
</ByValueCondition>
</Condition>
<Condition name="criteria_WrongLaneTest" delay="0" conditionEdge="rising">
<ByValueCondition>
<ParameterCondition parameterRef="" value="" rule="lessThan"/>
</ByValueCondition>
</Condition>
<Condition name="criteria_OnSidewalkTest" delay="0" conditionEdge="rising">
<ByValueCondition>
<ParameterCondition parameterRef="" value="" rule="lessThan"/>
</ByValueCondition>
</Condition>
<Condition name="criteria_KeepLaneTest" delay="0" conditionEdge="rising">
<ByValueCondition>
<ParameterCondition parameterRef="" value="" rule="lessThan"/>
</ByValueCondition>
</Condition>
<Condition name="criteria_CollisionTest" delay="0" conditionEdge="rising">
<ByValueCondition>
<ParameterCondition parameterRef="" value="" rule="lessThan"/>
</ByValueCondition>
</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 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_2555">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_w_transform_2556">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_close_to_adversary_2557">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_w_transform_2558">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_close_to_adversary_2559">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_close_to_adversary_2560">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_w_transform_2561">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_w_transform_2562">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_close_to_hero_2563">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_close_to_adversary_2564">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_w_transform_2565">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_close_to_standing_2566">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_close_to_standing_2567">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_close_to_hero_2568">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_close_to_adversary_2569">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_close_to_hero_2570">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_close_to_hero_2571">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_close_to_standing_2573">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_close_to_standing_2574">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_w_transform_2575">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_w_transform_2576">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_w_transform_2577">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_w_transform_2579">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_w_transform_2580">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_close_to_standing_2581">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_close_to_adversary_2582">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
</Entities>
<Storyboard>
<Init>
<Actions>
<GlobalAction>
<EnvironmentAction>
<Environment name="Environment1">
<TimeOfDay animation="false" dateTime="2019-06-25T12:00:00"/>
<Weather cloudState="free">
<Sun intensity="0.85" azimuth="0" elevation="1.31"/>
<Fog visualRange="100000.0"/>
<Precipitation precipitationType="dry" intensity="0.0"/>
</Weather>
<RoadCondition frictionScaleFactor="1.0"/>
</Environment>
</EnvironmentAction>
</GlobalAction>
<Private entityRef="hero">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-9.4" y="-152.8" z="0.5" h="1.57079632679"/>
</Position>
</TeleportAction>
</PrivateAction>
<PrivateAction>
<ControllerAction>
<AssignControllerAction>
<Controller name="HeroAgent">
<Properties>
<Property name="module" value="external_control"/>
</Properties>
</Controller>
</AssignControllerAction>
<OverrideControllerValueAction>
<Throttle value="0" active="false"/>
<Brake value="0" active="false"/>
<Clutch value="0" active="false"/>
<ParkingBrake value="0" active="false"/>
<SteeringWheel value="0" active="false"/>
<Gear number="0" active="false"/>
</OverrideControllerValueAction>
</ControllerAction>
</PrivateAction>
</Private>
<Private entityRef="adversary">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-9.4" y="-71.0" z="0.5" h="1.57079632679"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="standing">
<PrivateAction>
<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_2555">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-24.371932983398438" y="-160.36045837402344" z="0.001423797570168972"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_w_transform_2556">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-75.14698791503906" y="88.42565155029297" z="0.5"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_close_to_adversary_2557">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-10.84152889251709" y="-70.21485900878906" z="0.03380901366472244"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_w_transform_2558">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="74.39037322998047" y="32.18510055541992" z="0.5"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_close_to_adversary_2559">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-10.71741008758545" y="-80.2754898071289" z="0.03380706533789635"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_close_to_adversary_2560">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-12.635149002075195" y="-77.59721374511719" z="0.03376052901148796"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_w_transform_2561">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-89.79214477539062" y="-28.66512107849121" z="0.5"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_w_transform_2562">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-96.42137908935547" y="-76.66780853271484" z="0.5"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_close_to_hero_2563">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-8.792171478271484" y="-142.84434509277344" z="0.001423797570168972"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_close_to_adversary_2564">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-11.049959182739258" y="-64.94364929199219" z="0.0338246151804924"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_w_transform_2565">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-47.543312072753906" y="12.530900955200195" z="0.5"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_close_to_standing_2566">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-5.134350776672363" y="19.290281295776367" z="0.0030445479787886143"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_close_to_standing_2567">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-4.289742946624756" y="23.59300994873047" z="0.0030205915682017803"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_close_to_hero_2568">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-9.19422721862793" y="-160.0287628173828" z="0.001423797570168972"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_close_to_adversary_2569">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-1.89277982711792" y="-77.56843566894531" z="0.03378788009285927"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_close_to_hero_2570">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-16.822229385375977" y="-157.27374267578125" z="0.001423797570168972"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_close_to_hero_2571">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-5.741092681884766" y="-161.53268432617188" z="0.001423797570168972"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_close_to_standing_2573">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-5.146161079406738" y="21.80704689025879" z="0.0030803680419921875"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_close_to_standing_2574">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-9.464763641357422" y="29.27933120727539" z="0.0030808639712631702"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_w_transform_2575">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-75.96612548828125" y="81.7747802734375" z="0.5"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_w_transform_2576">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="35.28339385986328" y="-29.399736404418945" z="0.5"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_w_transform_2577">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-13.882051467895508" y="69.03655242919922" z="0.5"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_w_transform_2579">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="38.16664123535156" y="-98.06718444824219" z="0.5"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_w_transform_2580">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-60.39080810546875" y="71.40888977050781" z="0.5"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_close_to_standing_2581">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-12.260683059692383" y="38.56714630126953" z="0.0030516814440488815"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_close_to_adversary_2582">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-6.49383020401001" y="-58.38980484008789" z="0.033763427287340164"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
</Actions>
</Init>
<Story name="MyStory">
<Act name="Behavior">
<ManeuverGroup maximumExecutionCount="1" name="ManeuverSequence">
<Actors selectTriggeringEntities="false">
<EntityRef entityRef="adversary"/>
</Actors>
<Maneuver name="LaneChangeSimpleManeuver">
<Event name="AdversaryAccelerates" priority="overwrite">
<Action name="AdversaryAccelerates">
<PrivateAction>
<LongitudinalAction>
<SpeedAction>
<SpeedActionDynamics dynamicsShape="step" value="50" dynamicsDimension="distance"/>
<SpeedActionTarget>
<AbsoluteTargetSpeed value="5.0"/>
</SpeedActionTarget>
</SpeedAction>
</LongitudinalAction>
</PrivateAction>
</Action>
<StartTrigger>
<ConditionGroup>
<Condition name="StartCondition" delay="0" conditionEdge="rising">
<ByEntityCondition>
<TriggeringEntities triggeringEntitiesRule="any">
<EntityRef entityRef="hero"/>
</TriggeringEntities>
<EntityCondition>
<RelativeDistanceCondition entityRef="adversary" relativeDistanceType="cartesianDistance" value="40.0" freespace="false" rule="lessThan"/>
</EntityCondition>
</ByEntityCondition>
</Condition>
</ConditionGroup>
</StartTrigger>
</Event>
<Event name="AdversaryChangesLane" priority="overwrite">
<Action name="AdversaryChangesLane">
<PrivateAction>
<LateralAction>
<LaneChangeAction>
<LaneChangeActionDynamics dynamicsShape="linear" value="25" dynamicsDimension="distance"/>
<LaneChangeTarget>
<RelativeTargetLane entityRef="adversary" value="-1"/>
</LaneChangeTarget>
</LaneChangeAction>
</LateralAction>
</PrivateAction>
</Action>
<StartTrigger>
<ConditionGroup>
<Condition name="AfterAdversaryAccelerates" delay="0" conditionEdge="rising">
<ByValueCondition>
<StoryboardElementStateCondition storyboardElementType="action" storyboardElementRef="AdversaryAccelerates" state="completeState"/>
</ByValueCondition>
</Condition>
</ConditionGroup>
</StartTrigger>
</Event>
</Maneuver>
</ManeuverGroup>
<StartTrigger>
<ConditionGroup>
<Condition name="OverallStartCondition" delay="0" conditionEdge="rising">
<ByEntityCondition>
<TriggeringEntities triggeringEntitiesRule="any">
<EntityRef entityRef="hero"/>
</TriggeringEntities>
<EntityCondition>
<TraveledDistanceCondition value="1.0"/>
</EntityCondition>
</ByEntityCondition>
</Condition>
<Condition name="StartTime" delay="0" conditionEdge="rising">
<ByValueCondition>
<SimulationTimeCondition value="0" rule="equalTo"/>
</ByValueCondition>
</Condition>
</ConditionGroup>
</StartTrigger>
<StopTrigger>
<ConditionGroup>
<Condition name="EndCondition" delay="0" conditionEdge="rising">
<ByEntityCondition>
<TriggeringEntities triggeringEntitiesRule="any">
<EntityRef entityRef="hero"/>
</TriggeringEntities>
<EntityCondition>
<TraveledDistanceCondition value="200.0"/>
</EntityCondition>
</ByEntityCondition>
</Condition>
</ConditionGroup>
</StopTrigger>
</Act>
</Story>
<StopTrigger>
<ConditionGroup>
<Condition name="criteria_RunningStopTest" delay="0" conditionEdge="rising">
<ByValueCondition>
<ParameterCondition parameterRef="" value="" rule="lessThan"/>
</ByValueCondition>
</Condition>
<Condition name="criteria_RunningRedLightTest" delay="0" conditionEdge="rising">
<ByValueCondition>
<ParameterCondition parameterRef="" value="" rule="lessThan"/>
</ByValueCondition>
</Condition>
<Condition name="criteria_WrongLaneTest" delay="0" conditionEdge="rising">
<ByValueCondition>
<ParameterCondition parameterRef="" value="" rule="lessThan"/>
</ByValueCondition>
</Condition>
<Condition name="criteria_OnSidewalkTest" delay="0" conditionEdge="rising">
<ByValueCondition>
<ParameterCondition parameterRef="" value="" rule="lessThan"/>
</ByValueCondition>
</Condition>
<Condition name="criteria_KeepLaneTest" delay="0" conditionEdge="rising">
<ByValueCondition>
<ParameterCondition parameterRef="" value="" rule="lessThan"/>
</ByValueCondition>
</Condition>
<Condition name="criteria_CollisionTest" delay="0" conditionEdge="rising">
<ByValueCondition>
<ParameterCondition parameterRef="" value="" rule="lessThan"/>
</ByValueCondition>
</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_2555">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_w_transform_2556">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_close_to_adversary_2557">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_w_transform_2558">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_close_to_adversary_2559">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_close_to_adversary_2560">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_w_transform_2561">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_w_transform_2562">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_close_to_hero_2563">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_w_transform_2565">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_close_to_standing_2566">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_close_to_standing_2567">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_close_to_hero_2568">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_close_to_adversary_2569">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_close_to_hero_2570">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_close_to_hero_2571">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_close_to_standing_2573">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_close_to_standing_2574">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_w_transform_2575">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_w_transform_2576">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_w_transform_2577">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_w_transform_2579">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_w_transform_2580">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_close_to_standing_2581">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_close_to_adversary_2582">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
</Entities>
<Storyboard>
<Init>
<Actions>
<GlobalAction>
<EnvironmentAction>
<Environment name="Environment1">
<TimeOfDay animation="false" dateTime="2019-06-25T12:00:00"/>
<Weather cloudState="free">
<Sun intensity="0.85" azimuth="0" elevation="1.31"/>
<Fog visualRange="100000.0"/>
<Precipitation precipitationType="dry" intensity="0.0"/>
</Weather>
<RoadCondition frictionScaleFactor="1.0"/>
</Environment>
</EnvironmentAction>
</GlobalAction>
<Private entityRef="hero">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-9.4" y="-152.8" z="0.5" h="1.57079632679"/>
</Position>
</TeleportAction>
</PrivateAction>
<PrivateAction>
<ControllerAction>
<AssignControllerAction>
<Controller name="HeroAgent">
<Properties>
<Property name="module" value="external_control"/>
</Properties>
</Controller>
</AssignControllerAction>
<OverrideControllerValueAction>
<Throttle value="0" active="false"/>
<Brake value="0" active="false"/>
<Clutch value="0" active="false"/>
<ParkingBrake value="0" active="false"/>
<SteeringWheel value="0" active="false"/>
<Gear number="0" active="false"/>
</OverrideControllerValueAction>
</ControllerAction>
</PrivateAction>
</Private>
<Private entityRef="adversary">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-9.4" y="-71.0" z="0.5" h="1.57079632679"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="standing">
<PrivateAction>
<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_2555">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-24.371932983398438" y="-160.36045837402344" z="0.001423797570168972"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_w_transform_2556">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-75.14698791503906" y="88.42565155029297" z="0.5"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_close_to_adversary_2557">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-10.84152889251709" y="-70.21485900878906" z="0.03380901366472244"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_w_transform_2558">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="74.39037322998047" y="32.18510055541992" z="0.5"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_close_to_adversary_2559">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-10.71741008758545" y="-80.2754898071289" z="0.03380706533789635"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_close_to_adversary_2560">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-12.635149002075195" y="-77.59721374511719" z="0.03376052901148796"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_w_transform_2561">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-89.79214477539062" y="-28.66512107849121" z="0.5"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_w_transform_2562">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-96.42137908935547" y="-76.66780853271484" z="0.5"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_close_to_hero_2563">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-8.792171478271484" y="-142.84434509277344" z="0.001423797570168972"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_w_transform_2565">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-47.543312072753906" y="12.530900955200195" z="0.5"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_close_to_standing_2566">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-5.134350776672363" y="19.290281295776367" z="0.0030445479787886143"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_close_to_standing_2567">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-4.289742946624756" y="23.59300994873047" z="0.0030205915682017803"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_close_to_hero_2568">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-9.19422721862793" y="-160.0287628173828" z="0.001423797570168972"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_close_to_adversary_2569">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-1.89277982711792" y="-77.56843566894531" z="0.03378788009285927"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_close_to_hero_2570">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-16.822229385375977" y="-157.27374267578125" z="0.001423797570168972"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_close_to_hero_2571">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-5.741092681884766" y="-161.53268432617188" z="0.001423797570168972"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_close_to_standing_2573">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-5.146161079406738" y="21.80704689025879" z="0.0030803680419921875"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_close_to_standing_2574">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-9.464763641357422" y="29.27933120727539" z="0.0030808639712631702"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_w_transform_2575">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-75.96612548828125" y="81.7747802734375" z="0.5"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_w_transform_2576">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="35.28339385986328" y="-29.399736404418945" z="0.5"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_w_transform_2577">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-13.882051467895508" y="69.03655242919922" z="0.5"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_w_transform_2579">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="38.16664123535156" y="-98.06718444824219" z="0.5"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_w_transform_2580">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-60.39080810546875" y="71.40888977050781" z="0.5"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_close_to_standing_2581">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-12.260683059692383" y="38.56714630126953" z="0.0030516814440488815"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_close_to_adversary_2582">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-6.49383020401001" y="-58.38980484008789" z="0.033763427287340164"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
</Actions>
</Init>
<Story name="MyStory">
<Act name="Behavior">
<ManeuverGroup maximumExecutionCount="1" name="ManeuverSequence">
<Actors selectTriggeringEntities="false">
<EntityRef entityRef="adversary"/>
</Actors>
<Maneuver name="LaneChangeSimpleManeuver">
<Event name="AdversaryAccelerates" priority="overwrite">
<Action name="AdversaryAccelerates">
<PrivateAction>
<LongitudinalAction>
<SpeedAction>
<SpeedActionDynamics dynamicsShape="step" value="50" dynamicsDimension="distance"/>
<SpeedActionTarget>
<AbsoluteTargetSpeed value="5.0"/>
</SpeedActionTarget>
</SpeedAction>
</LongitudinalAction>
</PrivateAction>
</Action>
<StartTrigger>
<ConditionGroup>
<Condition name="StartCondition" delay="0" conditionEdge="rising">
<ByEntityCondition>
<TriggeringEntities triggeringEntitiesRule="any">
<EntityRef entityRef="hero"/>
</TriggeringEntities>
<EntityCondition>
<RelativeDistanceCondition entityRef="adversary" relativeDistanceType="cartesianDistance" value="40.0" freespace="false" rule="lessThan"/>
</EntityCondition>
</ByEntityCondition>
</Condition>
</ConditionGroup>
</StartTrigger>
</Event>
<Event name="AdversaryChangesLane" priority="overwrite">
<Action name="AdversaryChangesLane">
<PrivateAction>
<LateralAction>
<LaneChangeAction>
<LaneChangeActionDynamics dynamicsShape="linear" value="25" dynamicsDimension="distance"/>
<LaneChangeTarget>
<RelativeTargetLane entityRef="adversary" value="-1"/>
</LaneChangeTarget>
</LaneChangeAction>
</LateralAction>
</PrivateAction>
</Action>
<StartTrigger>
<ConditionGroup>
<Condition name="AfterAdversaryAccelerates" delay="0" conditionEdge="rising">
<ByValueCondition>
<StoryboardElementStateCondition storyboardElementType="action" storyboardElementRef="AdversaryAccelerates" state="completeState"/>
</ByValueCondition>
</Condition>
</ConditionGroup>
</StartTrigger>
</Event>
</Maneuver>
</ManeuverGroup>
<StartTrigger>
<ConditionGroup>
<Condition name="OverallStartCondition" delay="0" conditionEdge="rising">
<ByEntityCondition>
<TriggeringEntities triggeringEntitiesRule="any">
<EntityRef entityRef="hero"/>
</TriggeringEntities>
<EntityCondition>
<TraveledDistanceCondition value="1.0"/>
</EntityCondition>
</ByEntityCondition>
</Condition>
<Condition name="StartTime" delay="0" conditionEdge="rising">
<ByValueCondition>
<SimulationTimeCondition value="0" rule="equalTo"/>
</ByValueCondition>
</Condition>
</ConditionGroup>
</StartTrigger>
<StopTrigger>
<ConditionGroup>
<Condition name="EndCondition" delay="0" conditionEdge="rising">
<ByEntityCondition>
<TriggeringEntities triggeringEntitiesRule="any">
<EntityRef entityRef="hero"/>
</TriggeringEntities>
<EntityCondition>
<TraveledDistanceCondition value="200.0"/>
</EntityCondition>
</ByEntityCondition>
</Condition>
</ConditionGroup>
</StopTrigger>
</Act>
</Story>
<StopTrigger>
<ConditionGroup>
<Condition name="criteria_RunningStopTest" delay="0" conditionEdge="rising">
<ByValueCondition>
<ParameterCondition parameterRef="" value="" rule="lessThan"/>
</ByValueCondition>
</Condition>
<Condition name="criteria_RunningRedLightTest" delay="0" conditionEdge="rising">
<ByValueCondition>
<ParameterCondition parameterRef="" value="" rule="lessThan"/>
</ByValueCondition>
</Condition>
<Condition name="criteria_WrongLaneTest" delay="0" conditionEdge="rising">
<ByValueCondition>
<ParameterCondition parameterRef="" value="" rule="lessThan"/>
</ByValueCondition>
</Condition>
<Condition name="criteria_OnSidewalkTest" delay="0" conditionEdge="rising">
<ByValueCondition>
<ParameterCondition parameterRef="" value="" rule="lessThan"/>
</ByValueCondition>
</Condition>
<Condition name="criteria_KeepLaneTest" delay="0" conditionEdge="rising">
<ByValueCondition>
<ParameterCondition parameterRef="" value="" rule="lessThan"/>
</ByValueCondition>
</Condition>
<Condition name="criteria_CollisionTest" delay="0" conditionEdge="rising">
<ByValueCondition>
<ParameterCondition parameterRef="" value="" rule="lessThan"/>
</ByValueCondition>
</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 (58.76, 2.16, 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_5827">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_close_to_hero_5828">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_w_transform_5829">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_close_to_adversary_5830">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_w_transform_5831">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_w_transform_5833">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_close_to_hero_5834">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_w_transform_5836">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_w_transform_5837">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_close_to_standing_5838">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_w_transform_5839">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_close_to_hero_5840">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_close_to_standing_5841">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_w_transform_5842">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
</Entities>
<Storyboard>
<Init>
<Actions>
<GlobalAction>
<EnvironmentAction>
<Environment name="Environment1">
<TimeOfDay animation="false" dateTime="2019-06-25T12:00:00"/>
<Weather cloudState="free">
<Sun intensity="0.85" azimuth="0" elevation="1.31"/>
<Fog visualRange="100000.0"/>
<Precipitation precipitationType="dry" intensity="0.0"/>
</Weather>
<RoadCondition frictionScaleFactor="1.0"/>
</Environment>
</EnvironmentAction>
</GlobalAction>
<Private entityRef="hero">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-9.4" y="-152.8" z="0.5" h="1.57079632679"/>
</Position>
</TeleportAction>
</PrivateAction>
<PrivateAction>
<ControllerAction>
<AssignControllerAction>
<Controller name="HeroAgent">
<Properties>
<Property name="module" value="external_control"/>
</Properties>
</Controller>
</AssignControllerAction>
<OverrideControllerValueAction>
<Throttle value="0" active="false"/>
<Brake value="0" active="false"/>
<Clutch value="0" active="false"/>
<ParkingBrake value="0" active="false"/>
<SteeringWheel value="0" active="false"/>
<Gear number="0" active="false"/>
</OverrideControllerValueAction>
</ControllerAction>
</PrivateAction>
</Private>
<Private entityRef="adversary">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-9.4" y="-71.0" z="0.5" h="1.57079632679"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="standing">
<PrivateAction>
<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_5827">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-7.665043830871582" y="-61.59211349487305" z="0.03375663608312607"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_close_to_hero_5828">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-6.439177989959717" y="-146.48870849609375" z="0.0013734435196965933"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_w_transform_5829">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-78.9992904663086" y="-74.57080841064453" z="0.5"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_close_to_adversary_5830">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-13.562756538391113" y="-70.28494262695312" z="0.03375949710607529"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_w_transform_5831">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-8.292835235595703" y="19.05351448059082" z="0.5"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_w_transform_5833">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="55.79287338256836" y="-99.14120483398438" z="0.5"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_close_to_hero_5834">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-2.207015037536621" y="-161.88577270507812" z="0.0013734435196965933"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_w_transform_5836">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="18.67393684387207" y="76.09950256347656" z="0.5"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_w_transform_5837">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="91.72545623779297" y="-23.108121871948242" z="0.5"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_close_to_standing_5838">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-9.871525764465332" y="34.767147064208984" z="0.0030211638659238815"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_w_transform_5839">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="94.7874984741211" y="-71.74683380126953" z="0.5"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_close_to_hero_5840">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-11.68623161315918" y="-160.2902069091797" z="0.0013734435196965933"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_close_to_standing_5841">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-9.649931907653809" y="24.892507553100586" z="0.0030184935312718153"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_w_transform_5842">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-31.643142700195312" y="-38.487648010253906" 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_5827">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_close_to_hero_5828">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_w_transform_5829">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_close_to_adversary_5830">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_w_transform_5831">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_w_transform_5833">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_close_to_hero_5834">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_w_transform_5836">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_w_transform_5837">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_close_to_standing_5838">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_w_transform_5839">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_close_to_hero_5840">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_close_to_standing_5841">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_w_transform_5842">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_w_transform_5843">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
</Entities>
<Storyboard>
<Init>
<Actions>
<GlobalAction>
<EnvironmentAction>
<Environment name="Environment1">
<TimeOfDay animation="false" dateTime="2019-06-25T12:00:00"/>
<Weather cloudState="free">
<Sun intensity="0.85" azimuth="0" elevation="1.31"/>
<Fog visualRange="100000.0"/>
<Precipitation precipitationType="dry" intensity="0.0"/>
</Weather>
<RoadCondition frictionScaleFactor="1.0"/>
</Environment>
</EnvironmentAction>
</GlobalAction>
<Private entityRef="hero">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-9.4" y="-152.8" z="0.5" h="1.57079632679"/>
</Position>
</TeleportAction>
</PrivateAction>
<PrivateAction>
<ControllerAction>
<AssignControllerAction>
<Controller name="HeroAgent">
<Properties>
<Property name="module" value="external_control"/>
</Properties>
</Controller>
</AssignControllerAction>
<OverrideControllerValueAction>
<Throttle value="0" active="false"/>
<Brake value="0" active="false"/>
<Clutch value="0" active="false"/>
<ParkingBrake value="0" active="false"/>
<SteeringWheel value="0" active="false"/>
<Gear number="0" active="false"/>
</OverrideControllerValueAction>
</ControllerAction>
</PrivateAction>
</Private>
<Private entityRef="adversary">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-9.4" y="-71.0" z="0.5" h="1.57079632679"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="standing">
<PrivateAction>
<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_5827">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-7.665043830871582" y="-61.59211349487305" z="0.03375663608312607"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_close_to_hero_5828">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-6.439177989959717" y="-146.48870849609375" z="0.0013734435196965933"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_w_transform_5829">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-78.9992904663086" y="-74.57080841064453" z="0.5"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_close_to_adversary_5830">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-13.562756538391113" y="-70.28494262695312" z="0.03375949710607529"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_w_transform_5831">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-8.292835235595703" y="19.05351448059082" z="0.5"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_w_transform_5833">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="55.79287338256836" y="-99.14120483398438" z="0.5"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_close_to_hero_5834">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-2.207015037536621" y="-161.88577270507812" z="0.0013734435196965933"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_w_transform_5836">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="18.67393684387207" y="76.09950256347656" z="0.5"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_w_transform_5837">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="91.72545623779297" y="-23.108121871948242" z="0.5"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_close_to_standing_5838">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-9.871525764465332" y="34.767147064208984" z="0.0030211638659238815"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_w_transform_5839">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="94.7874984741211" y="-71.74683380126953" z="0.5"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_close_to_hero_5840">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-11.68623161315918" y="-160.2902069091797" z="0.0013734435196965933"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_close_to_standing_5841">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-9.649931907653809" y="24.892507553100586" z="0.0030184935312718153"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_w_transform_5842">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-31.643142700195312" y="-38.487648010253906" z="0.5"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_w_transform_5843">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="58.76481628417969" y="2.1596267223358154" 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 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_20974">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
</Entities>
<Storyboard>
<Init>
<Actions>
<GlobalAction>
<EnvironmentAction>
<Environment name="Environment1">
<TimeOfDay animation="false" dateTime="2019-06-25T12:00:00"/>
<Weather cloudState="free">
<Sun intensity="0.85" azimuth="0" elevation="1.31"/>
<Fog visualRange="100000.0"/>
<Precipitation precipitationType="dry" intensity="0.0"/>
</Weather>
<RoadCondition frictionScaleFactor="1.0"/>
</Environment>
</EnvironmentAction>
</GlobalAction>
<Private entityRef="hero">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-9.4" y="-152.8" z="0.5" h="1.57079632679"/>
</Position>
</TeleportAction>
</PrivateAction>
<PrivateAction>
<ControllerAction>
<AssignControllerAction>
<Controller name="HeroAgent">
<Properties>
<Property name="module" value="external_control"/>
</Properties>
</Controller>
</AssignControllerAction>
<OverrideControllerValueAction>
<Throttle value="0" active="false"/>
<Brake value="0" active="false"/>
<Clutch value="0" active="false"/>
<ParkingBrake value="0" active="false"/>
<SteeringWheel value="0" active="false"/>
<Gear number="0" active="false"/>
</OverrideControllerValueAction>
</ControllerAction>
</PrivateAction>
</Private>
<Private entityRef="adversary">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-9.4" y="-71.0" z="0.5" h="1.57079632679"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="standing">
<PrivateAction>
<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_20974">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-14.926919937133789" y="-241.83787536621094" 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_20974">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_close_to_adversary_20975">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
</Entities>
<Storyboard>
<Init>
<Actions>
<GlobalAction>
<EnvironmentAction>
<Environment name="Environment1">
<TimeOfDay animation="false" dateTime="2019-06-25T12:00:00"/>
<Weather cloudState="free">
<Sun intensity="0.85" azimuth="0" elevation="1.31"/>
<Fog visualRange="100000.0"/>
<Precipitation precipitationType="dry" intensity="0.0"/>
</Weather>
<RoadCondition frictionScaleFactor="1.0"/>
</Environment>
</EnvironmentAction>
</GlobalAction>
<Private entityRef="hero">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-9.4" y="-152.8" z="0.5" h="1.57079632679"/>
</Position>
</TeleportAction>
</PrivateAction>
<PrivateAction>
<ControllerAction>
<AssignControllerAction>
<Controller name="HeroAgent">
<Properties>
<Property name="module" value="external_control"/>
</Properties>
</Controller>
</AssignControllerAction>
<OverrideControllerValueAction>
<Throttle value="0" active="false"/>
<Brake value="0" active="false"/>
<Clutch value="0" active="false"/>
<ParkingBrake value="0" active="false"/>
<SteeringWheel value="0" active="false"/>
<Gear number="0" active="false"/>
</OverrideControllerValueAction>
</ControllerAction>
</PrivateAction>
</Private>
<Private entityRef="adversary">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-9.4" y="-71.0" z="0.5" h="1.57079632679"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="standing">
<PrivateAction>
<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_20974">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-14.926919937133789" y="-241.83787536621094" z="0.001678848173469305"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_close_to_adversary_20975">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-18.05486297607422" y="-68.81785583496094" z="0.03379585221409798"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
</Actions>
</Init>
<Story name="MyStory">
<Act name="Behavior">
<ManeuverGroup maximumExecutionCount="1" name="ManeuverSequence">
<Actors selectTriggeringEntities="false">
<EntityRef entityRef="adversary"/>
</Actors>
<Maneuver name="LaneChangeSimpleManeuver">
<Event name="AdversaryAccelerates" priority="overwrite">
<Action name="AdversaryAccelerates">
<PrivateAction>
<LongitudinalAction>
<SpeedAction>
<SpeedActionDynamics dynamicsShape="step" value="50" dynamicsDimension="distance"/>
<SpeedActionTarget>
<AbsoluteTargetSpeed value="5.0"/>
</SpeedActionTarget>
</SpeedAction>
</LongitudinalAction>
</PrivateAction>
</Action>
<StartTrigger>
<ConditionGroup>
<Condition name="StartCondition" delay="0" conditionEdge="rising">
<ByEntityCondition>
<TriggeringEntities triggeringEntitiesRule="any">
<EntityRef entityRef="hero"/>
</TriggeringEntities>
<EntityCondition>
<RelativeDistanceCondition entityRef="adversary" relativeDistanceType="cartesianDistance" value="40.0" freespace="false" rule="lessThan"/>
</EntityCondition>
</ByEntityCondition>
</Condition>
</ConditionGroup>
</StartTrigger>
</Event>
<Event name="AdversaryChangesLane" priority="overwrite">
<Action name="AdversaryChangesLane">
<PrivateAction>
<LateralAction>
<LaneChangeAction>
<LaneChangeActionDynamics dynamicsShape="linear" value="25" dynamicsDimension="distance"/>
<LaneChangeTarget>
<RelativeTargetLane entityRef="adversary" value="-1"/>
</LaneChangeTarget>
</LaneChangeAction>
</LateralAction>
</PrivateAction>
</Action>
<StartTrigger>
<ConditionGroup>
<Condition name="AfterAdversaryAccelerates" delay="0" conditionEdge="rising">
<ByValueCondition>
<StoryboardElementStateCondition storyboardElementType="action" storyboardElementRef="AdversaryAccelerates" state="completeState"/>
</ByValueCondition>
</Condition>
</ConditionGroup>
</StartTrigger>
</Event>
</Maneuver>
</ManeuverGroup>
<StartTrigger>
<ConditionGroup>
<Condition name="OverallStartCondition" delay="0" conditionEdge="rising">
<ByEntityCondition>
<TriggeringEntities triggeringEntitiesRule="any">
<EntityRef entityRef="hero"/>
</TriggeringEntities>
<EntityCondition>
<TraveledDistanceCondition value="1.0"/>
</EntityCondition>
</ByEntityCondition>
</Condition>
<Condition name="StartTime" delay="0" conditionEdge="rising">
<ByValueCondition>
<SimulationTimeCondition value="0" rule="equalTo"/>
</ByValueCondition>
</Condition>
</ConditionGroup>
</StartTrigger>
<StopTrigger>
<ConditionGroup>
<Condition name="EndCondition" delay="0" conditionEdge="rising">
<ByEntityCondition>
<TriggeringEntities triggeringEntitiesRule="any">
<EntityRef entityRef="hero"/>
</TriggeringEntities>
<EntityCondition>
<TraveledDistanceCondition value="200.0"/>
</EntityCondition>
</ByEntityCondition>
</Condition>
</ConditionGroup>
</StopTrigger>
</Act>
</Story>
<StopTrigger>
<ConditionGroup>
<Condition name="criteria_RunningStopTest" delay="0" conditionEdge="rising">
<ByValueCondition>
<ParameterCondition parameterRef="" value="" rule="lessThan"/>
</ByValueCondition>
</Condition>
<Condition name="criteria_RunningRedLightTest" delay="0" conditionEdge="rising">
<ByValueCondition>
<ParameterCondition parameterRef="" value="" rule="lessThan"/>
</ByValueCondition>
</Condition>
<Condition name="criteria_WrongLaneTest" delay="0" conditionEdge="rising">
<ByValueCondition>
<ParameterCondition parameterRef="" value="" rule="lessThan"/>
</ByValueCondition>
</Condition>
<Condition name="criteria_OnSidewalkTest" delay="0" conditionEdge="rising">
<ByValueCondition>
<ParameterCondition parameterRef="" value="" rule="lessThan"/>
</ByValueCondition>
</Condition>
<Condition name="criteria_KeepLaneTest" delay="0" conditionEdge="rising">
<ByValueCondition>
<ParameterCondition parameterRef="" value="" rule="lessThan"/>
</ByValueCondition>
</Condition>
<Condition name="criteria_CollisionTest" delay="0" conditionEdge="rising">
<ByValueCondition>
<ParameterCondition parameterRef="" value="" rule="lessThan"/>
</ByValueCondition>
</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_hero_17732">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_w_transform_17733">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_w_transform_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_close_to_hero_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_close_to_adversary_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_close_to_adversary_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_w_transform_17740">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
</Entities>
<Storyboard>
<Init>
<Actions>
<GlobalAction>
<EnvironmentAction>
<Environment name="Environment1">
<TimeOfDay animation="false" dateTime="2019-06-25T12:00:00"/>
<Weather cloudState="free">
<Sun intensity="0.85" azimuth="0" elevation="1.31"/>
<Fog visualRange="100000.0"/>
<Precipitation precipitationType="dry" intensity="0.0"/>
</Weather>
<RoadCondition frictionScaleFactor="1.0"/>
</Environment>
</EnvironmentAction>
</GlobalAction>
<Private entityRef="hero">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-9.4" y="-152.8" z="0.5" h="1.57079632679"/>
</Position>
</TeleportAction>
</PrivateAction>
<PrivateAction>
<ControllerAction>
<AssignControllerAction>
<Controller name="HeroAgent">
<Properties>
<Property name="module" value="external_control"/>
</Properties>
</Controller>
</AssignControllerAction>
<OverrideControllerValueAction>
<Throttle value="0" active="false"/>
<Brake value="0" active="false"/>
<Clutch value="0" active="false"/>
<ParkingBrake value="0" active="false"/>
<SteeringWheel value="0" active="false"/>
<Gear number="0" active="false"/>
</OverrideControllerValueAction>
</ControllerAction>
</PrivateAction>
</Private>
<Private entityRef="adversary">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-9.4" y="-71.0" z="0.5" h="1.57079632679"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="standing">
<PrivateAction>
<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_17732">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-3.3648970127105713" y="-156.82595825195312" z="0.0016471862327307463"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_w_transform_17733">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="99.66735076904297" y="10.504694938659668" z="0.5"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_w_transform_17734">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="72.91674041748047" y="-30.909069061279297" z="0.5"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_close_to_hero_17735">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-2.4990124702453613" y="-152.26670837402344" z="0.0016471862327307463"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_close_to_adversary_17736">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="6.252557754516602" y="-65.85791015625" z="0.03376266360282898"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_close_to_adversary_17737">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-7.963413715362549" y="-67.34204864501953" z="0.033827703446149826"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_w_transform_17738">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="78.8170394897461" y="-8.561837196350098" z="0.5"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_w_transform_17739">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-70.50360107421875" y="93.15519714355469" z="0.5"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_w_transform_17740">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-43.692440032958984" y="13.859356880187988" 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_17732">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_w_transform_17733">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_w_transform_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_close_to_hero_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_close_to_adversary_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_close_to_adversary_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_w_transform_17740">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_close_to_hero_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>
</Entities>
<Storyboard>
<Init>
<Actions>
<GlobalAction>
<EnvironmentAction>
<Environment name="Environment1">
<TimeOfDay animation="false" dateTime="2019-06-25T12:00:00"/>
<Weather cloudState="free">
<Sun intensity="0.85" azimuth="0" elevation="1.31"/>
<Fog visualRange="100000.0"/>
<Precipitation precipitationType="dry" intensity="0.0"/>
</Weather>
<RoadCondition frictionScaleFactor="1.0"/>
</Environment>
</EnvironmentAction>
</GlobalAction>
<Private entityRef="hero">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-9.4" y="-152.8" z="0.5" h="1.57079632679"/>
</Position>
</TeleportAction>
</PrivateAction>
<PrivateAction>
<ControllerAction>
<AssignControllerAction>
<Controller name="HeroAgent">
<Properties>
<Property name="module" value="external_control"/>
</Properties>
</Controller>
</AssignControllerAction>
<OverrideControllerValueAction>
<Throttle value="0" active="false"/>
<Brake value="0" active="false"/>
<Clutch value="0" active="false"/>
<ParkingBrake value="0" active="false"/>
<SteeringWheel value="0" active="false"/>
<Gear number="0" active="false"/>
</OverrideControllerValueAction>
</ControllerAction>
</PrivateAction>
</Private>
<Private entityRef="adversary">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-9.4" y="-71.0" z="0.5" h="1.57079632679"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="standing">
<PrivateAction>
<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_17732">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-3.3648970127105713" y="-156.82595825195312" z="0.0016471862327307463"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_w_transform_17733">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="99.66735076904297" y="10.504694938659668" z="0.5"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_w_transform_17734">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="72.91674041748047" y="-30.909069061279297" z="0.5"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_close_to_hero_17735">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-2.4990124702453613" y="-152.26670837402344" z="0.0016471862327307463"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_close_to_adversary_17736">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="6.252557754516602" y="-65.85791015625" z="0.03376266360282898"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_close_to_adversary_17737">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-7.963413715362549" y="-67.34204864501953" z="0.033827703446149826"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_w_transform_17738">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="78.8170394897461" y="-8.561837196350098" z="0.5"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_w_transform_17739">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-70.50360107421875" y="93.15519714355469" z="0.5"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_w_transform_17740">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-43.692440032958984" y="13.859356880187988" z="0.5"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_close_to_hero_17741">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-3.7938334941864014" y="-154.07167053222656" z="0.0016471862327307463"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
</Actions>
</Init>
<Story name="MyStory">
<Act name="Behavior">
<ManeuverGroup maximumExecutionCount="1" name="ManeuverSequence">
<Actors selectTriggeringEntities="false">
<EntityRef entityRef="adversary"/>
</Actors>
<Maneuver name="LaneChangeSimpleManeuver">
<Event name="AdversaryAccelerates" priority="overwrite">
<Action name="AdversaryAccelerates">
<PrivateAction>
<LongitudinalAction>
<SpeedAction>
<SpeedActionDynamics dynamicsShape="step" value="50" dynamicsDimension="distance"/>
<SpeedActionTarget>
<AbsoluteTargetSpeed value="5.0"/>
</SpeedActionTarget>
</SpeedAction>
</LongitudinalAction>
</PrivateAction>
</Action>
<StartTrigger>
<ConditionGroup>
<Condition name="StartCondition" delay="0" conditionEdge="rising">
<ByEntityCondition>
<TriggeringEntities triggeringEntitiesRule="any">
<EntityRef entityRef="hero"/>
</TriggeringEntities>
<EntityCondition>
<RelativeDistanceCondition entityRef="adversary" relativeDistanceType="cartesianDistance" value="40.0" freespace="false" rule="lessThan"/>
</EntityCondition>
</ByEntityCondition>
</Condition>
</ConditionGroup>
</StartTrigger>
</Event>
<Event name="AdversaryChangesLane" priority="overwrite">
<Action name="AdversaryChangesLane">
<PrivateAction>
<LateralAction>
<LaneChangeAction>
<LaneChangeActionDynamics dynamicsShape="linear" value="25" dynamicsDimension="distance"/>
<LaneChangeTarget>
<RelativeTargetLane entityRef="adversary" value="-1"/>
</LaneChangeTarget>
</LaneChangeAction>
</LateralAction>
</PrivateAction>
</Action>
<StartTrigger>
<ConditionGroup>
<Condition name="AfterAdversaryAccelerates" delay="0" conditionEdge="rising">
<ByValueCondition>
<StoryboardElementStateCondition storyboardElementType="action" storyboardElementRef="AdversaryAccelerates" state="completeState"/>
</ByValueCondition>
</Condition>
</ConditionGroup>
</StartTrigger>
</Event>
</Maneuver>
</ManeuverGroup>
<StartTrigger>
<ConditionGroup>
<Condition name="OverallStartCondition" delay="0" conditionEdge="rising">
<ByEntityCondition>
<TriggeringEntities triggeringEntitiesRule="any">
<EntityRef entityRef="hero"/>
</TriggeringEntities>
<EntityCondition>
<TraveledDistanceCondition value="1.0"/>
</EntityCondition>
</ByEntityCondition>
</Condition>
<Condition name="StartTime" delay="0" conditionEdge="rising">
<ByValueCondition>
<SimulationTimeCondition value="0" rule="equalTo"/>
</ByValueCondition>
</Condition>
</ConditionGroup>
</StartTrigger>
<StopTrigger>
<ConditionGroup>
<Condition name="EndCondition" delay="0" conditionEdge="rising">
<ByEntityCondition>
<TriggeringEntities triggeringEntitiesRule="any">
<EntityRef entityRef="hero"/>
</TriggeringEntities>
<EntityCondition>
<TraveledDistanceCondition value="200.0"/>
</EntityCondition>
</ByEntityCondition>
</Condition>
</ConditionGroup>
</StopTrigger>
</Act>
</Story>
<StopTrigger>
<ConditionGroup>
<Condition name="criteria_RunningStopTest" delay="0" conditionEdge="rising">
<ByValueCondition>
<ParameterCondition parameterRef="" value="" rule="lessThan"/>
</ByValueCondition>
</Condition>
<Condition name="criteria_RunningRedLightTest" delay="0" conditionEdge="rising">
<ByValueCondition>
<ParameterCondition parameterRef="" value="" rule="lessThan"/>
</ByValueCondition>
</Condition>
<Condition name="criteria_WrongLaneTest" delay="0" conditionEdge="rising">
<ByValueCondition>
<ParameterCondition parameterRef="" value="" rule="lessThan"/>
</ByValueCondition>
</Condition>
<Condition name="criteria_OnSidewalkTest" delay="0" conditionEdge="rising">
<ByValueCondition>
<ParameterCondition parameterRef="" value="" rule="lessThan"/>
</ByValueCondition>
</Condition>
<Condition name="criteria_KeepLaneTest" delay="0" conditionEdge="rising">
<ByValueCondition>
<ParameterCondition parameterRef="" value="" rule="lessThan"/>
</ByValueCondition>
</Condition>
<Condition name="criteria_CollisionTest" delay="0" conditionEdge="rising">
<ByValueCondition>
<ParameterCondition parameterRef="" value="" rule="lessThan"/>
</ByValueCondition>
</Condition>
<Condition name="criteria_DrivenDistanceTest" delay="0" conditionEdge="rising">
<ByValueCondition>
<ParameterCondition parameterRef="distance_success" value="100" rule="lessThan"/>
</ByValueCondition>
</Condition>
</ConditionGroup>
</StopTrigger>
</Storyboard>
</OpenSCENARIO>
``` |
i would like you to add pedestrian at location (28.05, -85.36, 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_23061">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_close_to_hero_23062">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_w_transform_23063">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_w_transform_23064">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_close_to_standing_23065">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_close_to_standing_23066">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_w_transform_23067">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_w_transform_23068">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
</Entities>
<Storyboard>
<Init>
<Actions>
<GlobalAction>
<EnvironmentAction>
<Environment name="Environment1">
<TimeOfDay animation="false" dateTime="2019-06-25T12:00:00"/>
<Weather cloudState="free">
<Sun intensity="0.85" azimuth="0" elevation="1.31"/>
<Fog visualRange="100000.0"/>
<Precipitation precipitationType="dry" intensity="0.0"/>
</Weather>
<RoadCondition frictionScaleFactor="1.0"/>
</Environment>
</EnvironmentAction>
</GlobalAction>
<Private entityRef="hero">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-9.4" y="-152.8" z="0.5" h="1.57079632679"/>
</Position>
</TeleportAction>
</PrivateAction>
<PrivateAction>
<ControllerAction>
<AssignControllerAction>
<Controller name="HeroAgent">
<Properties>
<Property name="module" value="external_control"/>
</Properties>
</Controller>
</AssignControllerAction>
<OverrideControllerValueAction>
<Throttle value="0" active="false"/>
<Brake value="0" active="false"/>
<Clutch value="0" active="false"/>
<ParkingBrake value="0" active="false"/>
<SteeringWheel value="0" active="false"/>
<Gear number="0" active="false"/>
</OverrideControllerValueAction>
</ControllerAction>
</PrivateAction>
</Private>
<Private entityRef="adversary">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-9.4" y="-71.0" z="0.5" h="1.57079632679"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="standing">
<PrivateAction>
<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_23061">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-18.17028045654297" y="-249.2795867919922" z="0.001678848173469305"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_close_to_hero_23062">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-13.770928382873535" y="-254.82720947265625" z="0.001678848173469305"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_w_transform_23063">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="95.4555435180664" y="-50.08915710449219" z="0.5"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_w_transform_23064">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="50.640689849853516" y="-88.67039489746094" z="0.5"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_close_to_standing_23065">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-10.07805347442627" y="38.35005569458008" z="0.0030555343255400658"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_close_to_standing_23066">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="0.3030056357383728" y="37.72095489501953" z="0.003053321735933423"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_w_transform_23067">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-49.34672164916992" y="73.43693542480469" z="0.5"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_w_transform_23068">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-61.40249252319336" y="86.73078918457031" 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_23061">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_close_to_hero_23062">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_w_transform_23063">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_w_transform_23064">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_close_to_standing_23065">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_close_to_standing_23066">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_w_transform_23067">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_w_transform_23068">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_w_transform_23069">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
</Entities>
<Storyboard>
<Init>
<Actions>
<GlobalAction>
<EnvironmentAction>
<Environment name="Environment1">
<TimeOfDay animation="false" dateTime="2019-06-25T12:00:00"/>
<Weather cloudState="free">
<Sun intensity="0.85" azimuth="0" elevation="1.31"/>
<Fog visualRange="100000.0"/>
<Precipitation precipitationType="dry" intensity="0.0"/>
</Weather>
<RoadCondition frictionScaleFactor="1.0"/>
</Environment>
</EnvironmentAction>
</GlobalAction>
<Private entityRef="hero">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-9.4" y="-152.8" z="0.5" h="1.57079632679"/>
</Position>
</TeleportAction>
</PrivateAction>
<PrivateAction>
<ControllerAction>
<AssignControllerAction>
<Controller name="HeroAgent">
<Properties>
<Property name="module" value="external_control"/>
</Properties>
</Controller>
</AssignControllerAction>
<OverrideControllerValueAction>
<Throttle value="0" active="false"/>
<Brake value="0" active="false"/>
<Clutch value="0" active="false"/>
<ParkingBrake value="0" active="false"/>
<SteeringWheel value="0" active="false"/>
<Gear number="0" active="false"/>
</OverrideControllerValueAction>
</ControllerAction>
</PrivateAction>
</Private>
<Private entityRef="adversary">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-9.4" y="-71.0" z="0.5" h="1.57079632679"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="standing">
<PrivateAction>
<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_23061">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-18.17028045654297" y="-249.2795867919922" z="0.001678848173469305"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_close_to_hero_23062">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-13.770928382873535" y="-254.82720947265625" z="0.001678848173469305"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_w_transform_23063">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="95.4555435180664" y="-50.08915710449219" z="0.5"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_w_transform_23064">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="50.640689849853516" y="-88.67039489746094" z="0.5"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_close_to_standing_23065">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-10.07805347442627" y="38.35005569458008" z="0.0030555343255400658"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_close_to_standing_23066">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="0.3030056357383728" y="37.72095489501953" z="0.003053321735933423"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_w_transform_23067">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-49.34672164916992" y="73.43693542480469" z="0.5"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_w_transform_23068">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-61.40249252319336" y="86.73078918457031" z="0.5"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_w_transform_23069">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="28.053104400634766" y="-85.36483001708984" 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 actor named pedestrian_w_transform_30590?
```
<?xml version="1.0" ?>
<OpenSCENARIO>
<FileHeader revMajor="1" revMinor="0" date="2020-03-24T12:00:00" description="CARLA:LaneChangeSimple" author=""/>
<ParameterDeclarations/>
<CatalogLocations/>
<RoadNetwork>
<LogicFile filepath="Town04"/>
<SceneGraphFile filepath=""/>
</RoadNetwork>
<Entities>
<ScenarioObject name="hero">
<Vehicle name="vehicle.tesla.model3" vehicleCategory="car">
<ParameterDeclarations/>
<Performance maxSpeed="69.444" maxAcceleration="200" maxDeceleration="10.0"/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2.1" length="4.5" height="1.8"/>
</BoundingBox>
<Axles>
<FrontAxle maxSteering="0.5" wheelDiameter="0.6" trackWidth="1.8" positionX="3.1" positionZ="0.3"/>
<RearAxle maxSteering="0.0" wheelDiameter="0.6" trackWidth="1.8" positionX="0.0" positionZ="0.3"/>
</Axles>
<Properties>
<Property name="type" value="ego_vehicle"/>
</Properties>
</Vehicle>
</ScenarioObject>
<ScenarioObject name="adversary">
<Vehicle name="vehicle.lincoln.mkz_2017" vehicleCategory="car">
<ParameterDeclarations/>
<Performance maxSpeed="69.444" maxAcceleration="200" maxDeceleration="10.0"/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2.1" length="4.5" height="1.8"/>
</BoundingBox>
<Axles>
<FrontAxle maxSteering="0.5" wheelDiameter="0.6" trackWidth="1.8" positionX="3.1" positionZ="0.3"/>
<RearAxle maxSteering="0.0" wheelDiameter="0.6" trackWidth="1.8" positionX="0.0" positionZ="0.3"/>
</Axles>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Vehicle>
</ScenarioObject>
<ScenarioObject name="standing">
<Vehicle name="vehicle.volkswagen.t2" vehicleCategory="car">
<ParameterDeclarations/>
<Performance maxSpeed="69.444" maxAcceleration="200" maxDeceleration="10.0"/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2.1" length="4.5" height="1.8"/>
</BoundingBox>
<Axles>
<FrontAxle maxSteering="0.5" wheelDiameter="0.6" trackWidth="1.8" positionX="3.1" positionZ="0.3"/>
<RearAxle maxSteering="0.0" wheelDiameter="0.6" 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_30589">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_w_transform_30590">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_w_transform_30591">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_w_transform_30592">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_w_transform_30593">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_w_transform_30595">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_w_transform_30596">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_close_to_hero_30597">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_close_to_adversary_30598">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
</Entities>
<Storyboard>
<Init>
<Actions>
<GlobalAction>
<EnvironmentAction>
<Environment name="Environment1">
<TimeOfDay animation="false" dateTime="2019-06-25T12:00:00"/>
<Weather cloudState="free">
<Sun intensity="0.85" azimuth="0" elevation="1.31"/>
<Fog visualRange="100000.0"/>
<Precipitation precipitationType="dry" intensity="0.0"/>
</Weather>
<RoadCondition frictionScaleFactor="1.0"/>
</Environment>
</EnvironmentAction>
</GlobalAction>
<Private entityRef="hero">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-9.4" y="-152.8" z="0.5" h="1.57079632679"/>
</Position>
</TeleportAction>
</PrivateAction>
<PrivateAction>
<ControllerAction>
<AssignControllerAction>
<Controller name="HeroAgent">
<Properties>
<Property name="module" value="external_control"/>
</Properties>
</Controller>
</AssignControllerAction>
<OverrideControllerValueAction>
<Throttle value="0" active="false"/>
<Brake value="0" active="false"/>
<Clutch value="0" active="false"/>
<ParkingBrake value="0" active="false"/>
<SteeringWheel value="0" active="false"/>
<Gear number="0" active="false"/>
</OverrideControllerValueAction>
</ControllerAction>
</PrivateAction>
</Private>
<Private entityRef="adversary">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-9.4" y="-71.0" z="0.5" h="1.57079632679"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="standing">
<PrivateAction>
<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_30589">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-14.2199125289917" y="35.621585845947266" z="0.003043708624318242"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_w_transform_30590">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-77.52716827392578" y="97.19495391845703" z="0.5"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_w_transform_30591">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="36.774681091308594" y="-30.744657516479492" z="0.5"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_w_transform_30592">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-74.34379577636719" y="-94.008544921875" z="0.5"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_w_transform_30593">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="97.09436798095703" y="-5.503519535064697" z="0.5"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_w_transform_30595">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-86.28094482421875" y="-22.022024154663086" z="0.5"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_w_transform_30596">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-79.69920349121094" y="-49.04432678222656" z="0.5"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_close_to_hero_30597">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="5.998291969299316" y="-149.1245880126953" z="0.0020544815342873335"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_close_to_adversary_30598">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-11.955299377441406" y="-63.953895568847656" z="0.0338023379445076"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
</Actions>
</Init>
<Story name="MyStory">
<Act name="Behavior">
<ManeuverGroup maximumExecutionCount="1" name="ManeuverSequence">
<Actors selectTriggeringEntities="false">
<EntityRef entityRef="adversary"/>
</Actors>
<Maneuver name="LaneChangeSimpleManeuver">
<Event name="AdversaryAccelerates" priority="overwrite">
<Action name="AdversaryAccelerates">
<PrivateAction>
<LongitudinalAction>
<SpeedAction>
<SpeedActionDynamics dynamicsShape="step" value="50" dynamicsDimension="distance"/>
<SpeedActionTarget>
<AbsoluteTargetSpeed value="5.0"/>
</SpeedActionTarget>
</SpeedAction>
</LongitudinalAction>
</PrivateAction>
</Action>
<StartTrigger>
<ConditionGroup>
<Condition name="StartCondition" delay="0" conditionEdge="rising">
<ByEntityCondition>
<TriggeringEntities triggeringEntitiesRule="any">
<EntityRef entityRef="hero"/>
</TriggeringEntities>
<EntityCondition>
<RelativeDistanceCondition entityRef="adversary" relativeDistanceType="cartesianDistance" value="40.0" freespace="false" rule="lessThan"/>
</EntityCondition>
</ByEntityCondition>
</Condition>
</ConditionGroup>
</StartTrigger>
</Event>
<Event name="AdversaryChangesLane" priority="overwrite">
<Action name="AdversaryChangesLane">
<PrivateAction>
<LateralAction>
<LaneChangeAction>
<LaneChangeActionDynamics dynamicsShape="linear" value="25" dynamicsDimension="distance"/>
<LaneChangeTarget>
<RelativeTargetLane entityRef="adversary" value="-1"/>
</LaneChangeTarget>
</LaneChangeAction>
</LateralAction>
</PrivateAction>
</Action>
<StartTrigger>
<ConditionGroup>
<Condition name="AfterAdversaryAccelerates" delay="0" conditionEdge="rising">
<ByValueCondition>
<StoryboardElementStateCondition storyboardElementType="action" storyboardElementRef="AdversaryAccelerates" state="completeState"/>
</ByValueCondition>
</Condition>
</ConditionGroup>
</StartTrigger>
</Event>
</Maneuver>
</ManeuverGroup>
<StartTrigger>
<ConditionGroup>
<Condition name="OverallStartCondition" delay="0" conditionEdge="rising">
<ByEntityCondition>
<TriggeringEntities triggeringEntitiesRule="any">
<EntityRef entityRef="hero"/>
</TriggeringEntities>
<EntityCondition>
<TraveledDistanceCondition value="1.0"/>
</EntityCondition>
</ByEntityCondition>
</Condition>
<Condition name="StartTime" delay="0" conditionEdge="rising">
<ByValueCondition>
<SimulationTimeCondition value="0" rule="equalTo"/>
</ByValueCondition>
</Condition>
</ConditionGroup>
</StartTrigger>
<StopTrigger>
<ConditionGroup>
<Condition name="EndCondition" delay="0" conditionEdge="rising">
<ByEntityCondition>
<TriggeringEntities triggeringEntitiesRule="any">
<EntityRef entityRef="hero"/>
</TriggeringEntities>
<EntityCondition>
<TraveledDistanceCondition value="200.0"/>
</EntityCondition>
</ByEntityCondition>
</Condition>
</ConditionGroup>
</StopTrigger>
</Act>
</Story>
<StopTrigger>
<ConditionGroup>
<Condition name="criteria_RunningStopTest" delay="0" conditionEdge="rising">
<ByValueCondition>
<ParameterCondition parameterRef="" value="" rule="lessThan"/>
</ByValueCondition>
</Condition>
<Condition name="criteria_RunningRedLightTest" delay="0" conditionEdge="rising">
<ByValueCondition>
<ParameterCondition parameterRef="" value="" rule="lessThan"/>
</ByValueCondition>
</Condition>
<Condition name="criteria_WrongLaneTest" delay="0" conditionEdge="rising">
<ByValueCondition>
<ParameterCondition parameterRef="" value="" rule="lessThan"/>
</ByValueCondition>
</Condition>
<Condition name="criteria_OnSidewalkTest" delay="0" conditionEdge="rising">
<ByValueCondition>
<ParameterCondition parameterRef="" value="" rule="lessThan"/>
</ByValueCondition>
</Condition>
<Condition name="criteria_KeepLaneTest" delay="0" conditionEdge="rising">
<ByValueCondition>
<ParameterCondition parameterRef="" value="" rule="lessThan"/>
</ByValueCondition>
</Condition>
<Condition name="criteria_CollisionTest" delay="0" conditionEdge="rising">
<ByValueCondition>
<ParameterCondition parameterRef="" value="" rule="lessThan"/>
</ByValueCondition>
</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_30589">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_w_transform_30591">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_w_transform_30592">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_w_transform_30593">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_w_transform_30595">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_w_transform_30596">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_close_to_hero_30597">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_close_to_adversary_30598">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
</Entities>
<Storyboard>
<Init>
<Actions>
<GlobalAction>
<EnvironmentAction>
<Environment name="Environment1">
<TimeOfDay animation="false" dateTime="2019-06-25T12:00:00"/>
<Weather cloudState="free">
<Sun intensity="0.85" azimuth="0" elevation="1.31"/>
<Fog visualRange="100000.0"/>
<Precipitation precipitationType="dry" intensity="0.0"/>
</Weather>
<RoadCondition frictionScaleFactor="1.0"/>
</Environment>
</EnvironmentAction>
</GlobalAction>
<Private entityRef="hero">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-9.4" y="-152.8" z="0.5" h="1.57079632679"/>
</Position>
</TeleportAction>
</PrivateAction>
<PrivateAction>
<ControllerAction>
<AssignControllerAction>
<Controller name="HeroAgent">
<Properties>
<Property name="module" value="external_control"/>
</Properties>
</Controller>
</AssignControllerAction>
<OverrideControllerValueAction>
<Throttle value="0" active="false"/>
<Brake value="0" active="false"/>
<Clutch value="0" active="false"/>
<ParkingBrake value="0" active="false"/>
<SteeringWheel value="0" active="false"/>
<Gear number="0" active="false"/>
</OverrideControllerValueAction>
</ControllerAction>
</PrivateAction>
</Private>
<Private entityRef="adversary">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-9.4" y="-71.0" z="0.5" h="1.57079632679"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="standing">
<PrivateAction>
<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_30589">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-14.2199125289917" y="35.621585845947266" z="0.003043708624318242"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_w_transform_30591">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="36.774681091308594" y="-30.744657516479492" z="0.5"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_w_transform_30592">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-74.34379577636719" y="-94.008544921875" z="0.5"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_w_transform_30593">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="97.09436798095703" y="-5.503519535064697" z="0.5"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_w_transform_30595">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-86.28094482421875" y="-22.022024154663086" z="0.5"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_w_transform_30596">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-79.69920349121094" y="-49.04432678222656" z="0.5"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_close_to_hero_30597">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="5.998291969299316" y="-149.1245880126953" z="0.0020544815342873335"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_close_to_adversary_30598">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-11.955299377441406" y="-63.953895568847656" z="0.0338023379445076"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
</Actions>
</Init>
<Story name="MyStory">
<Act name="Behavior">
<ManeuverGroup maximumExecutionCount="1" name="ManeuverSequence">
<Actors selectTriggeringEntities="false">
<EntityRef entityRef="adversary"/>
</Actors>
<Maneuver name="LaneChangeSimpleManeuver">
<Event name="AdversaryAccelerates" priority="overwrite">
<Action name="AdversaryAccelerates">
<PrivateAction>
<LongitudinalAction>
<SpeedAction>
<SpeedActionDynamics dynamicsShape="step" value="50" dynamicsDimension="distance"/>
<SpeedActionTarget>
<AbsoluteTargetSpeed value="5.0"/>
</SpeedActionTarget>
</SpeedAction>
</LongitudinalAction>
</PrivateAction>
</Action>
<StartTrigger>
<ConditionGroup>
<Condition name="StartCondition" delay="0" conditionEdge="rising">
<ByEntityCondition>
<TriggeringEntities triggeringEntitiesRule="any">
<EntityRef entityRef="hero"/>
</TriggeringEntities>
<EntityCondition>
<RelativeDistanceCondition entityRef="adversary" relativeDistanceType="cartesianDistance" value="40.0" freespace="false" rule="lessThan"/>
</EntityCondition>
</ByEntityCondition>
</Condition>
</ConditionGroup>
</StartTrigger>
</Event>
<Event name="AdversaryChangesLane" priority="overwrite">
<Action name="AdversaryChangesLane">
<PrivateAction>
<LateralAction>
<LaneChangeAction>
<LaneChangeActionDynamics dynamicsShape="linear" value="25" dynamicsDimension="distance"/>
<LaneChangeTarget>
<RelativeTargetLane entityRef="adversary" value="-1"/>
</LaneChangeTarget>
</LaneChangeAction>
</LateralAction>
</PrivateAction>
</Action>
<StartTrigger>
<ConditionGroup>
<Condition name="AfterAdversaryAccelerates" delay="0" conditionEdge="rising">
<ByValueCondition>
<StoryboardElementStateCondition storyboardElementType="action" storyboardElementRef="AdversaryAccelerates" state="completeState"/>
</ByValueCondition>
</Condition>
</ConditionGroup>
</StartTrigger>
</Event>
</Maneuver>
</ManeuverGroup>
<StartTrigger>
<ConditionGroup>
<Condition name="OverallStartCondition" delay="0" conditionEdge="rising">
<ByEntityCondition>
<TriggeringEntities triggeringEntitiesRule="any">
<EntityRef entityRef="hero"/>
</TriggeringEntities>
<EntityCondition>
<TraveledDistanceCondition value="1.0"/>
</EntityCondition>
</ByEntityCondition>
</Condition>
<Condition name="StartTime" delay="0" conditionEdge="rising">
<ByValueCondition>
<SimulationTimeCondition value="0" rule="equalTo"/>
</ByValueCondition>
</Condition>
</ConditionGroup>
</StartTrigger>
<StopTrigger>
<ConditionGroup>
<Condition name="EndCondition" delay="0" conditionEdge="rising">
<ByEntityCondition>
<TriggeringEntities triggeringEntitiesRule="any">
<EntityRef entityRef="hero"/>
</TriggeringEntities>
<EntityCondition>
<TraveledDistanceCondition value="200.0"/>
</EntityCondition>
</ByEntityCondition>
</Condition>
</ConditionGroup>
</StopTrigger>
</Act>
</Story>
<StopTrigger>
<ConditionGroup>
<Condition name="criteria_RunningStopTest" delay="0" conditionEdge="rising">
<ByValueCondition>
<ParameterCondition parameterRef="" value="" rule="lessThan"/>
</ByValueCondition>
</Condition>
<Condition name="criteria_RunningRedLightTest" delay="0" conditionEdge="rising">
<ByValueCondition>
<ParameterCondition parameterRef="" value="" rule="lessThan"/>
</ByValueCondition>
</Condition>
<Condition name="criteria_WrongLaneTest" delay="0" conditionEdge="rising">
<ByValueCondition>
<ParameterCondition parameterRef="" value="" rule="lessThan"/>
</ByValueCondition>
</Condition>
<Condition name="criteria_OnSidewalkTest" delay="0" conditionEdge="rising">
<ByValueCondition>
<ParameterCondition parameterRef="" value="" rule="lessThan"/>
</ByValueCondition>
</Condition>
<Condition name="criteria_KeepLaneTest" delay="0" conditionEdge="rising">
<ByValueCondition>
<ParameterCondition parameterRef="" value="" rule="lessThan"/>
</ByValueCondition>
</Condition>
<Condition name="criteria_CollisionTest" delay="0" conditionEdge="rising">
<ByValueCondition>
<ParameterCondition parameterRef="" value="" rule="lessThan"/>
</ByValueCondition>
</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_w_transform_3036?
```
<?xml version="1.0" ?>
<OpenSCENARIO>
<FileHeader revMajor="1" revMinor="0" date="2020-03-24T12:00:00" description="CARLA:LaneChangeSimple" author=""/>
<ParameterDeclarations/>
<CatalogLocations/>
<RoadNetwork>
<LogicFile filepath="Town04"/>
<SceneGraphFile filepath=""/>
</RoadNetwork>
<Entities>
<ScenarioObject name="hero">
<Vehicle name="vehicle.tesla.model3" vehicleCategory="car">
<ParameterDeclarations/>
<Performance maxSpeed="69.444" maxAcceleration="200" maxDeceleration="10.0"/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2.1" length="4.5" height="1.8"/>
</BoundingBox>
<Axles>
<FrontAxle maxSteering="0.5" wheelDiameter="0.6" trackWidth="1.8" positionX="3.1" positionZ="0.3"/>
<RearAxle maxSteering="0.0" wheelDiameter="0.6" trackWidth="1.8" positionX="0.0" positionZ="0.3"/>
</Axles>
<Properties>
<Property name="type" value="ego_vehicle"/>
</Properties>
</Vehicle>
</ScenarioObject>
<ScenarioObject name="adversary">
<Vehicle name="vehicle.lincoln.mkz_2017" vehicleCategory="car">
<ParameterDeclarations/>
<Performance maxSpeed="69.444" maxAcceleration="200" maxDeceleration="10.0"/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2.1" length="4.5" height="1.8"/>
</BoundingBox>
<Axles>
<FrontAxle maxSteering="0.5" wheelDiameter="0.6" trackWidth="1.8" positionX="3.1" positionZ="0.3"/>
<RearAxle maxSteering="0.0" wheelDiameter="0.6" trackWidth="1.8" positionX="0.0" positionZ="0.3"/>
</Axles>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Vehicle>
</ScenarioObject>
<ScenarioObject name="standing">
<Vehicle name="vehicle.volkswagen.t2" vehicleCategory="car">
<ParameterDeclarations/>
<Performance maxSpeed="69.444" maxAcceleration="200" maxDeceleration="10.0"/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2.1" length="4.5" height="1.8"/>
</BoundingBox>
<Axles>
<FrontAxle maxSteering="0.5" wheelDiameter="0.6" trackWidth="1.8" positionX="3.1" positionZ="0.3"/>
<RearAxle maxSteering="0.0" wheelDiameter="0.6" 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_3022">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_w_transform_3023">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_close_to_standing_3024">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_close_to_standing_3025">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_close_to_standing_3026">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_w_transform_3027">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_w_transform_3029">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_close_to_adversary_3035">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_w_transform_3036">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_w_transform_3037">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
</Entities>
<Storyboard>
<Init>
<Actions>
<GlobalAction>
<EnvironmentAction>
<Environment name="Environment1">
<TimeOfDay animation="false" dateTime="2019-06-25T12:00:00"/>
<Weather cloudState="free">
<Sun intensity="0.85" azimuth="0" elevation="1.31"/>
<Fog visualRange="100000.0"/>
<Precipitation precipitationType="dry" intensity="0.0"/>
</Weather>
<RoadCondition frictionScaleFactor="1.0"/>
</Environment>
</EnvironmentAction>
</GlobalAction>
<Private entityRef="hero">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-9.4" y="-152.8" z="0.5" h="1.57079632679"/>
</Position>
</TeleportAction>
</PrivateAction>
<PrivateAction>
<ControllerAction>
<AssignControllerAction>
<Controller name="HeroAgent">
<Properties>
<Property name="module" value="external_control"/>
</Properties>
</Controller>
</AssignControllerAction>
<OverrideControllerValueAction>
<Throttle value="0" active="false"/>
<Brake value="0" active="false"/>
<Clutch value="0" active="false"/>
<ParkingBrake value="0" active="false"/>
<SteeringWheel value="0" active="false"/>
<Gear number="0" active="false"/>
</OverrideControllerValueAction>
</ControllerAction>
</PrivateAction>
</Private>
<Private entityRef="adversary">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-9.4" y="-71.0" z="0.5" h="1.57079632679"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="standing">
<PrivateAction>
<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_3022">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="1.4367825984954834" y="38.57076644897461" z="0.003102264367043972"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_w_transform_3023">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="63.1653938293457" y="-30.64811897277832" z="0.5"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_close_to_standing_3024">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-17.348100662231445" y="35.96526336669922" z="0.0030306242406368256"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_close_to_standing_3025">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="6.174810886383057" y="33.84929656982422" z="0.0030018615070730448"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_close_to_standing_3026">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-1.1357395648956299" y="25.354244232177734" z="0.0030093383975327015"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_w_transform_3027">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-94.43667602539062" y="33.58457565307617" z="0.5"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_w_transform_3029">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-73.8928451538086" y="13.902728080749512" z="0.5"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_close_to_adversary_3035">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-14.680174827575684" y="-78.56309509277344" z="0.03384292498230934"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_w_transform_3036">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-57.632667541503906" y="-15.433120727539062" z="0.5"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_w_transform_3037">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-60.92811965942383" y="71.21473693847656" 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_3022">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_w_transform_3023">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_close_to_standing_3024">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_close_to_standing_3025">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_close_to_standing_3026">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_w_transform_3027">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_w_transform_3029">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_close_to_adversary_3035">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_w_transform_3037">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
</Entities>
<Storyboard>
<Init>
<Actions>
<GlobalAction>
<EnvironmentAction>
<Environment name="Environment1">
<TimeOfDay animation="false" dateTime="2019-06-25T12:00:00"/>
<Weather cloudState="free">
<Sun intensity="0.85" azimuth="0" elevation="1.31"/>
<Fog visualRange="100000.0"/>
<Precipitation precipitationType="dry" intensity="0.0"/>
</Weather>
<RoadCondition frictionScaleFactor="1.0"/>
</Environment>
</EnvironmentAction>
</GlobalAction>
<Private entityRef="hero">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-9.4" y="-152.8" z="0.5" h="1.57079632679"/>
</Position>
</TeleportAction>
</PrivateAction>
<PrivateAction>
<ControllerAction>
<AssignControllerAction>
<Controller name="HeroAgent">
<Properties>
<Property name="module" value="external_control"/>
</Properties>
</Controller>
</AssignControllerAction>
<OverrideControllerValueAction>
<Throttle value="0" active="false"/>
<Brake value="0" active="false"/>
<Clutch value="0" active="false"/>
<ParkingBrake value="0" active="false"/>
<SteeringWheel value="0" active="false"/>
<Gear number="0" active="false"/>
</OverrideControllerValueAction>
</ControllerAction>
</PrivateAction>
</Private>
<Private entityRef="adversary">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-9.4" y="-71.0" z="0.5" h="1.57079632679"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="standing">
<PrivateAction>
<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_3022">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="1.4367825984954834" y="38.57076644897461" z="0.003102264367043972"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_w_transform_3023">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="63.1653938293457" y="-30.64811897277832" z="0.5"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_close_to_standing_3024">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-17.348100662231445" y="35.96526336669922" z="0.0030306242406368256"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_close_to_standing_3025">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="6.174810886383057" y="33.84929656982422" z="0.0030018615070730448"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_close_to_standing_3026">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-1.1357395648956299" y="25.354244232177734" z="0.0030093383975327015"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_w_transform_3027">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-94.43667602539062" y="33.58457565307617" z="0.5"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_w_transform_3029">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-73.8928451538086" y="13.902728080749512" z="0.5"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_close_to_adversary_3035">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-14.680174827575684" y="-78.56309509277344" z="0.03384292498230934"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_w_transform_3037">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-60.92811965942383" y="71.21473693847656" 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 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_4609">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_w_transform_4610">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_w_transform_4611">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_close_to_adversary_4612">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_close_to_standing_4613">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_close_to_hero_4614">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_w_transform_4615">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_w_transform_4616">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_w_transform_4617">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_w_transform_4618">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_w_transform_4619">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_close_to_standing_4620">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_w_transform_4621">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_close_to_standing_4622">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_w_transform_4623">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_close_to_standing_4624">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_w_transform_4625">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_w_transform_4626">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_close_to_hero_4627">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_close_to_standing_4629">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
</Entities>
<Storyboard>
<Init>
<Actions>
<GlobalAction>
<EnvironmentAction>
<Environment name="Environment1">
<TimeOfDay animation="false" dateTime="2019-06-25T12:00:00"/>
<Weather cloudState="free">
<Sun intensity="0.85" azimuth="0" elevation="1.31"/>
<Fog visualRange="100000.0"/>
<Precipitation precipitationType="dry" intensity="0.0"/>
</Weather>
<RoadCondition frictionScaleFactor="1.0"/>
</Environment>
</EnvironmentAction>
</GlobalAction>
<Private entityRef="hero">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-9.4" y="-152.8" z="0.5" h="1.57079632679"/>
</Position>
</TeleportAction>
</PrivateAction>
<PrivateAction>
<ControllerAction>
<AssignControllerAction>
<Controller name="HeroAgent">
<Properties>
<Property name="module" value="external_control"/>
</Properties>
</Controller>
</AssignControllerAction>
<OverrideControllerValueAction>
<Throttle value="0" active="false"/>
<Brake value="0" active="false"/>
<Clutch value="0" active="false"/>
<ParkingBrake value="0" active="false"/>
<SteeringWheel value="0" active="false"/>
<Gear number="0" active="false"/>
</OverrideControllerValueAction>
</ControllerAction>
</PrivateAction>
</Private>
<Private entityRef="adversary">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-9.4" y="-71.0" z="0.5" h="1.57079632679"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="standing">
<PrivateAction>
<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_4609">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-6.03610897064209" y="-64.65470886230469" z="0.033768538385629654"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_w_transform_4610">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-16.53038215637207" y="58.40009689331055" z="0.5"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_w_transform_4611">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="83.20547485351562" y="-77.52286529541016" z="0.5"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_close_to_adversary_4612">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-14.685627937316895" y="-72.88876342773438" z="0.03374240919947624"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_close_to_standing_4613">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-16.065217971801758" y="26.65424156188965" z="0.003038291819393635"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_close_to_hero_4614">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-1.9769262075424194" y="-153.45819091796875" z="0.001423797570168972"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_w_transform_4615">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-2.5072200298309326" y="-5.781126499176025" z="0.5"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_w_transform_4616">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-89.17109680175781" y="51.733795166015625" z="0.5"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_w_transform_4617">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-41.78910827636719" y="27.195236206054688" z="0.5"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_w_transform_4618">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="6.032530784606934" y="93.82435607910156" z="0.5"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_w_transform_4619">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="55.345096588134766" y="-28.569955825805664" z="0.5"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_close_to_standing_4620">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-8.509735107421875" y="38.59839630126953" z="0.002985801547765732"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_w_transform_4621">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="9.564193725585938" y="60.42927551269531" z="0.5"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_close_to_standing_4622">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="5.363978862762451" y="31.094337463378906" z="0.003031844971701503"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_w_transform_4623">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="17.254472732543945" y="-12.20223331451416" z="0.5"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_close_to_standing_4624">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-5.1764116287231445" y="33.32837677001953" z="0.0029921340756118298"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_w_transform_4625">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="11.789058685302734" y="-93.15245819091797" z="0.5"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_w_transform_4626">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="46.47978210449219" y="44.2444953918457" z="0.5"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_close_to_hero_4627">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-12.144336700439453" y="-145.58604431152344" z="0.001423797570168972"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_close_to_standing_4629">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-12.72111701965332" y="27.55592155456543" z="0.0030093383975327015"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
</Actions>
</Init>
<Story name="MyStory">
<Act name="Behavior">
<ManeuverGroup maximumExecutionCount="1" name="ManeuverSequence">
<Actors selectTriggeringEntities="false">
<EntityRef entityRef="adversary"/>
</Actors>
<Maneuver name="LaneChangeSimpleManeuver">
<Event name="AdversaryAccelerates" priority="overwrite">
<Action name="AdversaryAccelerates">
<PrivateAction>
<LongitudinalAction>
<SpeedAction>
<SpeedActionDynamics dynamicsShape="step" value="50" dynamicsDimension="distance"/>
<SpeedActionTarget>
<AbsoluteTargetSpeed value="5.0"/>
</SpeedActionTarget>
</SpeedAction>
</LongitudinalAction>
</PrivateAction>
</Action>
<StartTrigger>
<ConditionGroup>
<Condition name="StartCondition" delay="0" conditionEdge="rising">
<ByEntityCondition>
<TriggeringEntities triggeringEntitiesRule="any">
<EntityRef entityRef="hero"/>
</TriggeringEntities>
<EntityCondition>
<RelativeDistanceCondition entityRef="adversary" relativeDistanceType="cartesianDistance" value="40.0" freespace="false" rule="lessThan"/>
</EntityCondition>
</ByEntityCondition>
</Condition>
</ConditionGroup>
</StartTrigger>
</Event>
<Event name="AdversaryChangesLane" priority="overwrite">
<Action name="AdversaryChangesLane">
<PrivateAction>
<LateralAction>
<LaneChangeAction>
<LaneChangeActionDynamics dynamicsShape="linear" value="25" dynamicsDimension="distance"/>
<LaneChangeTarget>
<RelativeTargetLane entityRef="adversary" value="-1"/>
</LaneChangeTarget>
</LaneChangeAction>
</LateralAction>
</PrivateAction>
</Action>
<StartTrigger>
<ConditionGroup>
<Condition name="AfterAdversaryAccelerates" delay="0" conditionEdge="rising">
<ByValueCondition>
<StoryboardElementStateCondition storyboardElementType="action" storyboardElementRef="AdversaryAccelerates" state="completeState"/>
</ByValueCondition>
</Condition>
</ConditionGroup>
</StartTrigger>
</Event>
</Maneuver>
</ManeuverGroup>
<StartTrigger>
<ConditionGroup>
<Condition name="OverallStartCondition" delay="0" conditionEdge="rising">
<ByEntityCondition>
<TriggeringEntities triggeringEntitiesRule="any">
<EntityRef entityRef="hero"/>
</TriggeringEntities>
<EntityCondition>
<TraveledDistanceCondition value="1.0"/>
</EntityCondition>
</ByEntityCondition>
</Condition>
<Condition name="StartTime" delay="0" conditionEdge="rising">
<ByValueCondition>
<SimulationTimeCondition value="0" rule="equalTo"/>
</ByValueCondition>
</Condition>
</ConditionGroup>
</StartTrigger>
<StopTrigger>
<ConditionGroup>
<Condition name="EndCondition" delay="0" conditionEdge="rising">
<ByEntityCondition>
<TriggeringEntities triggeringEntitiesRule="any">
<EntityRef entityRef="hero"/>
</TriggeringEntities>
<EntityCondition>
<TraveledDistanceCondition value="200.0"/>
</EntityCondition>
</ByEntityCondition>
</Condition>
</ConditionGroup>
</StopTrigger>
</Act>
</Story>
<StopTrigger>
<ConditionGroup>
<Condition name="criteria_RunningStopTest" delay="0" conditionEdge="rising">
<ByValueCondition>
<ParameterCondition parameterRef="" value="" rule="lessThan"/>
</ByValueCondition>
</Condition>
<Condition name="criteria_RunningRedLightTest" delay="0" conditionEdge="rising">
<ByValueCondition>
<ParameterCondition parameterRef="" value="" rule="lessThan"/>
</ByValueCondition>
</Condition>
<Condition name="criteria_WrongLaneTest" delay="0" conditionEdge="rising">
<ByValueCondition>
<ParameterCondition parameterRef="" value="" rule="lessThan"/>
</ByValueCondition>
</Condition>
<Condition name="criteria_OnSidewalkTest" delay="0" conditionEdge="rising">
<ByValueCondition>
<ParameterCondition parameterRef="" value="" rule="lessThan"/>
</ByValueCondition>
</Condition>
<Condition name="criteria_KeepLaneTest" delay="0" conditionEdge="rising">
<ByValueCondition>
<ParameterCondition parameterRef="" value="" rule="lessThan"/>
</ByValueCondition>
</Condition>
<Condition name="criteria_CollisionTest" delay="0" conditionEdge="rising">
<ByValueCondition>
<ParameterCondition parameterRef="" value="" rule="lessThan"/>
</ByValueCondition>
</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_4609">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_w_transform_4610">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_w_transform_4611">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_close_to_adversary_4612">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_close_to_standing_4613">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_close_to_hero_4614">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_w_transform_4615">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_w_transform_4616">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_w_transform_4617">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_w_transform_4618">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_w_transform_4619">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_close_to_standing_4620">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_w_transform_4621">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_close_to_standing_4622">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_w_transform_4623">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_close_to_standing_4624">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_w_transform_4625">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_w_transform_4626">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_close_to_hero_4627">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_close_to_standing_4629">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_close_to_standing_4630">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
</Entities>
<Storyboard>
<Init>
<Actions>
<GlobalAction>
<EnvironmentAction>
<Environment name="Environment1">
<TimeOfDay animation="false" dateTime="2019-06-25T12:00:00"/>
<Weather cloudState="free">
<Sun intensity="0.85" azimuth="0" elevation="1.31"/>
<Fog visualRange="100000.0"/>
<Precipitation precipitationType="dry" intensity="0.0"/>
</Weather>
<RoadCondition frictionScaleFactor="1.0"/>
</Environment>
</EnvironmentAction>
</GlobalAction>
<Private entityRef="hero">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-9.4" y="-152.8" z="0.5" h="1.57079632679"/>
</Position>
</TeleportAction>
</PrivateAction>
<PrivateAction>
<ControllerAction>
<AssignControllerAction>
<Controller name="HeroAgent">
<Properties>
<Property name="module" value="external_control"/>
</Properties>
</Controller>
</AssignControllerAction>
<OverrideControllerValueAction>
<Throttle value="0" active="false"/>
<Brake value="0" active="false"/>
<Clutch value="0" active="false"/>
<ParkingBrake value="0" active="false"/>
<SteeringWheel value="0" active="false"/>
<Gear number="0" active="false"/>
</OverrideControllerValueAction>
</ControllerAction>
</PrivateAction>
</Private>
<Private entityRef="adversary">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-9.4" y="-71.0" z="0.5" h="1.57079632679"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="standing">
<PrivateAction>
<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_4609">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-6.03610897064209" y="-64.65470886230469" z="0.033768538385629654"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_w_transform_4610">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-16.53038215637207" y="58.40009689331055" z="0.5"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_w_transform_4611">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="83.20547485351562" y="-77.52286529541016" z="0.5"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_close_to_adversary_4612">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-14.685627937316895" y="-72.88876342773438" z="0.03374240919947624"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_close_to_standing_4613">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-16.065217971801758" y="26.65424156188965" z="0.003038291819393635"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_close_to_hero_4614">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-1.9769262075424194" y="-153.45819091796875" z="0.001423797570168972"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_w_transform_4615">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-2.5072200298309326" y="-5.781126499176025" z="0.5"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_w_transform_4616">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-89.17109680175781" y="51.733795166015625" z="0.5"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_w_transform_4617">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-41.78910827636719" y="27.195236206054688" z="0.5"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_w_transform_4618">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="6.032530784606934" y="93.82435607910156" z="0.5"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_w_transform_4619">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="55.345096588134766" y="-28.569955825805664" z="0.5"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_close_to_standing_4620">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-8.509735107421875" y="38.59839630126953" z="0.002985801547765732"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_w_transform_4621">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="9.564193725585938" y="60.42927551269531" z="0.5"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_close_to_standing_4622">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="5.363978862762451" y="31.094337463378906" z="0.003031844971701503"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_w_transform_4623">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="17.254472732543945" y="-12.20223331451416" z="0.5"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_close_to_standing_4624">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-5.1764116287231445" y="33.32837677001953" z="0.0029921340756118298"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_w_transform_4625">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="11.789058685302734" y="-93.15245819091797" z="0.5"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_w_transform_4626">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="46.47978210449219" y="44.2444953918457" z="0.5"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_close_to_hero_4627">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-12.144336700439453" y="-145.58604431152344" z="0.001423797570168972"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_close_to_standing_4629">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-12.72111701965332" y="27.55592155456543" z="0.0030093383975327015"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_close_to_standing_4630">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-12.643022537231445" y="22.306669235229492" z="0.003022498916834593"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
</Actions>
</Init>
<Story name="MyStory">
<Act name="Behavior">
<ManeuverGroup maximumExecutionCount="1" name="ManeuverSequence">
<Actors selectTriggeringEntities="false">
<EntityRef entityRef="adversary"/>
</Actors>
<Maneuver name="LaneChangeSimpleManeuver">
<Event name="AdversaryAccelerates" priority="overwrite">
<Action name="AdversaryAccelerates">
<PrivateAction>
<LongitudinalAction>
<SpeedAction>
<SpeedActionDynamics dynamicsShape="step" value="50" dynamicsDimension="distance"/>
<SpeedActionTarget>
<AbsoluteTargetSpeed value="5.0"/>
</SpeedActionTarget>
</SpeedAction>
</LongitudinalAction>
</PrivateAction>
</Action>
<StartTrigger>
<ConditionGroup>
<Condition name="StartCondition" delay="0" conditionEdge="rising">
<ByEntityCondition>
<TriggeringEntities triggeringEntitiesRule="any">
<EntityRef entityRef="hero"/>
</TriggeringEntities>
<EntityCondition>
<RelativeDistanceCondition entityRef="adversary" relativeDistanceType="cartesianDistance" value="40.0" freespace="false" rule="lessThan"/>
</EntityCondition>
</ByEntityCondition>
</Condition>
</ConditionGroup>
</StartTrigger>
</Event>
<Event name="AdversaryChangesLane" priority="overwrite">
<Action name="AdversaryChangesLane">
<PrivateAction>
<LateralAction>
<LaneChangeAction>
<LaneChangeActionDynamics dynamicsShape="linear" value="25" dynamicsDimension="distance"/>
<LaneChangeTarget>
<RelativeTargetLane entityRef="adversary" value="-1"/>
</LaneChangeTarget>
</LaneChangeAction>
</LateralAction>
</PrivateAction>
</Action>
<StartTrigger>
<ConditionGroup>
<Condition name="AfterAdversaryAccelerates" delay="0" conditionEdge="rising">
<ByValueCondition>
<StoryboardElementStateCondition storyboardElementType="action" storyboardElementRef="AdversaryAccelerates" state="completeState"/>
</ByValueCondition>
</Condition>
</ConditionGroup>
</StartTrigger>
</Event>
</Maneuver>
</ManeuverGroup>
<StartTrigger>
<ConditionGroup>
<Condition name="OverallStartCondition" delay="0" conditionEdge="rising">
<ByEntityCondition>
<TriggeringEntities triggeringEntitiesRule="any">
<EntityRef entityRef="hero"/>
</TriggeringEntities>
<EntityCondition>
<TraveledDistanceCondition value="1.0"/>
</EntityCondition>
</ByEntityCondition>
</Condition>
<Condition name="StartTime" delay="0" conditionEdge="rising">
<ByValueCondition>
<SimulationTimeCondition value="0" rule="equalTo"/>
</ByValueCondition>
</Condition>
</ConditionGroup>
</StartTrigger>
<StopTrigger>
<ConditionGroup>
<Condition name="EndCondition" delay="0" conditionEdge="rising">
<ByEntityCondition>
<TriggeringEntities triggeringEntitiesRule="any">
<EntityRef entityRef="hero"/>
</TriggeringEntities>
<EntityCondition>
<TraveledDistanceCondition value="200.0"/>
</EntityCondition>
</ByEntityCondition>
</Condition>
</ConditionGroup>
</StopTrigger>
</Act>
</Story>
<StopTrigger>
<ConditionGroup>
<Condition name="criteria_RunningStopTest" delay="0" conditionEdge="rising">
<ByValueCondition>
<ParameterCondition parameterRef="" value="" rule="lessThan"/>
</ByValueCondition>
</Condition>
<Condition name="criteria_RunningRedLightTest" delay="0" conditionEdge="rising">
<ByValueCondition>
<ParameterCondition parameterRef="" value="" rule="lessThan"/>
</ByValueCondition>
</Condition>
<Condition name="criteria_WrongLaneTest" delay="0" conditionEdge="rising">
<ByValueCondition>
<ParameterCondition parameterRef="" value="" rule="lessThan"/>
</ByValueCondition>
</Condition>
<Condition name="criteria_OnSidewalkTest" delay="0" conditionEdge="rising">
<ByValueCondition>
<ParameterCondition parameterRef="" value="" rule="lessThan"/>
</ByValueCondition>
</Condition>
<Condition name="criteria_KeepLaneTest" delay="0" conditionEdge="rising">
<ByValueCondition>
<ParameterCondition parameterRef="" value="" rule="lessThan"/>
</ByValueCondition>
</Condition>
<Condition name="criteria_CollisionTest" delay="0" conditionEdge="rising">
<ByValueCondition>
<ParameterCondition parameterRef="" value="" rule="lessThan"/>
</ByValueCondition>
</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 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_14131">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_close_to_standing_14134">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_close_to_adversary_14135">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_close_to_standing_14137">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_w_transform_14141">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_close_to_standing_14142">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_close_to_adversary_14143">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_close_to_hero_14144">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_close_to_standing_14145">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_w_transform_14146">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
</Entities>
<Storyboard>
<Init>
<Actions>
<GlobalAction>
<EnvironmentAction>
<Environment name="Environment1">
<TimeOfDay animation="false" dateTime="2019-06-25T12:00:00"/>
<Weather cloudState="free">
<Sun intensity="0.85" azimuth="0" elevation="1.31"/>
<Fog visualRange="100000.0"/>
<Precipitation precipitationType="dry" intensity="0.0"/>
</Weather>
<RoadCondition frictionScaleFactor="1.0"/>
</Environment>
</EnvironmentAction>
</GlobalAction>
<Private entityRef="hero">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-9.4" y="-152.8" z="0.5" h="1.57079632679"/>
</Position>
</TeleportAction>
</PrivateAction>
<PrivateAction>
<ControllerAction>
<AssignControllerAction>
<Controller name="HeroAgent">
<Properties>
<Property name="module" value="external_control"/>
</Properties>
</Controller>
</AssignControllerAction>
<OverrideControllerValueAction>
<Throttle value="0" active="false"/>
<Brake value="0" active="false"/>
<Clutch value="0" active="false"/>
<ParkingBrake value="0" active="false"/>
<SteeringWheel value="0" active="false"/>
<Gear number="0" active="false"/>
</OverrideControllerValueAction>
</ControllerAction>
</PrivateAction>
</Private>
<Private entityRef="adversary">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-9.4" y="-71.0" z="0.5" h="1.57079632679"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="standing">
<PrivateAction>
<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_14131">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-5.29067325592041" y="23.56243133544922" z="0.0029987716116011143"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_close_to_standing_14134">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-12.113058090209961" y="36.84543991088867" z="0.0030173491686582565"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_close_to_adversary_14135">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-15.705886840820312" y="-61.96806716918945" z="0.033746641129255295"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_close_to_standing_14137">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-2.347073793411255" y="12.044353485107422" z="0.003015136579051614"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_w_transform_14141">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="61.36983871459961" y="73.33780670166016" z="0.5"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_close_to_standing_14142">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-16.502864837646484" y="27.05097007751465" z="0.0030131149105727673"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_close_to_adversary_14143">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-2.267664670944214" y="-85.4765853881836" z="0.03375614061951637"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_close_to_hero_14144">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="0.7181008458137512" y="-155.10891723632812" z="0.0013734435196965933"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_close_to_standing_14145">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-7.0859808921813965" y="32.040348052978516" z="0.0030178832821547985"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_w_transform_14146">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="23.19601821899414" y="86.62381744384766" 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_14131">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_close_to_standing_14134">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_close_to_adversary_14135">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_close_to_standing_14137">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_w_transform_14141">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_close_to_standing_14142">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_close_to_adversary_14143">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_close_to_hero_14144">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_w_transform_14146">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
</Entities>
<Storyboard>
<Init>
<Actions>
<GlobalAction>
<EnvironmentAction>
<Environment name="Environment1">
<TimeOfDay animation="false" dateTime="2019-06-25T12:00:00"/>
<Weather cloudState="free">
<Sun intensity="0.85" azimuth="0" elevation="1.31"/>
<Fog visualRange="100000.0"/>
<Precipitation precipitationType="dry" intensity="0.0"/>
</Weather>
<RoadCondition frictionScaleFactor="1.0"/>
</Environment>
</EnvironmentAction>
</GlobalAction>
<Private entityRef="hero">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-9.4" y="-152.8" z="0.5" h="1.57079632679"/>
</Position>
</TeleportAction>
</PrivateAction>
<PrivateAction>
<ControllerAction>
<AssignControllerAction>
<Controller name="HeroAgent">
<Properties>
<Property name="module" value="external_control"/>
</Properties>
</Controller>
</AssignControllerAction>
<OverrideControllerValueAction>
<Throttle value="0" active="false"/>
<Brake value="0" active="false"/>
<Clutch value="0" active="false"/>
<ParkingBrake value="0" active="false"/>
<SteeringWheel value="0" active="false"/>
<Gear number="0" active="false"/>
</OverrideControllerValueAction>
</ControllerAction>
</PrivateAction>
</Private>
<Private entityRef="adversary">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-9.4" y="-71.0" z="0.5" h="1.57079632679"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="standing">
<PrivateAction>
<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_14131">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-5.29067325592041" y="23.56243133544922" z="0.0029987716116011143"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_close_to_standing_14134">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-12.113058090209961" y="36.84543991088867" z="0.0030173491686582565"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_close_to_adversary_14135">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-15.705886840820312" y="-61.96806716918945" z="0.033746641129255295"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_close_to_standing_14137">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-2.347073793411255" y="12.044353485107422" z="0.003015136579051614"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_w_transform_14141">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="61.36983871459961" y="73.33780670166016" z="0.5"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_close_to_standing_14142">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-16.502864837646484" y="27.05097007751465" z="0.0030131149105727673"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_close_to_adversary_14143">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-2.267664670944214" y="-85.4765853881836" z="0.03375614061951637"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_close_to_hero_14144">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="0.7181008458137512" y="-155.10891723632812" z="0.0013734435196965933"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_w_transform_14146">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="23.19601821899414" y="86.62381744384766" 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 (-88.2, 11.48, 0.5)?
```
<?xml version="1.0" ?>
<OpenSCENARIO>
<FileHeader revMajor="1" revMinor="0" date="2020-03-24T12:00:00" description="CARLA:LaneChangeSimple" author=""/>
<ParameterDeclarations/>
<CatalogLocations/>
<RoadNetwork>
<LogicFile filepath="Town04"/>
<SceneGraphFile filepath=""/>
</RoadNetwork>
<Entities>
<ScenarioObject name="hero">
<Vehicle name="vehicle.tesla.model3" vehicleCategory="car">
<ParameterDeclarations/>
<Performance maxSpeed="69.444" maxAcceleration="200" maxDeceleration="10.0"/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2.1" length="4.5" height="1.8"/>
</BoundingBox>
<Axles>
<FrontAxle maxSteering="0.5" wheelDiameter="0.6" trackWidth="1.8" positionX="3.1" positionZ="0.3"/>
<RearAxle maxSteering="0.0" wheelDiameter="0.6" trackWidth="1.8" positionX="0.0" positionZ="0.3"/>
</Axles>
<Properties>
<Property name="type" value="ego_vehicle"/>
</Properties>
</Vehicle>
</ScenarioObject>
<ScenarioObject name="adversary">
<Vehicle name="vehicle.lincoln.mkz_2017" vehicleCategory="car">
<ParameterDeclarations/>
<Performance maxSpeed="69.444" maxAcceleration="200" maxDeceleration="10.0"/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2.1" length="4.5" height="1.8"/>
</BoundingBox>
<Axles>
<FrontAxle maxSteering="0.5" wheelDiameter="0.6" trackWidth="1.8" positionX="3.1" positionZ="0.3"/>
<RearAxle maxSteering="0.0" wheelDiameter="0.6" trackWidth="1.8" positionX="0.0" positionZ="0.3"/>
</Axles>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Vehicle>
</ScenarioObject>
<ScenarioObject name="standing">
<Vehicle name="vehicle.volkswagen.t2" vehicleCategory="car">
<ParameterDeclarations/>
<Performance maxSpeed="69.444" maxAcceleration="200" maxDeceleration="10.0"/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2.1" length="4.5" height="1.8"/>
</BoundingBox>
<Axles>
<FrontAxle maxSteering="0.5" wheelDiameter="0.6" trackWidth="1.8" positionX="3.1" positionZ="0.3"/>
<RearAxle maxSteering="0.0" wheelDiameter="0.6" trackWidth="1.8" positionX="0.0" positionZ="0.3"/>
</Axles>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Vehicle>
</ScenarioObject>
<ScenarioObject name="pedestrian_close_to_hero_11591">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
</Entities>
<Storyboard>
<Init>
<Actions>
<GlobalAction>
<EnvironmentAction>
<Environment name="Environment1">
<TimeOfDay animation="false" dateTime="2019-06-25T12:00:00"/>
<Weather cloudState="free">
<Sun intensity="0.85" azimuth="0" elevation="1.31"/>
<Fog visualRange="100000.0"/>
<Precipitation precipitationType="dry" intensity="0.0"/>
</Weather>
<RoadCondition frictionScaleFactor="1.0"/>
</Environment>
</EnvironmentAction>
</GlobalAction>
<Private entityRef="hero">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-9.4" y="-152.8" z="0.5" h="1.57079632679"/>
</Position>
</TeleportAction>
</PrivateAction>
<PrivateAction>
<ControllerAction>
<AssignControllerAction>
<Controller name="HeroAgent">
<Properties>
<Property name="module" value="external_control"/>
</Properties>
</Controller>
</AssignControllerAction>
<OverrideControllerValueAction>
<Throttle value="0" active="false"/>
<Brake value="0" active="false"/>
<Clutch value="0" active="false"/>
<ParkingBrake value="0" active="false"/>
<SteeringWheel value="0" active="false"/>
<Gear number="0" active="false"/>
</OverrideControllerValueAction>
</ControllerAction>
</PrivateAction>
</Private>
<Private entityRef="adversary">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-9.4" y="-71.0" z="0.5" h="1.57079632679"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="standing">
<PrivateAction>
<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_11591">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-1.8087587356567383" y="-161.75245666503906" z="0.0020974730141460896"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
</Actions>
</Init>
<Story name="MyStory">
<Act name="Behavior">
<ManeuverGroup maximumExecutionCount="1" name="ManeuverSequence">
<Actors selectTriggeringEntities="false">
<EntityRef entityRef="adversary"/>
</Actors>
<Maneuver name="LaneChangeSimpleManeuver">
<Event name="AdversaryAccelerates" priority="overwrite">
<Action name="AdversaryAccelerates">
<PrivateAction>
<LongitudinalAction>
<SpeedAction>
<SpeedActionDynamics dynamicsShape="step" value="50" dynamicsDimension="distance"/>
<SpeedActionTarget>
<AbsoluteTargetSpeed value="5.0"/>
</SpeedActionTarget>
</SpeedAction>
</LongitudinalAction>
</PrivateAction>
</Action>
<StartTrigger>
<ConditionGroup>
<Condition name="StartCondition" delay="0" conditionEdge="rising">
<ByEntityCondition>
<TriggeringEntities triggeringEntitiesRule="any">
<EntityRef entityRef="hero"/>
</TriggeringEntities>
<EntityCondition>
<RelativeDistanceCondition entityRef="adversary" relativeDistanceType="cartesianDistance" value="40.0" freespace="false" rule="lessThan"/>
</EntityCondition>
</ByEntityCondition>
</Condition>
</ConditionGroup>
</StartTrigger>
</Event>
<Event name="AdversaryChangesLane" priority="overwrite">
<Action name="AdversaryChangesLane">
<PrivateAction>
<LateralAction>
<LaneChangeAction>
<LaneChangeActionDynamics dynamicsShape="linear" value="25" dynamicsDimension="distance"/>
<LaneChangeTarget>
<RelativeTargetLane entityRef="adversary" value="-1"/>
</LaneChangeTarget>
</LaneChangeAction>
</LateralAction>
</PrivateAction>
</Action>
<StartTrigger>
<ConditionGroup>
<Condition name="AfterAdversaryAccelerates" delay="0" conditionEdge="rising">
<ByValueCondition>
<StoryboardElementStateCondition storyboardElementType="action" storyboardElementRef="AdversaryAccelerates" state="completeState"/>
</ByValueCondition>
</Condition>
</ConditionGroup>
</StartTrigger>
</Event>
</Maneuver>
</ManeuverGroup>
<StartTrigger>
<ConditionGroup>
<Condition name="OverallStartCondition" delay="0" conditionEdge="rising">
<ByEntityCondition>
<TriggeringEntities triggeringEntitiesRule="any">
<EntityRef entityRef="hero"/>
</TriggeringEntities>
<EntityCondition>
<TraveledDistanceCondition value="1.0"/>
</EntityCondition>
</ByEntityCondition>
</Condition>
<Condition name="StartTime" delay="0" conditionEdge="rising">
<ByValueCondition>
<SimulationTimeCondition value="0" rule="equalTo"/>
</ByValueCondition>
</Condition>
</ConditionGroup>
</StartTrigger>
<StopTrigger>
<ConditionGroup>
<Condition name="EndCondition" delay="0" conditionEdge="rising">
<ByEntityCondition>
<TriggeringEntities triggeringEntitiesRule="any">
<EntityRef entityRef="hero"/>
</TriggeringEntities>
<EntityCondition>
<TraveledDistanceCondition value="200.0"/>
</EntityCondition>
</ByEntityCondition>
</Condition>
</ConditionGroup>
</StopTrigger>
</Act>
</Story>
<StopTrigger>
<ConditionGroup>
<Condition name="criteria_RunningStopTest" delay="0" conditionEdge="rising">
<ByValueCondition>
<ParameterCondition parameterRef="" value="" rule="lessThan"/>
</ByValueCondition>
</Condition>
<Condition name="criteria_RunningRedLightTest" delay="0" conditionEdge="rising">
<ByValueCondition>
<ParameterCondition parameterRef="" value="" rule="lessThan"/>
</ByValueCondition>
</Condition>
<Condition name="criteria_WrongLaneTest" delay="0" conditionEdge="rising">
<ByValueCondition>
<ParameterCondition parameterRef="" value="" rule="lessThan"/>
</ByValueCondition>
</Condition>
<Condition name="criteria_OnSidewalkTest" delay="0" conditionEdge="rising">
<ByValueCondition>
<ParameterCondition parameterRef="" value="" rule="lessThan"/>
</ByValueCondition>
</Condition>
<Condition name="criteria_KeepLaneTest" delay="0" conditionEdge="rising">
<ByValueCondition>
<ParameterCondition parameterRef="" value="" rule="lessThan"/>
</ByValueCondition>
</Condition>
<Condition name="criteria_CollisionTest" delay="0" conditionEdge="rising">
<ByValueCondition>
<ParameterCondition parameterRef="" value="" rule="lessThan"/>
</ByValueCondition>
</Condition>
<Condition name="criteria_DrivenDistanceTest" delay="0" conditionEdge="rising">
<ByValueCondition>
<ParameterCondition parameterRef="distance_success" value="100" rule="lessThan"/>
</ByValueCondition>
</Condition>
</ConditionGroup>
</StopTrigger>
</Storyboard>
</OpenSCENARIO>
``` | Here is the result:
```
<?xml version="1.0" ?>
<OpenSCENARIO>
<FileHeader revMajor="1" revMinor="0" date="2020-03-24T12:00:00" description="CARLA:LaneChangeSimple" author=""/>
<ParameterDeclarations/>
<CatalogLocations/>
<RoadNetwork>
<LogicFile filepath="Town04"/>
<SceneGraphFile filepath=""/>
</RoadNetwork>
<Entities>
<ScenarioObject name="hero">
<Vehicle name="vehicle.tesla.model3" vehicleCategory="car">
<ParameterDeclarations/>
<Performance maxSpeed="69.444" maxAcceleration="200" maxDeceleration="10.0"/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2.1" length="4.5" height="1.8"/>
</BoundingBox>
<Axles>
<FrontAxle maxSteering="0.5" wheelDiameter="0.6" trackWidth="1.8" positionX="3.1" positionZ="0.3"/>
<RearAxle maxSteering="0.0" wheelDiameter="0.6" trackWidth="1.8" positionX="0.0" positionZ="0.3"/>
</Axles>
<Properties>
<Property name="type" value="ego_vehicle"/>
</Properties>
</Vehicle>
</ScenarioObject>
<ScenarioObject name="adversary">
<Vehicle name="vehicle.lincoln.mkz_2017" vehicleCategory="car">
<ParameterDeclarations/>
<Performance maxSpeed="69.444" maxAcceleration="200" maxDeceleration="10.0"/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2.1" length="4.5" height="1.8"/>
</BoundingBox>
<Axles>
<FrontAxle maxSteering="0.5" wheelDiameter="0.6" trackWidth="1.8" positionX="3.1" positionZ="0.3"/>
<RearAxle maxSteering="0.0" wheelDiameter="0.6" trackWidth="1.8" positionX="0.0" positionZ="0.3"/>
</Axles>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Vehicle>
</ScenarioObject>
<ScenarioObject name="standing">
<Vehicle name="vehicle.volkswagen.t2" vehicleCategory="car">
<ParameterDeclarations/>
<Performance maxSpeed="69.444" maxAcceleration="200" maxDeceleration="10.0"/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2.1" length="4.5" height="1.8"/>
</BoundingBox>
<Axles>
<FrontAxle maxSteering="0.5" wheelDiameter="0.6" trackWidth="1.8" positionX="3.1" positionZ="0.3"/>
<RearAxle maxSteering="0.0" wheelDiameter="0.6" trackWidth="1.8" positionX="0.0" positionZ="0.3"/>
</Axles>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Vehicle>
</ScenarioObject>
<ScenarioObject name="pedestrian_close_to_hero_11591">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_w_transform_11592">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
</Entities>
<Storyboard>
<Init>
<Actions>
<GlobalAction>
<EnvironmentAction>
<Environment name="Environment1">
<TimeOfDay animation="false" dateTime="2019-06-25T12:00:00"/>
<Weather cloudState="free">
<Sun intensity="0.85" azimuth="0" elevation="1.31"/>
<Fog visualRange="100000.0"/>
<Precipitation precipitationType="dry" intensity="0.0"/>
</Weather>
<RoadCondition frictionScaleFactor="1.0"/>
</Environment>
</EnvironmentAction>
</GlobalAction>
<Private entityRef="hero">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-9.4" y="-152.8" z="0.5" h="1.57079632679"/>
</Position>
</TeleportAction>
</PrivateAction>
<PrivateAction>
<ControllerAction>
<AssignControllerAction>
<Controller name="HeroAgent">
<Properties>
<Property name="module" value="external_control"/>
</Properties>
</Controller>
</AssignControllerAction>
<OverrideControllerValueAction>
<Throttle value="0" active="false"/>
<Brake value="0" active="false"/>
<Clutch value="0" active="false"/>
<ParkingBrake value="0" active="false"/>
<SteeringWheel value="0" active="false"/>
<Gear number="0" active="false"/>
</OverrideControllerValueAction>
</ControllerAction>
</PrivateAction>
</Private>
<Private entityRef="adversary">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-9.4" y="-71.0" z="0.5" h="1.57079632679"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="standing">
<PrivateAction>
<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_11591">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-1.8087587356567383" y="-161.75245666503906" z="0.0020974730141460896"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_w_transform_11592">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-88.19922637939453" y="11.481162071228027" 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 at location (-6.96, 18.7, 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_22927">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_close_to_hero_22928">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_close_to_standing_22930">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_w_transform_22931">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_close_to_hero_22932">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_w_transform_22933">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_close_to_adversary_22934">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_w_transform_22935">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_close_to_hero_22937">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_close_to_hero_22938">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_w_transform_22939">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_w_transform_22940">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_w_transform_22941">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_w_transform_22942">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_close_to_standing_22943">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_w_transform_22944">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
</Entities>
<Storyboard>
<Init>
<Actions>
<GlobalAction>
<EnvironmentAction>
<Environment name="Environment1">
<TimeOfDay animation="false" dateTime="2019-06-25T12:00:00"/>
<Weather cloudState="free">
<Sun intensity="0.85" azimuth="0" elevation="1.31"/>
<Fog visualRange="100000.0"/>
<Precipitation precipitationType="dry" intensity="0.0"/>
</Weather>
<RoadCondition frictionScaleFactor="1.0"/>
</Environment>
</EnvironmentAction>
</GlobalAction>
<Private entityRef="hero">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-9.4" y="-152.8" z="0.5" h="1.57079632679"/>
</Position>
</TeleportAction>
</PrivateAction>
<PrivateAction>
<ControllerAction>
<AssignControllerAction>
<Controller name="HeroAgent">
<Properties>
<Property name="module" value="external_control"/>
</Properties>
</Controller>
</AssignControllerAction>
<OverrideControllerValueAction>
<Throttle value="0" active="false"/>
<Brake value="0" active="false"/>
<Clutch value="0" active="false"/>
<ParkingBrake value="0" active="false"/>
<SteeringWheel value="0" active="false"/>
<Gear number="0" active="false"/>
</OverrideControllerValueAction>
</ControllerAction>
</PrivateAction>
</Private>
<Private entityRef="adversary">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-9.4" y="-71.0" z="0.5" h="1.57079632679"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="standing">
<PrivateAction>
<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_22927">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-17.603103637695312" y="-161.70436096191406" z="0.0016471862327307463"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_close_to_hero_22928">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-4.252857208251953" y="-148.8798065185547" z="0.0016471862327307463"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_close_to_standing_22930">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-14.586711883544922" y="24.968175888061523" z="0.0030427169986069202"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_w_transform_22931">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-19.28568458557129" y="-61.78972625732422" z="0.5"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_close_to_hero_22932">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-15.976612091064453" y="-153.8050994873047" z="0.0016471862327307463"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_w_transform_22933">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-62.19635772705078" y="91.33229064941406" z="0.5"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_close_to_adversary_22934">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-4.475217342376709" y="-80.23783111572266" z="0.0338064581155777"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_w_transform_22935">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="58.8121452331543" y="-18.52716064453125" z="0.5"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_close_to_hero_22937">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-6.58682918548584" y="-143.60910034179688" z="0.0016471862327307463"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_close_to_hero_22938">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-10.454730987548828" y="-146.68563842773438" z="0.0016471862327307463"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_w_transform_22939">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-75.64351654052734" y="35.81300735473633" z="0.5"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_w_transform_22940">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-73.79291534423828" y="93.46248626708984" z="0.5"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_w_transform_22941">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-4.453505516052246" y="9.91512680053711" z="0.5"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_w_transform_22942">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="86.82966613769531" y="-68.26467895507812" z="0.5"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_close_to_standing_22943">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-13.787832260131836" y="35.36225891113281" z="0.003091354388743639"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_w_transform_22944">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-71.00663757324219" y="-41.32584762573242" 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_22927">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_close_to_hero_22928">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_close_to_standing_22930">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_w_transform_22931">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_close_to_hero_22932">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_w_transform_22933">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_close_to_adversary_22934">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_w_transform_22935">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_close_to_hero_22937">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_close_to_hero_22938">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_w_transform_22939">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_w_transform_22940">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_w_transform_22941">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_w_transform_22942">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_close_to_standing_22943">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_w_transform_22944">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_w_transform_22945">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
</Entities>
<Storyboard>
<Init>
<Actions>
<GlobalAction>
<EnvironmentAction>
<Environment name="Environment1">
<TimeOfDay animation="false" dateTime="2019-06-25T12:00:00"/>
<Weather cloudState="free">
<Sun intensity="0.85" azimuth="0" elevation="1.31"/>
<Fog visualRange="100000.0"/>
<Precipitation precipitationType="dry" intensity="0.0"/>
</Weather>
<RoadCondition frictionScaleFactor="1.0"/>
</Environment>
</EnvironmentAction>
</GlobalAction>
<Private entityRef="hero">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-9.4" y="-152.8" z="0.5" h="1.57079632679"/>
</Position>
</TeleportAction>
</PrivateAction>
<PrivateAction>
<ControllerAction>
<AssignControllerAction>
<Controller name="HeroAgent">
<Properties>
<Property name="module" value="external_control"/>
</Properties>
</Controller>
</AssignControllerAction>
<OverrideControllerValueAction>
<Throttle value="0" active="false"/>
<Brake value="0" active="false"/>
<Clutch value="0" active="false"/>
<ParkingBrake value="0" active="false"/>
<SteeringWheel value="0" active="false"/>
<Gear number="0" active="false"/>
</OverrideControllerValueAction>
</ControllerAction>
</PrivateAction>
</Private>
<Private entityRef="adversary">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-9.4" y="-71.0" z="0.5" h="1.57079632679"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="standing">
<PrivateAction>
<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_22927">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-17.603103637695312" y="-161.70436096191406" z="0.0016471862327307463"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_close_to_hero_22928">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-4.252857208251953" y="-148.8798065185547" z="0.0016471862327307463"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_close_to_standing_22930">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-14.586711883544922" y="24.968175888061523" z="0.0030427169986069202"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_w_transform_22931">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-19.28568458557129" y="-61.78972625732422" z="0.5"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_close_to_hero_22932">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-15.976612091064453" y="-153.8050994873047" z="0.0016471862327307463"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_w_transform_22933">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-62.19635772705078" y="91.33229064941406" z="0.5"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_close_to_adversary_22934">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-4.475217342376709" y="-80.23783111572266" z="0.0338064581155777"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_w_transform_22935">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="58.8121452331543" y="-18.52716064453125" z="0.5"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_close_to_hero_22937">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-6.58682918548584" y="-143.60910034179688" z="0.0016471862327307463"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_close_to_hero_22938">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-10.454730987548828" y="-146.68563842773438" z="0.0016471862327307463"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_w_transform_22939">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-75.64351654052734" y="35.81300735473633" z="0.5"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_w_transform_22940">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-73.79291534423828" y="93.46248626708984" z="0.5"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_w_transform_22941">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-4.453505516052246" y="9.91512680053711" z="0.5"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_w_transform_22942">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="86.82966613769531" y="-68.26467895507812" z="0.5"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_close_to_standing_22943">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-13.787832260131836" y="35.36225891113281" z="0.003091354388743639"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_w_transform_22944">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-71.00663757324219" y="-41.32584762573242" z="0.5"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_w_transform_22945">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-6.961152076721191" y="18.702796936035156" 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 actor named pedestrian_close_to_standing_2039?
```
<?xml version="1.0" ?>
<OpenSCENARIO>
<FileHeader revMajor="1" revMinor="0" date="2020-03-24T12:00:00" description="CARLA:LaneChangeSimple" author=""/>
<ParameterDeclarations/>
<CatalogLocations/>
<RoadNetwork>
<LogicFile filepath="Town04"/>
<SceneGraphFile filepath=""/>
</RoadNetwork>
<Entities>
<ScenarioObject name="hero">
<Vehicle name="vehicle.tesla.model3" vehicleCategory="car">
<ParameterDeclarations/>
<Performance maxSpeed="69.444" maxAcceleration="200" maxDeceleration="10.0"/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2.1" length="4.5" height="1.8"/>
</BoundingBox>
<Axles>
<FrontAxle maxSteering="0.5" wheelDiameter="0.6" trackWidth="1.8" positionX="3.1" positionZ="0.3"/>
<RearAxle maxSteering="0.0" wheelDiameter="0.6" trackWidth="1.8" positionX="0.0" positionZ="0.3"/>
</Axles>
<Properties>
<Property name="type" value="ego_vehicle"/>
</Properties>
</Vehicle>
</ScenarioObject>
<ScenarioObject name="adversary">
<Vehicle name="vehicle.lincoln.mkz_2017" vehicleCategory="car">
<ParameterDeclarations/>
<Performance maxSpeed="69.444" maxAcceleration="200" maxDeceleration="10.0"/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2.1" length="4.5" height="1.8"/>
</BoundingBox>
<Axles>
<FrontAxle maxSteering="0.5" wheelDiameter="0.6" trackWidth="1.8" positionX="3.1" positionZ="0.3"/>
<RearAxle maxSteering="0.0" wheelDiameter="0.6" trackWidth="1.8" positionX="0.0" positionZ="0.3"/>
</Axles>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Vehicle>
</ScenarioObject>
<ScenarioObject name="standing">
<Vehicle name="vehicle.volkswagen.t2" vehicleCategory="car">
<ParameterDeclarations/>
<Performance maxSpeed="69.444" maxAcceleration="200" maxDeceleration="10.0"/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2.1" length="4.5" height="1.8"/>
</BoundingBox>
<Axles>
<FrontAxle maxSteering="0.5" wheelDiameter="0.6" trackWidth="1.8" positionX="3.1" positionZ="0.3"/>
<RearAxle maxSteering="0.0" wheelDiameter="0.6" 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_2030">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_close_to_hero_2031">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_close_to_hero_2032">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_w_transform_2033">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_close_to_adversary_2034">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_w_transform_2035">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_close_to_adversary_2037">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_close_to_adversary_2038">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_close_to_standing_2039">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_close_to_adversary_2040">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_w_transform_2041">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_close_to_adversary_2042">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
</Entities>
<Storyboard>
<Init>
<Actions>
<GlobalAction>
<EnvironmentAction>
<Environment name="Environment1">
<TimeOfDay animation="false" dateTime="2019-06-25T12:00:00"/>
<Weather cloudState="free">
<Sun intensity="0.85" azimuth="0" elevation="1.31"/>
<Fog visualRange="100000.0"/>
<Precipitation precipitationType="dry" intensity="0.0"/>
</Weather>
<RoadCondition frictionScaleFactor="1.0"/>
</Environment>
</EnvironmentAction>
</GlobalAction>
<Private entityRef="hero">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-9.4" y="-152.8" z="0.5" h="1.57079632679"/>
</Position>
</TeleportAction>
</PrivateAction>
<PrivateAction>
<ControllerAction>
<AssignControllerAction>
<Controller name="HeroAgent">
<Properties>
<Property name="module" value="external_control"/>
</Properties>
</Controller>
</AssignControllerAction>
<OverrideControllerValueAction>
<Throttle value="0" active="false"/>
<Brake value="0" active="false"/>
<Clutch value="0" active="false"/>
<ParkingBrake value="0" active="false"/>
<SteeringWheel value="0" active="false"/>
<Gear number="0" active="false"/>
</OverrideControllerValueAction>
</ControllerAction>
</PrivateAction>
</Private>
<Private entityRef="adversary">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-9.4" y="-71.0" z="0.5" h="1.57079632679"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="standing">
<PrivateAction>
<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_2030">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="0.1799597293138504" y="37.94927978515625" z="0.003027763217687607"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_close_to_hero_2031">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-6.204939365386963" y="-143.4315185546875" z="0.0014525604201480746"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_close_to_hero_2032">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-11.862716674804688" y="-151.05474853515625" z="0.0014525604201480746"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_w_transform_2033">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-43.32867431640625" y="70.33104705810547" z="0.5"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_close_to_adversary_2034">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-8.09424877166748" y="-74.15262603759766" z="0.033801496028900146"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_w_transform_2035">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="87.92106628417969" y="-17.55422592163086" z="0.5"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_close_to_adversary_2037">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-17.088542938232422" y="-66.57341766357422" z="0.033785589039325714"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_close_to_adversary_2038">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-10.90116024017334" y="-65.58114624023438" z="0.03381641209125519"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_close_to_standing_2039">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-9.537848472595215" y="30.258304595947266" z="0.0030453491490334272"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_close_to_adversary_2040">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-15.16877555847168" y="-72.6888198852539" z="0.03379932418465614"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_w_transform_2041">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="43.187355041503906" y="-98.23519134521484" z="0.5"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_close_to_adversary_2042">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-6.808495998382568" y="-61.011417388916016" z="0.033763084560632706"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
</Actions>
</Init>
<Story name="MyStory">
<Act name="Behavior">
<ManeuverGroup maximumExecutionCount="1" name="ManeuverSequence">
<Actors selectTriggeringEntities="false">
<EntityRef entityRef="adversary"/>
</Actors>
<Maneuver name="LaneChangeSimpleManeuver">
<Event name="AdversaryAccelerates" priority="overwrite">
<Action name="AdversaryAccelerates">
<PrivateAction>
<LongitudinalAction>
<SpeedAction>
<SpeedActionDynamics dynamicsShape="step" value="50" dynamicsDimension="distance"/>
<SpeedActionTarget>
<AbsoluteTargetSpeed value="5.0"/>
</SpeedActionTarget>
</SpeedAction>
</LongitudinalAction>
</PrivateAction>
</Action>
<StartTrigger>
<ConditionGroup>
<Condition name="StartCondition" delay="0" conditionEdge="rising">
<ByEntityCondition>
<TriggeringEntities triggeringEntitiesRule="any">
<EntityRef entityRef="hero"/>
</TriggeringEntities>
<EntityCondition>
<RelativeDistanceCondition entityRef="adversary" relativeDistanceType="cartesianDistance" value="40.0" freespace="false" rule="lessThan"/>
</EntityCondition>
</ByEntityCondition>
</Condition>
</ConditionGroup>
</StartTrigger>
</Event>
<Event name="AdversaryChangesLane" priority="overwrite">
<Action name="AdversaryChangesLane">
<PrivateAction>
<LateralAction>
<LaneChangeAction>
<LaneChangeActionDynamics dynamicsShape="linear" value="25" dynamicsDimension="distance"/>
<LaneChangeTarget>
<RelativeTargetLane entityRef="adversary" value="-1"/>
</LaneChangeTarget>
</LaneChangeAction>
</LateralAction>
</PrivateAction>
</Action>
<StartTrigger>
<ConditionGroup>
<Condition name="AfterAdversaryAccelerates" delay="0" conditionEdge="rising">
<ByValueCondition>
<StoryboardElementStateCondition storyboardElementType="action" storyboardElementRef="AdversaryAccelerates" state="completeState"/>
</ByValueCondition>
</Condition>
</ConditionGroup>
</StartTrigger>
</Event>
</Maneuver>
</ManeuverGroup>
<StartTrigger>
<ConditionGroup>
<Condition name="OverallStartCondition" delay="0" conditionEdge="rising">
<ByEntityCondition>
<TriggeringEntities triggeringEntitiesRule="any">
<EntityRef entityRef="hero"/>
</TriggeringEntities>
<EntityCondition>
<TraveledDistanceCondition value="1.0"/>
</EntityCondition>
</ByEntityCondition>
</Condition>
<Condition name="StartTime" delay="0" conditionEdge="rising">
<ByValueCondition>
<SimulationTimeCondition value="0" rule="equalTo"/>
</ByValueCondition>
</Condition>
</ConditionGroup>
</StartTrigger>
<StopTrigger>
<ConditionGroup>
<Condition name="EndCondition" delay="0" conditionEdge="rising">
<ByEntityCondition>
<TriggeringEntities triggeringEntitiesRule="any">
<EntityRef entityRef="hero"/>
</TriggeringEntities>
<EntityCondition>
<TraveledDistanceCondition value="200.0"/>
</EntityCondition>
</ByEntityCondition>
</Condition>
</ConditionGroup>
</StopTrigger>
</Act>
</Story>
<StopTrigger>
<ConditionGroup>
<Condition name="criteria_RunningStopTest" delay="0" conditionEdge="rising">
<ByValueCondition>
<ParameterCondition parameterRef="" value="" rule="lessThan"/>
</ByValueCondition>
</Condition>
<Condition name="criteria_RunningRedLightTest" delay="0" conditionEdge="rising">
<ByValueCondition>
<ParameterCondition parameterRef="" value="" rule="lessThan"/>
</ByValueCondition>
</Condition>
<Condition name="criteria_WrongLaneTest" delay="0" conditionEdge="rising">
<ByValueCondition>
<ParameterCondition parameterRef="" value="" rule="lessThan"/>
</ByValueCondition>
</Condition>
<Condition name="criteria_OnSidewalkTest" delay="0" conditionEdge="rising">
<ByValueCondition>
<ParameterCondition parameterRef="" value="" rule="lessThan"/>
</ByValueCondition>
</Condition>
<Condition name="criteria_KeepLaneTest" delay="0" conditionEdge="rising">
<ByValueCondition>
<ParameterCondition parameterRef="" value="" rule="lessThan"/>
</ByValueCondition>
</Condition>
<Condition name="criteria_CollisionTest" delay="0" conditionEdge="rising">
<ByValueCondition>
<ParameterCondition parameterRef="" value="" rule="lessThan"/>
</ByValueCondition>
</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_2030">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_close_to_hero_2031">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_close_to_hero_2032">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_w_transform_2033">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_close_to_adversary_2034">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_w_transform_2035">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_close_to_adversary_2037">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_close_to_adversary_2038">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_close_to_adversary_2040">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_w_transform_2041">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_close_to_adversary_2042">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
</Entities>
<Storyboard>
<Init>
<Actions>
<GlobalAction>
<EnvironmentAction>
<Environment name="Environment1">
<TimeOfDay animation="false" dateTime="2019-06-25T12:00:00"/>
<Weather cloudState="free">
<Sun intensity="0.85" azimuth="0" elevation="1.31"/>
<Fog visualRange="100000.0"/>
<Precipitation precipitationType="dry" intensity="0.0"/>
</Weather>
<RoadCondition frictionScaleFactor="1.0"/>
</Environment>
</EnvironmentAction>
</GlobalAction>
<Private entityRef="hero">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-9.4" y="-152.8" z="0.5" h="1.57079632679"/>
</Position>
</TeleportAction>
</PrivateAction>
<PrivateAction>
<ControllerAction>
<AssignControllerAction>
<Controller name="HeroAgent">
<Properties>
<Property name="module" value="external_control"/>
</Properties>
</Controller>
</AssignControllerAction>
<OverrideControllerValueAction>
<Throttle value="0" active="false"/>
<Brake value="0" active="false"/>
<Clutch value="0" active="false"/>
<ParkingBrake value="0" active="false"/>
<SteeringWheel value="0" active="false"/>
<Gear number="0" active="false"/>
</OverrideControllerValueAction>
</ControllerAction>
</PrivateAction>
</Private>
<Private entityRef="adversary">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-9.4" y="-71.0" z="0.5" h="1.57079632679"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="standing">
<PrivateAction>
<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_2030">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="0.1799597293138504" y="37.94927978515625" z="0.003027763217687607"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_close_to_hero_2031">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-6.204939365386963" y="-143.4315185546875" z="0.0014525604201480746"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_close_to_hero_2032">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-11.862716674804688" y="-151.05474853515625" z="0.0014525604201480746"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_w_transform_2033">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-43.32867431640625" y="70.33104705810547" z="0.5"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_close_to_adversary_2034">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-8.09424877166748" y="-74.15262603759766" z="0.033801496028900146"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_w_transform_2035">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="87.92106628417969" y="-17.55422592163086" z="0.5"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_close_to_adversary_2037">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-17.088542938232422" y="-66.57341766357422" z="0.033785589039325714"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_close_to_adversary_2038">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-10.90116024017334" y="-65.58114624023438" z="0.03381641209125519"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_close_to_adversary_2040">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-15.16877555847168" y="-72.6888198852539" z="0.03379932418465614"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_w_transform_2041">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="43.187355041503906" y="-98.23519134521484" z="0.5"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_close_to_adversary_2042">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-6.808495998382568" y="-61.011417388916016" z="0.033763084560632706"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
</Actions>
</Init>
<Story name="MyStory">
<Act name="Behavior">
<ManeuverGroup maximumExecutionCount="1" name="ManeuverSequence">
<Actors selectTriggeringEntities="false">
<EntityRef entityRef="adversary"/>
</Actors>
<Maneuver name="LaneChangeSimpleManeuver">
<Event name="AdversaryAccelerates" priority="overwrite">
<Action name="AdversaryAccelerates">
<PrivateAction>
<LongitudinalAction>
<SpeedAction>
<SpeedActionDynamics dynamicsShape="step" value="50" dynamicsDimension="distance"/>
<SpeedActionTarget>
<AbsoluteTargetSpeed value="5.0"/>
</SpeedActionTarget>
</SpeedAction>
</LongitudinalAction>
</PrivateAction>
</Action>
<StartTrigger>
<ConditionGroup>
<Condition name="StartCondition" delay="0" conditionEdge="rising">
<ByEntityCondition>
<TriggeringEntities triggeringEntitiesRule="any">
<EntityRef entityRef="hero"/>
</TriggeringEntities>
<EntityCondition>
<RelativeDistanceCondition entityRef="adversary" relativeDistanceType="cartesianDistance" value="40.0" freespace="false" rule="lessThan"/>
</EntityCondition>
</ByEntityCondition>
</Condition>
</ConditionGroup>
</StartTrigger>
</Event>
<Event name="AdversaryChangesLane" priority="overwrite">
<Action name="AdversaryChangesLane">
<PrivateAction>
<LateralAction>
<LaneChangeAction>
<LaneChangeActionDynamics dynamicsShape="linear" value="25" dynamicsDimension="distance"/>
<LaneChangeTarget>
<RelativeTargetLane entityRef="adversary" value="-1"/>
</LaneChangeTarget>
</LaneChangeAction>
</LateralAction>
</PrivateAction>
</Action>
<StartTrigger>
<ConditionGroup>
<Condition name="AfterAdversaryAccelerates" delay="0" conditionEdge="rising">
<ByValueCondition>
<StoryboardElementStateCondition storyboardElementType="action" storyboardElementRef="AdversaryAccelerates" state="completeState"/>
</ByValueCondition>
</Condition>
</ConditionGroup>
</StartTrigger>
</Event>
</Maneuver>
</ManeuverGroup>
<StartTrigger>
<ConditionGroup>
<Condition name="OverallStartCondition" delay="0" conditionEdge="rising">
<ByEntityCondition>
<TriggeringEntities triggeringEntitiesRule="any">
<EntityRef entityRef="hero"/>
</TriggeringEntities>
<EntityCondition>
<TraveledDistanceCondition value="1.0"/>
</EntityCondition>
</ByEntityCondition>
</Condition>
<Condition name="StartTime" delay="0" conditionEdge="rising">
<ByValueCondition>
<SimulationTimeCondition value="0" rule="equalTo"/>
</ByValueCondition>
</Condition>
</ConditionGroup>
</StartTrigger>
<StopTrigger>
<ConditionGroup>
<Condition name="EndCondition" delay="0" conditionEdge="rising">
<ByEntityCondition>
<TriggeringEntities triggeringEntitiesRule="any">
<EntityRef entityRef="hero"/>
</TriggeringEntities>
<EntityCondition>
<TraveledDistanceCondition value="200.0"/>
</EntityCondition>
</ByEntityCondition>
</Condition>
</ConditionGroup>
</StopTrigger>
</Act>
</Story>
<StopTrigger>
<ConditionGroup>
<Condition name="criteria_RunningStopTest" delay="0" conditionEdge="rising">
<ByValueCondition>
<ParameterCondition parameterRef="" value="" rule="lessThan"/>
</ByValueCondition>
</Condition>
<Condition name="criteria_RunningRedLightTest" delay="0" conditionEdge="rising">
<ByValueCondition>
<ParameterCondition parameterRef="" value="" rule="lessThan"/>
</ByValueCondition>
</Condition>
<Condition name="criteria_WrongLaneTest" delay="0" conditionEdge="rising">
<ByValueCondition>
<ParameterCondition parameterRef="" value="" rule="lessThan"/>
</ByValueCondition>
</Condition>
<Condition name="criteria_OnSidewalkTest" delay="0" conditionEdge="rising">
<ByValueCondition>
<ParameterCondition parameterRef="" value="" rule="lessThan"/>
</ByValueCondition>
</Condition>
<Condition name="criteria_KeepLaneTest" delay="0" conditionEdge="rising">
<ByValueCondition>
<ParameterCondition parameterRef="" value="" rule="lessThan"/>
</ByValueCondition>
</Condition>
<Condition name="criteria_CollisionTest" delay="0" conditionEdge="rising">
<ByValueCondition>
<ParameterCondition parameterRef="" value="" rule="lessThan"/>
</ByValueCondition>
</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_28366">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_w_transform_28367">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_w_transform_28369">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_close_to_hero_28370">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
</Entities>
<Storyboard>
<Init>
<Actions>
<GlobalAction>
<EnvironmentAction>
<Environment name="Environment1">
<TimeOfDay animation="false" dateTime="2019-06-25T12:00:00"/>
<Weather cloudState="free">
<Sun intensity="0.85" azimuth="0" elevation="1.31"/>
<Fog visualRange="100000.0"/>
<Precipitation precipitationType="dry" intensity="0.0"/>
</Weather>
<RoadCondition frictionScaleFactor="1.0"/>
</Environment>
</EnvironmentAction>
</GlobalAction>
<Private entityRef="hero">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-9.4" y="-152.8" z="0.5" h="1.57079632679"/>
</Position>
</TeleportAction>
</PrivateAction>
<PrivateAction>
<ControllerAction>
<AssignControllerAction>
<Controller name="HeroAgent">
<Properties>
<Property name="module" value="external_control"/>
</Properties>
</Controller>
</AssignControllerAction>
<OverrideControllerValueAction>
<Throttle value="0" active="false"/>
<Brake value="0" active="false"/>
<Clutch value="0" active="false"/>
<ParkingBrake value="0" active="false"/>
<SteeringWheel value="0" active="false"/>
<Gear number="0" active="false"/>
</OverrideControllerValueAction>
</ControllerAction>
</PrivateAction>
</Private>
<Private entityRef="adversary">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-9.4" y="-71.0" z="0.5" h="1.57079632679"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="standing">
<PrivateAction>
<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_28366">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="4.349114894866943" y="23.684003829956055" z="0.00303058628924191"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_w_transform_28367">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="16.834592819213867" y="-61.59845733642578" z="0.5"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_w_transform_28369">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-96.5103530883789" y="4.131911277770996" z="0.5"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_close_to_hero_28370">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-16.331703186035156" y="-161.19715881347656" 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_28366">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_w_transform_28367">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_w_transform_28369">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_close_to_hero_28370">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_close_to_adversary_28371">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
</Entities>
<Storyboard>
<Init>
<Actions>
<GlobalAction>
<EnvironmentAction>
<Environment name="Environment1">
<TimeOfDay animation="false" dateTime="2019-06-25T12:00:00"/>
<Weather cloudState="free">
<Sun intensity="0.85" azimuth="0" elevation="1.31"/>
<Fog visualRange="100000.0"/>
<Precipitation precipitationType="dry" intensity="0.0"/>
</Weather>
<RoadCondition frictionScaleFactor="1.0"/>
</Environment>
</EnvironmentAction>
</GlobalAction>
<Private entityRef="hero">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-9.4" y="-152.8" z="0.5" h="1.57079632679"/>
</Position>
</TeleportAction>
</PrivateAction>
<PrivateAction>
<ControllerAction>
<AssignControllerAction>
<Controller name="HeroAgent">
<Properties>
<Property name="module" value="external_control"/>
</Properties>
</Controller>
</AssignControllerAction>
<OverrideControllerValueAction>
<Throttle value="0" active="false"/>
<Brake value="0" active="false"/>
<Clutch value="0" active="false"/>
<ParkingBrake value="0" active="false"/>
<SteeringWheel value="0" active="false"/>
<Gear number="0" active="false"/>
</OverrideControllerValueAction>
</ControllerAction>
</PrivateAction>
</Private>
<Private entityRef="adversary">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-9.4" y="-71.0" z="0.5" h="1.57079632679"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="standing">
<PrivateAction>
<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_28366">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="4.349114894866943" y="23.684003829956055" z="0.00303058628924191"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_w_transform_28367">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="16.834592819213867" y="-61.59845733642578" z="0.5"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_w_transform_28369">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-96.5103530883789" y="4.131911277770996" z="0.5"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_close_to_hero_28370">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-16.331703186035156" y="-161.19715881347656" z="0.0013734435196965933"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_close_to_adversary_28371">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-16.197662353515625" y="-70.49694061279297" z="0.03375549241900444"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
</Actions>
</Init>
<Story name="MyStory">
<Act name="Behavior">
<ManeuverGroup maximumExecutionCount="1" name="ManeuverSequence">
<Actors selectTriggeringEntities="false">
<EntityRef entityRef="adversary"/>
</Actors>
<Maneuver name="LaneChangeSimpleManeuver">
<Event name="AdversaryAccelerates" priority="overwrite">
<Action name="AdversaryAccelerates">
<PrivateAction>
<LongitudinalAction>
<SpeedAction>
<SpeedActionDynamics dynamicsShape="step" value="50" dynamicsDimension="distance"/>
<SpeedActionTarget>
<AbsoluteTargetSpeed value="5.0"/>
</SpeedActionTarget>
</SpeedAction>
</LongitudinalAction>
</PrivateAction>
</Action>
<StartTrigger>
<ConditionGroup>
<Condition name="StartCondition" delay="0" conditionEdge="rising">
<ByEntityCondition>
<TriggeringEntities triggeringEntitiesRule="any">
<EntityRef entityRef="hero"/>
</TriggeringEntities>
<EntityCondition>
<RelativeDistanceCondition entityRef="adversary" relativeDistanceType="cartesianDistance" value="40.0" freespace="false" rule="lessThan"/>
</EntityCondition>
</ByEntityCondition>
</Condition>
</ConditionGroup>
</StartTrigger>
</Event>
<Event name="AdversaryChangesLane" priority="overwrite">
<Action name="AdversaryChangesLane">
<PrivateAction>
<LateralAction>
<LaneChangeAction>
<LaneChangeActionDynamics dynamicsShape="linear" value="25" dynamicsDimension="distance"/>
<LaneChangeTarget>
<RelativeTargetLane entityRef="adversary" value="-1"/>
</LaneChangeTarget>
</LaneChangeAction>
</LateralAction>
</PrivateAction>
</Action>
<StartTrigger>
<ConditionGroup>
<Condition name="AfterAdversaryAccelerates" delay="0" conditionEdge="rising">
<ByValueCondition>
<StoryboardElementStateCondition storyboardElementType="action" storyboardElementRef="AdversaryAccelerates" state="completeState"/>
</ByValueCondition>
</Condition>
</ConditionGroup>
</StartTrigger>
</Event>
</Maneuver>
</ManeuverGroup>
<StartTrigger>
<ConditionGroup>
<Condition name="OverallStartCondition" delay="0" conditionEdge="rising">
<ByEntityCondition>
<TriggeringEntities triggeringEntitiesRule="any">
<EntityRef entityRef="hero"/>
</TriggeringEntities>
<EntityCondition>
<TraveledDistanceCondition value="1.0"/>
</EntityCondition>
</ByEntityCondition>
</Condition>
<Condition name="StartTime" delay="0" conditionEdge="rising">
<ByValueCondition>
<SimulationTimeCondition value="0" rule="equalTo"/>
</ByValueCondition>
</Condition>
</ConditionGroup>
</StartTrigger>
<StopTrigger>
<ConditionGroup>
<Condition name="EndCondition" delay="0" conditionEdge="rising">
<ByEntityCondition>
<TriggeringEntities triggeringEntitiesRule="any">
<EntityRef entityRef="hero"/>
</TriggeringEntities>
<EntityCondition>
<TraveledDistanceCondition value="200.0"/>
</EntityCondition>
</ByEntityCondition>
</Condition>
</ConditionGroup>
</StopTrigger>
</Act>
</Story>
<StopTrigger>
<ConditionGroup>
<Condition name="criteria_RunningStopTest" delay="0" conditionEdge="rising">
<ByValueCondition>
<ParameterCondition parameterRef="" value="" rule="lessThan"/>
</ByValueCondition>
</Condition>
<Condition name="criteria_RunningRedLightTest" delay="0" conditionEdge="rising">
<ByValueCondition>
<ParameterCondition parameterRef="" value="" rule="lessThan"/>
</ByValueCondition>
</Condition>
<Condition name="criteria_WrongLaneTest" delay="0" conditionEdge="rising">
<ByValueCondition>
<ParameterCondition parameterRef="" value="" rule="lessThan"/>
</ByValueCondition>
</Condition>
<Condition name="criteria_OnSidewalkTest" delay="0" conditionEdge="rising">
<ByValueCondition>
<ParameterCondition parameterRef="" value="" rule="lessThan"/>
</ByValueCondition>
</Condition>
<Condition name="criteria_KeepLaneTest" delay="0" conditionEdge="rising">
<ByValueCondition>
<ParameterCondition parameterRef="" value="" rule="lessThan"/>
</ByValueCondition>
</Condition>
<Condition name="criteria_CollisionTest" delay="0" conditionEdge="rising">
<ByValueCondition>
<ParameterCondition parameterRef="" value="" rule="lessThan"/>
</ByValueCondition>
</Condition>
<Condition name="criteria_DrivenDistanceTest" delay="0" conditionEdge="rising">
<ByValueCondition>
<ParameterCondition parameterRef="distance_success" value="100" rule="lessThan"/>
</ByValueCondition>
</Condition>
</ConditionGroup>
</StopTrigger>
</Storyboard>
</OpenSCENARIO>
``` |