request
stringlengths 11k
36.4k
| response
stringlengths 11k
36.3k
|
|---|---|
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_adversary_24428">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_w_transform_24429">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_close_to_hero_24430">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_close_to_adversary_24431">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_w_transform_24432">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_close_to_hero_24433">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
</Entities>
<Storyboard>
<Init>
<Actions>
<GlobalAction>
<EnvironmentAction>
<Environment name="Environment1">
<TimeOfDay animation="false" dateTime="2019-06-25T12:00:00"/>
<Weather cloudState="free">
<Sun intensity="0.85" azimuth="0" elevation="1.31"/>
<Fog visualRange="100000.0"/>
<Precipitation precipitationType="dry" intensity="0.0"/>
</Weather>
<RoadCondition frictionScaleFactor="1.0"/>
</Environment>
</EnvironmentAction>
</GlobalAction>
<Private entityRef="hero">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-9.4" y="-152.8" z="0.5" h="1.57079632679"/>
</Position>
</TeleportAction>
</PrivateAction>
<PrivateAction>
<ControllerAction>
<AssignControllerAction>
<Controller name="HeroAgent">
<Properties>
<Property name="module" value="external_control"/>
</Properties>
</Controller>
</AssignControllerAction>
<OverrideControllerValueAction>
<Throttle value="0" active="false"/>
<Brake value="0" active="false"/>
<Clutch value="0" active="false"/>
<ParkingBrake value="0" active="false"/>
<SteeringWheel value="0" active="false"/>
<Gear number="0" active="false"/>
</OverrideControllerValueAction>
</ControllerAction>
</PrivateAction>
</Private>
<Private entityRef="adversary">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-9.4" y="-71.0" z="0.5" h="1.57079632679"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="standing">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-8.2" y="29.2" z="0.5" h="1.57079632679"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_close_to_adversary_24428">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-3.3995320796966553" y="-66.35528564453125" z="0.033836860209703445"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_w_transform_24429">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-65.76216888427734" y="-3.8612236976623535" z="0.5"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_close_to_hero_24430">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-18.748958587646484" y="-160.97434997558594" z="0.0014652633108198643"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_close_to_adversary_24431">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-2.726623773574829" y="-77.10105895996094" z="0.033810652792453766"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_w_transform_24432">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="38.36365509033203" y="77.84467315673828" z="0.5"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_close_to_hero_24433">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-9.16131591796875" y="-143.6553497314453" z="0.0014652633108198643"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
</Actions>
</Init>
<Story name="MyStory">
<Act name="Behavior">
<ManeuverGroup maximumExecutionCount="1" name="ManeuverSequence">
<Actors selectTriggeringEntities="false">
<EntityRef entityRef="adversary"/>
</Actors>
<Maneuver name="LaneChangeSimpleManeuver">
<Event name="AdversaryAccelerates" priority="overwrite">
<Action name="AdversaryAccelerates">
<PrivateAction>
<LongitudinalAction>
<SpeedAction>
<SpeedActionDynamics dynamicsShape="step" value="50" dynamicsDimension="distance"/>
<SpeedActionTarget>
<AbsoluteTargetSpeed value="5.0"/>
</SpeedActionTarget>
</SpeedAction>
</LongitudinalAction>
</PrivateAction>
</Action>
<StartTrigger>
<ConditionGroup>
<Condition name="StartCondition" delay="0" conditionEdge="rising">
<ByEntityCondition>
<TriggeringEntities triggeringEntitiesRule="any">
<EntityRef entityRef="hero"/>
</TriggeringEntities>
<EntityCondition>
<RelativeDistanceCondition entityRef="adversary" relativeDistanceType="cartesianDistance" value="40.0" freespace="false" rule="lessThan"/>
</EntityCondition>
</ByEntityCondition>
</Condition>
</ConditionGroup>
</StartTrigger>
</Event>
<Event name="AdversaryChangesLane" priority="overwrite">
<Action name="AdversaryChangesLane">
<PrivateAction>
<LateralAction>
<LaneChangeAction>
<LaneChangeActionDynamics dynamicsShape="linear" value="25" dynamicsDimension="distance"/>
<LaneChangeTarget>
<RelativeTargetLane entityRef="adversary" value="-1"/>
</LaneChangeTarget>
</LaneChangeAction>
</LateralAction>
</PrivateAction>
</Action>
<StartTrigger>
<ConditionGroup>
<Condition name="AfterAdversaryAccelerates" delay="0" conditionEdge="rising">
<ByValueCondition>
<StoryboardElementStateCondition storyboardElementType="action" storyboardElementRef="AdversaryAccelerates" state="completeState"/>
</ByValueCondition>
</Condition>
</ConditionGroup>
</StartTrigger>
</Event>
</Maneuver>
</ManeuverGroup>
<StartTrigger>
<ConditionGroup>
<Condition name="OverallStartCondition" delay="0" conditionEdge="rising">
<ByEntityCondition>
<TriggeringEntities triggeringEntitiesRule="any">
<EntityRef entityRef="hero"/>
</TriggeringEntities>
<EntityCondition>
<TraveledDistanceCondition value="1.0"/>
</EntityCondition>
</ByEntityCondition>
</Condition>
<Condition name="StartTime" delay="0" conditionEdge="rising">
<ByValueCondition>
<SimulationTimeCondition value="0" rule="equalTo"/>
</ByValueCondition>
</Condition>
</ConditionGroup>
</StartTrigger>
<StopTrigger>
<ConditionGroup>
<Condition name="EndCondition" delay="0" conditionEdge="rising">
<ByEntityCondition>
<TriggeringEntities triggeringEntitiesRule="any">
<EntityRef entityRef="hero"/>
</TriggeringEntities>
<EntityCondition>
<TraveledDistanceCondition value="200.0"/>
</EntityCondition>
</ByEntityCondition>
</Condition>
</ConditionGroup>
</StopTrigger>
</Act>
</Story>
<StopTrigger>
<ConditionGroup>
<Condition name="criteria_RunningStopTest" delay="0" conditionEdge="rising">
<ByValueCondition>
<ParameterCondition parameterRef="" value="" rule="lessThan"/>
</ByValueCondition>
</Condition>
<Condition name="criteria_RunningRedLightTest" delay="0" conditionEdge="rising">
<ByValueCondition>
<ParameterCondition parameterRef="" value="" rule="lessThan"/>
</ByValueCondition>
</Condition>
<Condition name="criteria_WrongLaneTest" delay="0" conditionEdge="rising">
<ByValueCondition>
<ParameterCondition parameterRef="" value="" rule="lessThan"/>
</ByValueCondition>
</Condition>
<Condition name="criteria_OnSidewalkTest" delay="0" conditionEdge="rising">
<ByValueCondition>
<ParameterCondition parameterRef="" value="" rule="lessThan"/>
</ByValueCondition>
</Condition>
<Condition name="criteria_KeepLaneTest" delay="0" conditionEdge="rising">
<ByValueCondition>
<ParameterCondition parameterRef="" value="" rule="lessThan"/>
</ByValueCondition>
</Condition>
<Condition name="criteria_CollisionTest" delay="0" conditionEdge="rising">
<ByValueCondition>
<ParameterCondition parameterRef="" value="" rule="lessThan"/>
</ByValueCondition>
</Condition>
<Condition name="criteria_DrivenDistanceTest" delay="0" conditionEdge="rising">
<ByValueCondition>
<ParameterCondition parameterRef="distance_success" value="100" rule="lessThan"/>
</ByValueCondition>
</Condition>
</ConditionGroup>
</StopTrigger>
</Storyboard>
</OpenSCENARIO>
``` | Here is the result:
```
<?xml version="1.0" ?>
<OpenSCENARIO>
<FileHeader revMajor="1" revMinor="0" date="2020-03-24T12:00:00" description="CARLA:LaneChangeSimple" author=""/>
<ParameterDeclarations/>
<CatalogLocations/>
<RoadNetwork>
<LogicFile filepath="Town04"/>
<SceneGraphFile filepath=""/>
</RoadNetwork>
<Entities>
<ScenarioObject name="hero">
<Vehicle name="vehicle.tesla.model3" vehicleCategory="car">
<ParameterDeclarations/>
<Performance maxSpeed="69.444" maxAcceleration="200" maxDeceleration="10.0"/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2.1" length="4.5" height="1.8"/>
</BoundingBox>
<Axles>
<FrontAxle maxSteering="0.5" wheelDiameter="0.6" trackWidth="1.8" positionX="3.1" positionZ="0.3"/>
<RearAxle maxSteering="0.0" wheelDiameter="0.6" trackWidth="1.8" positionX="0.0" positionZ="0.3"/>
</Axles>
<Properties>
<Property name="type" value="ego_vehicle"/>
</Properties>
</Vehicle>
</ScenarioObject>
<ScenarioObject name="adversary">
<Vehicle name="vehicle.lincoln.mkz_2017" vehicleCategory="car">
<ParameterDeclarations/>
<Performance maxSpeed="69.444" maxAcceleration="200" maxDeceleration="10.0"/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2.1" length="4.5" height="1.8"/>
</BoundingBox>
<Axles>
<FrontAxle maxSteering="0.5" wheelDiameter="0.6" trackWidth="1.8" positionX="3.1" positionZ="0.3"/>
<RearAxle maxSteering="0.0" wheelDiameter="0.6" trackWidth="1.8" positionX="0.0" positionZ="0.3"/>
</Axles>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Vehicle>
</ScenarioObject>
<ScenarioObject name="standing">
<Vehicle name="vehicle.volkswagen.t2" vehicleCategory="car">
<ParameterDeclarations/>
<Performance maxSpeed="69.444" maxAcceleration="200" maxDeceleration="10.0"/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2.1" length="4.5" height="1.8"/>
</BoundingBox>
<Axles>
<FrontAxle maxSteering="0.5" wheelDiameter="0.6" trackWidth="1.8" positionX="3.1" positionZ="0.3"/>
<RearAxle maxSteering="0.0" wheelDiameter="0.6" trackWidth="1.8" positionX="0.0" positionZ="0.3"/>
</Axles>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Vehicle>
</ScenarioObject>
<ScenarioObject name="pedestrian_close_to_adversary_24428">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_w_transform_24429">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_close_to_hero_24430">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_close_to_adversary_24431">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_w_transform_24432">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_close_to_hero_24433">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_close_to_hero_24434">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
</Entities>
<Storyboard>
<Init>
<Actions>
<GlobalAction>
<EnvironmentAction>
<Environment name="Environment1">
<TimeOfDay animation="false" dateTime="2019-06-25T12:00:00"/>
<Weather cloudState="free">
<Sun intensity="0.85" azimuth="0" elevation="1.31"/>
<Fog visualRange="100000.0"/>
<Precipitation precipitationType="dry" intensity="0.0"/>
</Weather>
<RoadCondition frictionScaleFactor="1.0"/>
</Environment>
</EnvironmentAction>
</GlobalAction>
<Private entityRef="hero">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-9.4" y="-152.8" z="0.5" h="1.57079632679"/>
</Position>
</TeleportAction>
</PrivateAction>
<PrivateAction>
<ControllerAction>
<AssignControllerAction>
<Controller name="HeroAgent">
<Properties>
<Property name="module" value="external_control"/>
</Properties>
</Controller>
</AssignControllerAction>
<OverrideControllerValueAction>
<Throttle value="0" active="false"/>
<Brake value="0" active="false"/>
<Clutch value="0" active="false"/>
<ParkingBrake value="0" active="false"/>
<SteeringWheel value="0" active="false"/>
<Gear number="0" active="false"/>
</OverrideControllerValueAction>
</ControllerAction>
</PrivateAction>
</Private>
<Private entityRef="adversary">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-9.4" y="-71.0" z="0.5" h="1.57079632679"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="standing">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-8.2" y="29.2" z="0.5" h="1.57079632679"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_close_to_adversary_24428">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-3.3995320796966553" y="-66.35528564453125" z="0.033836860209703445"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_w_transform_24429">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-65.76216888427734" y="-3.8612236976623535" z="0.5"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_close_to_hero_24430">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-18.748958587646484" y="-160.97434997558594" z="0.0014652633108198643"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_close_to_adversary_24431">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-2.726623773574829" y="-77.10105895996094" z="0.033810652792453766"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_w_transform_24432">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="38.36365509033203" y="77.84467315673828" z="0.5"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_close_to_hero_24433">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-9.16131591796875" y="-143.6553497314453" z="0.0014652633108198643"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_close_to_hero_24434">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-10.930540084838867" y="-145.68307495117188" z="0.0014652633108198643"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
</Actions>
</Init>
<Story name="MyStory">
<Act name="Behavior">
<ManeuverGroup maximumExecutionCount="1" name="ManeuverSequence">
<Actors selectTriggeringEntities="false">
<EntityRef entityRef="adversary"/>
</Actors>
<Maneuver name="LaneChangeSimpleManeuver">
<Event name="AdversaryAccelerates" priority="overwrite">
<Action name="AdversaryAccelerates">
<PrivateAction>
<LongitudinalAction>
<SpeedAction>
<SpeedActionDynamics dynamicsShape="step" value="50" dynamicsDimension="distance"/>
<SpeedActionTarget>
<AbsoluteTargetSpeed value="5.0"/>
</SpeedActionTarget>
</SpeedAction>
</LongitudinalAction>
</PrivateAction>
</Action>
<StartTrigger>
<ConditionGroup>
<Condition name="StartCondition" delay="0" conditionEdge="rising">
<ByEntityCondition>
<TriggeringEntities triggeringEntitiesRule="any">
<EntityRef entityRef="hero"/>
</TriggeringEntities>
<EntityCondition>
<RelativeDistanceCondition entityRef="adversary" relativeDistanceType="cartesianDistance" value="40.0" freespace="false" rule="lessThan"/>
</EntityCondition>
</ByEntityCondition>
</Condition>
</ConditionGroup>
</StartTrigger>
</Event>
<Event name="AdversaryChangesLane" priority="overwrite">
<Action name="AdversaryChangesLane">
<PrivateAction>
<LateralAction>
<LaneChangeAction>
<LaneChangeActionDynamics dynamicsShape="linear" value="25" dynamicsDimension="distance"/>
<LaneChangeTarget>
<RelativeTargetLane entityRef="adversary" value="-1"/>
</LaneChangeTarget>
</LaneChangeAction>
</LateralAction>
</PrivateAction>
</Action>
<StartTrigger>
<ConditionGroup>
<Condition name="AfterAdversaryAccelerates" delay="0" conditionEdge="rising">
<ByValueCondition>
<StoryboardElementStateCondition storyboardElementType="action" storyboardElementRef="AdversaryAccelerates" state="completeState"/>
</ByValueCondition>
</Condition>
</ConditionGroup>
</StartTrigger>
</Event>
</Maneuver>
</ManeuverGroup>
<StartTrigger>
<ConditionGroup>
<Condition name="OverallStartCondition" delay="0" conditionEdge="rising">
<ByEntityCondition>
<TriggeringEntities triggeringEntitiesRule="any">
<EntityRef entityRef="hero"/>
</TriggeringEntities>
<EntityCondition>
<TraveledDistanceCondition value="1.0"/>
</EntityCondition>
</ByEntityCondition>
</Condition>
<Condition name="StartTime" delay="0" conditionEdge="rising">
<ByValueCondition>
<SimulationTimeCondition value="0" rule="equalTo"/>
</ByValueCondition>
</Condition>
</ConditionGroup>
</StartTrigger>
<StopTrigger>
<ConditionGroup>
<Condition name="EndCondition" delay="0" conditionEdge="rising">
<ByEntityCondition>
<TriggeringEntities triggeringEntitiesRule="any">
<EntityRef entityRef="hero"/>
</TriggeringEntities>
<EntityCondition>
<TraveledDistanceCondition value="200.0"/>
</EntityCondition>
</ByEntityCondition>
</Condition>
</ConditionGroup>
</StopTrigger>
</Act>
</Story>
<StopTrigger>
<ConditionGroup>
<Condition name="criteria_RunningStopTest" delay="0" conditionEdge="rising">
<ByValueCondition>
<ParameterCondition parameterRef="" value="" rule="lessThan"/>
</ByValueCondition>
</Condition>
<Condition name="criteria_RunningRedLightTest" delay="0" conditionEdge="rising">
<ByValueCondition>
<ParameterCondition parameterRef="" value="" rule="lessThan"/>
</ByValueCondition>
</Condition>
<Condition name="criteria_WrongLaneTest" delay="0" conditionEdge="rising">
<ByValueCondition>
<ParameterCondition parameterRef="" value="" rule="lessThan"/>
</ByValueCondition>
</Condition>
<Condition name="criteria_OnSidewalkTest" delay="0" conditionEdge="rising">
<ByValueCondition>
<ParameterCondition parameterRef="" value="" rule="lessThan"/>
</ByValueCondition>
</Condition>
<Condition name="criteria_KeepLaneTest" delay="0" conditionEdge="rising">
<ByValueCondition>
<ParameterCondition parameterRef="" value="" rule="lessThan"/>
</ByValueCondition>
</Condition>
<Condition name="criteria_CollisionTest" delay="0" conditionEdge="rising">
<ByValueCondition>
<ParameterCondition parameterRef="" value="" rule="lessThan"/>
</ByValueCondition>
</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_15798">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_close_to_adversary_15799">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
</Entities>
<Storyboard>
<Init>
<Actions>
<GlobalAction>
<EnvironmentAction>
<Environment name="Environment1">
<TimeOfDay animation="false" dateTime="2019-06-25T12:00:00"/>
<Weather cloudState="free">
<Sun intensity="0.85" azimuth="0" elevation="1.31"/>
<Fog visualRange="100000.0"/>
<Precipitation precipitationType="dry" intensity="0.0"/>
</Weather>
<RoadCondition frictionScaleFactor="1.0"/>
</Environment>
</EnvironmentAction>
</GlobalAction>
<Private entityRef="hero">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-9.4" y="-152.8" z="0.5" h="1.57079632679"/>
</Position>
</TeleportAction>
</PrivateAction>
<PrivateAction>
<ControllerAction>
<AssignControllerAction>
<Controller name="HeroAgent">
<Properties>
<Property name="module" value="external_control"/>
</Properties>
</Controller>
</AssignControllerAction>
<OverrideControllerValueAction>
<Throttle value="0" active="false"/>
<Brake value="0" active="false"/>
<Clutch value="0" active="false"/>
<ParkingBrake value="0" active="false"/>
<SteeringWheel value="0" active="false"/>
<Gear number="0" active="false"/>
</OverrideControllerValueAction>
</ControllerAction>
</PrivateAction>
</Private>
<Private entityRef="adversary">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-9.4" y="-71.0" z="0.5" h="1.57079632679"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="standing">
<PrivateAction>
<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_15798">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-14.233467102050781" y="26.752965927124023" z="0.003022765973582864"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_close_to_adversary_15799">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-7.337345123291016" y="-64.46442413330078" z="0.03375896438956261"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
</Actions>
</Init>
<Story name="MyStory">
<Act name="Behavior">
<ManeuverGroup maximumExecutionCount="1" name="ManeuverSequence">
<Actors selectTriggeringEntities="false">
<EntityRef entityRef="adversary"/>
</Actors>
<Maneuver name="LaneChangeSimpleManeuver">
<Event name="AdversaryAccelerates" priority="overwrite">
<Action name="AdversaryAccelerates">
<PrivateAction>
<LongitudinalAction>
<SpeedAction>
<SpeedActionDynamics dynamicsShape="step" value="50" dynamicsDimension="distance"/>
<SpeedActionTarget>
<AbsoluteTargetSpeed value="5.0"/>
</SpeedActionTarget>
</SpeedAction>
</LongitudinalAction>
</PrivateAction>
</Action>
<StartTrigger>
<ConditionGroup>
<Condition name="StartCondition" delay="0" conditionEdge="rising">
<ByEntityCondition>
<TriggeringEntities triggeringEntitiesRule="any">
<EntityRef entityRef="hero"/>
</TriggeringEntities>
<EntityCondition>
<RelativeDistanceCondition entityRef="adversary" relativeDistanceType="cartesianDistance" value="40.0" freespace="false" rule="lessThan"/>
</EntityCondition>
</ByEntityCondition>
</Condition>
</ConditionGroup>
</StartTrigger>
</Event>
<Event name="AdversaryChangesLane" priority="overwrite">
<Action name="AdversaryChangesLane">
<PrivateAction>
<LateralAction>
<LaneChangeAction>
<LaneChangeActionDynamics dynamicsShape="linear" value="25" dynamicsDimension="distance"/>
<LaneChangeTarget>
<RelativeTargetLane entityRef="adversary" value="-1"/>
</LaneChangeTarget>
</LaneChangeAction>
</LateralAction>
</PrivateAction>
</Action>
<StartTrigger>
<ConditionGroup>
<Condition name="AfterAdversaryAccelerates" delay="0" conditionEdge="rising">
<ByValueCondition>
<StoryboardElementStateCondition storyboardElementType="action" storyboardElementRef="AdversaryAccelerates" state="completeState"/>
</ByValueCondition>
</Condition>
</ConditionGroup>
</StartTrigger>
</Event>
</Maneuver>
</ManeuverGroup>
<StartTrigger>
<ConditionGroup>
<Condition name="OverallStartCondition" delay="0" conditionEdge="rising">
<ByEntityCondition>
<TriggeringEntities triggeringEntitiesRule="any">
<EntityRef entityRef="hero"/>
</TriggeringEntities>
<EntityCondition>
<TraveledDistanceCondition value="1.0"/>
</EntityCondition>
</ByEntityCondition>
</Condition>
<Condition name="StartTime" delay="0" conditionEdge="rising">
<ByValueCondition>
<SimulationTimeCondition value="0" rule="equalTo"/>
</ByValueCondition>
</Condition>
</ConditionGroup>
</StartTrigger>
<StopTrigger>
<ConditionGroup>
<Condition name="EndCondition" delay="0" conditionEdge="rising">
<ByEntityCondition>
<TriggeringEntities triggeringEntitiesRule="any">
<EntityRef entityRef="hero"/>
</TriggeringEntities>
<EntityCondition>
<TraveledDistanceCondition value="200.0"/>
</EntityCondition>
</ByEntityCondition>
</Condition>
</ConditionGroup>
</StopTrigger>
</Act>
</Story>
<StopTrigger>
<ConditionGroup>
<Condition name="criteria_RunningStopTest" delay="0" conditionEdge="rising">
<ByValueCondition>
<ParameterCondition parameterRef="" value="" rule="lessThan"/>
</ByValueCondition>
</Condition>
<Condition name="criteria_RunningRedLightTest" delay="0" conditionEdge="rising">
<ByValueCondition>
<ParameterCondition parameterRef="" value="" rule="lessThan"/>
</ByValueCondition>
</Condition>
<Condition name="criteria_WrongLaneTest" delay="0" conditionEdge="rising">
<ByValueCondition>
<ParameterCondition parameterRef="" value="" rule="lessThan"/>
</ByValueCondition>
</Condition>
<Condition name="criteria_OnSidewalkTest" delay="0" conditionEdge="rising">
<ByValueCondition>
<ParameterCondition parameterRef="" value="" rule="lessThan"/>
</ByValueCondition>
</Condition>
<Condition name="criteria_KeepLaneTest" delay="0" conditionEdge="rising">
<ByValueCondition>
<ParameterCondition parameterRef="" value="" rule="lessThan"/>
</ByValueCondition>
</Condition>
<Condition name="criteria_CollisionTest" delay="0" conditionEdge="rising">
<ByValueCondition>
<ParameterCondition parameterRef="" value="" rule="lessThan"/>
</ByValueCondition>
</Condition>
<Condition name="criteria_DrivenDistanceTest" delay="0" conditionEdge="rising">
<ByValueCondition>
<ParameterCondition parameterRef="distance_success" value="100" rule="lessThan"/>
</ByValueCondition>
</Condition>
</ConditionGroup>
</StopTrigger>
</Storyboard>
</OpenSCENARIO>
``` | Here is the result:
```
<?xml version="1.0" ?>
<OpenSCENARIO>
<FileHeader revMajor="1" revMinor="0" date="2020-03-24T12:00:00" description="CARLA:LaneChangeSimple" author=""/>
<ParameterDeclarations/>
<CatalogLocations/>
<RoadNetwork>
<LogicFile filepath="Town04"/>
<SceneGraphFile filepath=""/>
</RoadNetwork>
<Entities>
<ScenarioObject name="hero">
<Vehicle name="vehicle.tesla.model3" vehicleCategory="car">
<ParameterDeclarations/>
<Performance maxSpeed="69.444" maxAcceleration="200" maxDeceleration="10.0"/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2.1" length="4.5" height="1.8"/>
</BoundingBox>
<Axles>
<FrontAxle maxSteering="0.5" wheelDiameter="0.6" trackWidth="1.8" positionX="3.1" positionZ="0.3"/>
<RearAxle maxSteering="0.0" wheelDiameter="0.6" trackWidth="1.8" positionX="0.0" positionZ="0.3"/>
</Axles>
<Properties>
<Property name="type" value="ego_vehicle"/>
</Properties>
</Vehicle>
</ScenarioObject>
<ScenarioObject name="adversary">
<Vehicle name="vehicle.lincoln.mkz_2017" vehicleCategory="car">
<ParameterDeclarations/>
<Performance maxSpeed="69.444" maxAcceleration="200" maxDeceleration="10.0"/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2.1" length="4.5" height="1.8"/>
</BoundingBox>
<Axles>
<FrontAxle maxSteering="0.5" wheelDiameter="0.6" trackWidth="1.8" positionX="3.1" positionZ="0.3"/>
<RearAxle maxSteering="0.0" wheelDiameter="0.6" trackWidth="1.8" positionX="0.0" positionZ="0.3"/>
</Axles>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Vehicle>
</ScenarioObject>
<ScenarioObject name="standing">
<Vehicle name="vehicle.volkswagen.t2" vehicleCategory="car">
<ParameterDeclarations/>
<Performance maxSpeed="69.444" maxAcceleration="200" maxDeceleration="10.0"/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2.1" length="4.5" height="1.8"/>
</BoundingBox>
<Axles>
<FrontAxle maxSteering="0.5" wheelDiameter="0.6" trackWidth="1.8" positionX="3.1" positionZ="0.3"/>
<RearAxle maxSteering="0.0" wheelDiameter="0.6" 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_15798">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_close_to_adversary_15799">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_close_to_standing_15800">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
</Entities>
<Storyboard>
<Init>
<Actions>
<GlobalAction>
<EnvironmentAction>
<Environment name="Environment1">
<TimeOfDay animation="false" dateTime="2019-06-25T12:00:00"/>
<Weather cloudState="free">
<Sun intensity="0.85" azimuth="0" elevation="1.31"/>
<Fog visualRange="100000.0"/>
<Precipitation precipitationType="dry" intensity="0.0"/>
</Weather>
<RoadCondition frictionScaleFactor="1.0"/>
</Environment>
</EnvironmentAction>
</GlobalAction>
<Private entityRef="hero">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-9.4" y="-152.8" z="0.5" h="1.57079632679"/>
</Position>
</TeleportAction>
</PrivateAction>
<PrivateAction>
<ControllerAction>
<AssignControllerAction>
<Controller name="HeroAgent">
<Properties>
<Property name="module" value="external_control"/>
</Properties>
</Controller>
</AssignControllerAction>
<OverrideControllerValueAction>
<Throttle value="0" active="false"/>
<Brake value="0" active="false"/>
<Clutch value="0" active="false"/>
<ParkingBrake value="0" active="false"/>
<SteeringWheel value="0" active="false"/>
<Gear number="0" active="false"/>
</OverrideControllerValueAction>
</ControllerAction>
</PrivateAction>
</Private>
<Private entityRef="adversary">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-9.4" y="-71.0" z="0.5" h="1.57079632679"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="standing">
<PrivateAction>
<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_15798">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-14.233467102050781" y="26.752965927124023" z="0.003022765973582864"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_close_to_adversary_15799">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-7.337345123291016" y="-64.46442413330078" z="0.03375896438956261"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_close_to_standing_15800">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-11.52320671081543" y="20.743146896362305" z="0.003044738667085767"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
</Actions>
</Init>
<Story name="MyStory">
<Act name="Behavior">
<ManeuverGroup maximumExecutionCount="1" name="ManeuverSequence">
<Actors selectTriggeringEntities="false">
<EntityRef entityRef="adversary"/>
</Actors>
<Maneuver name="LaneChangeSimpleManeuver">
<Event name="AdversaryAccelerates" priority="overwrite">
<Action name="AdversaryAccelerates">
<PrivateAction>
<LongitudinalAction>
<SpeedAction>
<SpeedActionDynamics dynamicsShape="step" value="50" dynamicsDimension="distance"/>
<SpeedActionTarget>
<AbsoluteTargetSpeed value="5.0"/>
</SpeedActionTarget>
</SpeedAction>
</LongitudinalAction>
</PrivateAction>
</Action>
<StartTrigger>
<ConditionGroup>
<Condition name="StartCondition" delay="0" conditionEdge="rising">
<ByEntityCondition>
<TriggeringEntities triggeringEntitiesRule="any">
<EntityRef entityRef="hero"/>
</TriggeringEntities>
<EntityCondition>
<RelativeDistanceCondition entityRef="adversary" relativeDistanceType="cartesianDistance" value="40.0" freespace="false" rule="lessThan"/>
</EntityCondition>
</ByEntityCondition>
</Condition>
</ConditionGroup>
</StartTrigger>
</Event>
<Event name="AdversaryChangesLane" priority="overwrite">
<Action name="AdversaryChangesLane">
<PrivateAction>
<LateralAction>
<LaneChangeAction>
<LaneChangeActionDynamics dynamicsShape="linear" value="25" dynamicsDimension="distance"/>
<LaneChangeTarget>
<RelativeTargetLane entityRef="adversary" value="-1"/>
</LaneChangeTarget>
</LaneChangeAction>
</LateralAction>
</PrivateAction>
</Action>
<StartTrigger>
<ConditionGroup>
<Condition name="AfterAdversaryAccelerates" delay="0" conditionEdge="rising">
<ByValueCondition>
<StoryboardElementStateCondition storyboardElementType="action" storyboardElementRef="AdversaryAccelerates" state="completeState"/>
</ByValueCondition>
</Condition>
</ConditionGroup>
</StartTrigger>
</Event>
</Maneuver>
</ManeuverGroup>
<StartTrigger>
<ConditionGroup>
<Condition name="OverallStartCondition" delay="0" conditionEdge="rising">
<ByEntityCondition>
<TriggeringEntities triggeringEntitiesRule="any">
<EntityRef entityRef="hero"/>
</TriggeringEntities>
<EntityCondition>
<TraveledDistanceCondition value="1.0"/>
</EntityCondition>
</ByEntityCondition>
</Condition>
<Condition name="StartTime" delay="0" conditionEdge="rising">
<ByValueCondition>
<SimulationTimeCondition value="0" rule="equalTo"/>
</ByValueCondition>
</Condition>
</ConditionGroup>
</StartTrigger>
<StopTrigger>
<ConditionGroup>
<Condition name="EndCondition" delay="0" conditionEdge="rising">
<ByEntityCondition>
<TriggeringEntities triggeringEntitiesRule="any">
<EntityRef entityRef="hero"/>
</TriggeringEntities>
<EntityCondition>
<TraveledDistanceCondition value="200.0"/>
</EntityCondition>
</ByEntityCondition>
</Condition>
</ConditionGroup>
</StopTrigger>
</Act>
</Story>
<StopTrigger>
<ConditionGroup>
<Condition name="criteria_RunningStopTest" delay="0" conditionEdge="rising">
<ByValueCondition>
<ParameterCondition parameterRef="" value="" rule="lessThan"/>
</ByValueCondition>
</Condition>
<Condition name="criteria_RunningRedLightTest" delay="0" conditionEdge="rising">
<ByValueCondition>
<ParameterCondition parameterRef="" value="" rule="lessThan"/>
</ByValueCondition>
</Condition>
<Condition name="criteria_WrongLaneTest" delay="0" conditionEdge="rising">
<ByValueCondition>
<ParameterCondition parameterRef="" value="" rule="lessThan"/>
</ByValueCondition>
</Condition>
<Condition name="criteria_OnSidewalkTest" delay="0" conditionEdge="rising">
<ByValueCondition>
<ParameterCondition parameterRef="" value="" rule="lessThan"/>
</ByValueCondition>
</Condition>
<Condition name="criteria_KeepLaneTest" delay="0" conditionEdge="rising">
<ByValueCondition>
<ParameterCondition parameterRef="" value="" rule="lessThan"/>
</ByValueCondition>
</Condition>
<Condition name="criteria_CollisionTest" delay="0" conditionEdge="rising">
<ByValueCondition>
<ParameterCondition parameterRef="" value="" rule="lessThan"/>
</ByValueCondition>
</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_5219?
```
<?xml version="1.0" ?>
<OpenSCENARIO>
<FileHeader revMajor="1" revMinor="0" date="2020-03-24T12:00:00" description="CARLA:LaneChangeSimple" author=""/>
<ParameterDeclarations/>
<CatalogLocations/>
<RoadNetwork>
<LogicFile filepath="Town04"/>
<SceneGraphFile filepath=""/>
</RoadNetwork>
<Entities>
<ScenarioObject name="hero">
<Vehicle name="vehicle.tesla.model3" vehicleCategory="car">
<ParameterDeclarations/>
<Performance maxSpeed="69.444" maxAcceleration="200" maxDeceleration="10.0"/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2.1" length="4.5" height="1.8"/>
</BoundingBox>
<Axles>
<FrontAxle maxSteering="0.5" wheelDiameter="0.6" trackWidth="1.8" positionX="3.1" positionZ="0.3"/>
<RearAxle maxSteering="0.0" wheelDiameter="0.6" trackWidth="1.8" positionX="0.0" positionZ="0.3"/>
</Axles>
<Properties>
<Property name="type" value="ego_vehicle"/>
</Properties>
</Vehicle>
</ScenarioObject>
<ScenarioObject name="adversary">
<Vehicle name="vehicle.lincoln.mkz_2017" vehicleCategory="car">
<ParameterDeclarations/>
<Performance maxSpeed="69.444" maxAcceleration="200" maxDeceleration="10.0"/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2.1" length="4.5" height="1.8"/>
</BoundingBox>
<Axles>
<FrontAxle maxSteering="0.5" wheelDiameter="0.6" trackWidth="1.8" positionX="3.1" positionZ="0.3"/>
<RearAxle maxSteering="0.0" wheelDiameter="0.6" trackWidth="1.8" positionX="0.0" positionZ="0.3"/>
</Axles>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Vehicle>
</ScenarioObject>
<ScenarioObject name="standing">
<Vehicle name="vehicle.volkswagen.t2" vehicleCategory="car">
<ParameterDeclarations/>
<Performance maxSpeed="69.444" maxAcceleration="200" maxDeceleration="10.0"/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2.1" length="4.5" height="1.8"/>
</BoundingBox>
<Axles>
<FrontAxle maxSteering="0.5" wheelDiameter="0.6" trackWidth="1.8" positionX="3.1" positionZ="0.3"/>
<RearAxle maxSteering="0.0" wheelDiameter="0.6" 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_5208">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_close_to_standing_5209">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_w_transform_5211">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_w_transform_5212">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_close_to_adversary_5213">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_w_transform_5214">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_close_to_hero_5215">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_close_to_adversary_5216">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_w_transform_5217">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_w_transform_5218">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_w_transform_5219">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_w_transform_5221">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_close_to_hero_5222">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_close_to_adversary_5223">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_w_transform_5224">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
</Entities>
<Storyboard>
<Init>
<Actions>
<GlobalAction>
<EnvironmentAction>
<Environment name="Environment1">
<TimeOfDay animation="false" dateTime="2019-06-25T12:00:00"/>
<Weather cloudState="free">
<Sun intensity="0.85" azimuth="0" elevation="1.31"/>
<Fog visualRange="100000.0"/>
<Precipitation precipitationType="dry" intensity="0.0"/>
</Weather>
<RoadCondition frictionScaleFactor="1.0"/>
</Environment>
</EnvironmentAction>
</GlobalAction>
<Private entityRef="hero">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-9.4" y="-152.8" z="0.5" h="1.57079632679"/>
</Position>
</TeleportAction>
</PrivateAction>
<PrivateAction>
<ControllerAction>
<AssignControllerAction>
<Controller name="HeroAgent">
<Properties>
<Property name="module" value="external_control"/>
</Properties>
</Controller>
</AssignControllerAction>
<OverrideControllerValueAction>
<Throttle value="0" active="false"/>
<Brake value="0" active="false"/>
<Clutch value="0" active="false"/>
<ParkingBrake value="0" active="false"/>
<SteeringWheel value="0" active="false"/>
<Gear number="0" active="false"/>
</OverrideControllerValueAction>
</ControllerAction>
</PrivateAction>
</Private>
<Private entityRef="adversary">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-9.4" y="-71.0" z="0.5" h="1.57079632679"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="standing">
<PrivateAction>
<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_5208">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-5.232002258300781" y="-145.30203247070312" z="0.0016471862327307463"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_close_to_standing_5209">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="1.2459107637405396" y="20.5894718170166" z="0.0030668259132653475"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_w_transform_5211">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-5.088347911834717" y="-68.73967742919922" z="0.5"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_w_transform_5212">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="18.802824020385742" y="-23.143112182617188" z="0.5"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_close_to_adversary_5213">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-1.3345310688018799" y="-66.06262969970703" z="0.03377601504325867"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_w_transform_5214">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="17.75010871887207" y="40.051700592041016" z="0.5"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_close_to_hero_5215">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="3.5494163036346436" y="-155.3146514892578" z="0.0016471862327307463"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_close_to_adversary_5216">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-12.822590827941895" y="-77.23107147216797" z="0.03378600999712944"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_w_transform_5217">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="67.86597442626953" y="74.04902648925781" z="0.5"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_w_transform_5218">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-90.04066467285156" y="-44.9407844543457" z="0.5"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_w_transform_5219">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-90.3192367553711" y="91.97979736328125" z="0.5"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_w_transform_5221">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="69.2898941040039" y="-45.76188659667969" z="0.5"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_close_to_hero_5222">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-8.8707914352417" y="-161.08103942871094" z="0.0016471862327307463"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_close_to_adversary_5223">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-10.830811500549316" y="-62.55238723754883" z="0.03378330171108246"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_w_transform_5224">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="91.3079605102539" y="35.83384323120117" 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_5208">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_close_to_standing_5209">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_w_transform_5211">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_w_transform_5212">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_close_to_adversary_5213">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_w_transform_5214">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_close_to_hero_5215">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_close_to_adversary_5216">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_w_transform_5217">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_w_transform_5218">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_w_transform_5221">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_close_to_hero_5222">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_close_to_adversary_5223">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_w_transform_5224">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
</Entities>
<Storyboard>
<Init>
<Actions>
<GlobalAction>
<EnvironmentAction>
<Environment name="Environment1">
<TimeOfDay animation="false" dateTime="2019-06-25T12:00:00"/>
<Weather cloudState="free">
<Sun intensity="0.85" azimuth="0" elevation="1.31"/>
<Fog visualRange="100000.0"/>
<Precipitation precipitationType="dry" intensity="0.0"/>
</Weather>
<RoadCondition frictionScaleFactor="1.0"/>
</Environment>
</EnvironmentAction>
</GlobalAction>
<Private entityRef="hero">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-9.4" y="-152.8" z="0.5" h="1.57079632679"/>
</Position>
</TeleportAction>
</PrivateAction>
<PrivateAction>
<ControllerAction>
<AssignControllerAction>
<Controller name="HeroAgent">
<Properties>
<Property name="module" value="external_control"/>
</Properties>
</Controller>
</AssignControllerAction>
<OverrideControllerValueAction>
<Throttle value="0" active="false"/>
<Brake value="0" active="false"/>
<Clutch value="0" active="false"/>
<ParkingBrake value="0" active="false"/>
<SteeringWheel value="0" active="false"/>
<Gear number="0" active="false"/>
</OverrideControllerValueAction>
</ControllerAction>
</PrivateAction>
</Private>
<Private entityRef="adversary">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-9.4" y="-71.0" z="0.5" h="1.57079632679"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="standing">
<PrivateAction>
<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_5208">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-5.232002258300781" y="-145.30203247070312" z="0.0016471862327307463"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_close_to_standing_5209">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="1.2459107637405396" y="20.5894718170166" z="0.0030668259132653475"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_w_transform_5211">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-5.088347911834717" y="-68.73967742919922" z="0.5"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_w_transform_5212">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="18.802824020385742" y="-23.143112182617188" z="0.5"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_close_to_adversary_5213">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-1.3345310688018799" y="-66.06262969970703" z="0.03377601504325867"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_w_transform_5214">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="17.75010871887207" y="40.051700592041016" z="0.5"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_close_to_hero_5215">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="3.5494163036346436" y="-155.3146514892578" z="0.0016471862327307463"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_close_to_adversary_5216">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-12.822590827941895" y="-77.23107147216797" z="0.03378600999712944"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_w_transform_5217">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="67.86597442626953" y="74.04902648925781" z="0.5"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_w_transform_5218">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-90.04066467285156" y="-44.9407844543457" z="0.5"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_w_transform_5221">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="69.2898941040039" y="-45.76188659667969" z="0.5"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_close_to_hero_5222">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-8.8707914352417" y="-161.08103942871094" z="0.0016471862327307463"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_close_to_adversary_5223">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-10.830811500549316" y="-62.55238723754883" z="0.03378330171108246"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_w_transform_5224">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="91.3079605102539" y="35.83384323120117" z="0.5"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
</Actions>
</Init>
<Story name="MyStory">
<Act name="Behavior">
<ManeuverGroup maximumExecutionCount="1" name="ManeuverSequence">
<Actors selectTriggeringEntities="false">
<EntityRef entityRef="adversary"/>
</Actors>
<Maneuver name="LaneChangeSimpleManeuver">
<Event name="AdversaryAccelerates" priority="overwrite">
<Action name="AdversaryAccelerates">
<PrivateAction>
<LongitudinalAction>
<SpeedAction>
<SpeedActionDynamics dynamicsShape="step" value="50" dynamicsDimension="distance"/>
<SpeedActionTarget>
<AbsoluteTargetSpeed value="5.0"/>
</SpeedActionTarget>
</SpeedAction>
</LongitudinalAction>
</PrivateAction>
</Action>
<StartTrigger>
<ConditionGroup>
<Condition name="StartCondition" delay="0" conditionEdge="rising">
<ByEntityCondition>
<TriggeringEntities triggeringEntitiesRule="any">
<EntityRef entityRef="hero"/>
</TriggeringEntities>
<EntityCondition>
<RelativeDistanceCondition entityRef="adversary" relativeDistanceType="cartesianDistance" value="40.0" freespace="false" rule="lessThan"/>
</EntityCondition>
</ByEntityCondition>
</Condition>
</ConditionGroup>
</StartTrigger>
</Event>
<Event name="AdversaryChangesLane" priority="overwrite">
<Action name="AdversaryChangesLane">
<PrivateAction>
<LateralAction>
<LaneChangeAction>
<LaneChangeActionDynamics dynamicsShape="linear" value="25" dynamicsDimension="distance"/>
<LaneChangeTarget>
<RelativeTargetLane entityRef="adversary" value="-1"/>
</LaneChangeTarget>
</LaneChangeAction>
</LateralAction>
</PrivateAction>
</Action>
<StartTrigger>
<ConditionGroup>
<Condition name="AfterAdversaryAccelerates" delay="0" conditionEdge="rising">
<ByValueCondition>
<StoryboardElementStateCondition storyboardElementType="action" storyboardElementRef="AdversaryAccelerates" state="completeState"/>
</ByValueCondition>
</Condition>
</ConditionGroup>
</StartTrigger>
</Event>
</Maneuver>
</ManeuverGroup>
<StartTrigger>
<ConditionGroup>
<Condition name="OverallStartCondition" delay="0" conditionEdge="rising">
<ByEntityCondition>
<TriggeringEntities triggeringEntitiesRule="any">
<EntityRef entityRef="hero"/>
</TriggeringEntities>
<EntityCondition>
<TraveledDistanceCondition value="1.0"/>
</EntityCondition>
</ByEntityCondition>
</Condition>
<Condition name="StartTime" delay="0" conditionEdge="rising">
<ByValueCondition>
<SimulationTimeCondition value="0" rule="equalTo"/>
</ByValueCondition>
</Condition>
</ConditionGroup>
</StartTrigger>
<StopTrigger>
<ConditionGroup>
<Condition name="EndCondition" delay="0" conditionEdge="rising">
<ByEntityCondition>
<TriggeringEntities triggeringEntitiesRule="any">
<EntityRef entityRef="hero"/>
</TriggeringEntities>
<EntityCondition>
<TraveledDistanceCondition value="200.0"/>
</EntityCondition>
</ByEntityCondition>
</Condition>
</ConditionGroup>
</StopTrigger>
</Act>
</Story>
<StopTrigger>
<ConditionGroup>
<Condition name="criteria_RunningStopTest" delay="0" conditionEdge="rising">
<ByValueCondition>
<ParameterCondition parameterRef="" value="" rule="lessThan"/>
</ByValueCondition>
</Condition>
<Condition name="criteria_RunningRedLightTest" delay="0" conditionEdge="rising">
<ByValueCondition>
<ParameterCondition parameterRef="" value="" rule="lessThan"/>
</ByValueCondition>
</Condition>
<Condition name="criteria_WrongLaneTest" delay="0" conditionEdge="rising">
<ByValueCondition>
<ParameterCondition parameterRef="" value="" rule="lessThan"/>
</ByValueCondition>
</Condition>
<Condition name="criteria_OnSidewalkTest" delay="0" conditionEdge="rising">
<ByValueCondition>
<ParameterCondition parameterRef="" value="" rule="lessThan"/>
</ByValueCondition>
</Condition>
<Condition name="criteria_KeepLaneTest" delay="0" conditionEdge="rising">
<ByValueCondition>
<ParameterCondition parameterRef="" value="" rule="lessThan"/>
</ByValueCondition>
</Condition>
<Condition name="criteria_CollisionTest" delay="0" conditionEdge="rising">
<ByValueCondition>
<ParameterCondition parameterRef="" value="" rule="lessThan"/>
</ByValueCondition>
</Condition>
<Condition name="criteria_DrivenDistanceTest" delay="0" conditionEdge="rising">
<ByValueCondition>
<ParameterCondition parameterRef="distance_success" value="100" rule="lessThan"/>
</ByValueCondition>
</Condition>
</ConditionGroup>
</StopTrigger>
</Storyboard>
</OpenSCENARIO>
``` |
remove pedestrian actor named pedestrian_w_transform_21433?
```
<?xml version="1.0" ?>
<OpenSCENARIO>
<FileHeader revMajor="1" revMinor="0" date="2020-03-24T12:00:00" description="CARLA:LaneChangeSimple" author=""/>
<ParameterDeclarations/>
<CatalogLocations/>
<RoadNetwork>
<LogicFile filepath="Town04"/>
<SceneGraphFile filepath=""/>
</RoadNetwork>
<Entities>
<ScenarioObject name="hero">
<Vehicle name="vehicle.tesla.model3" vehicleCategory="car">
<ParameterDeclarations/>
<Performance maxSpeed="69.444" maxAcceleration="200" maxDeceleration="10.0"/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2.1" length="4.5" height="1.8"/>
</BoundingBox>
<Axles>
<FrontAxle maxSteering="0.5" wheelDiameter="0.6" trackWidth="1.8" positionX="3.1" positionZ="0.3"/>
<RearAxle maxSteering="0.0" wheelDiameter="0.6" trackWidth="1.8" positionX="0.0" positionZ="0.3"/>
</Axles>
<Properties>
<Property name="type" value="ego_vehicle"/>
</Properties>
</Vehicle>
</ScenarioObject>
<ScenarioObject name="adversary">
<Vehicle name="vehicle.lincoln.mkz_2017" vehicleCategory="car">
<ParameterDeclarations/>
<Performance maxSpeed="69.444" maxAcceleration="200" maxDeceleration="10.0"/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2.1" length="4.5" height="1.8"/>
</BoundingBox>
<Axles>
<FrontAxle maxSteering="0.5" wheelDiameter="0.6" trackWidth="1.8" positionX="3.1" positionZ="0.3"/>
<RearAxle maxSteering="0.0" wheelDiameter="0.6" trackWidth="1.8" positionX="0.0" positionZ="0.3"/>
</Axles>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Vehicle>
</ScenarioObject>
<ScenarioObject name="standing">
<Vehicle name="vehicle.volkswagen.t2" vehicleCategory="car">
<ParameterDeclarations/>
<Performance maxSpeed="69.444" maxAcceleration="200" maxDeceleration="10.0"/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2.1" length="4.5" height="1.8"/>
</BoundingBox>
<Axles>
<FrontAxle maxSteering="0.5" wheelDiameter="0.6" trackWidth="1.8" positionX="3.1" positionZ="0.3"/>
<RearAxle maxSteering="0.0" wheelDiameter="0.6" 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_21421">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_w_transform_21422">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_w_transform_21424">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_w_transform_21428">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_w_transform_21432">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_w_transform_21433">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
</Entities>
<Storyboard>
<Init>
<Actions>
<GlobalAction>
<EnvironmentAction>
<Environment name="Environment1">
<TimeOfDay animation="false" dateTime="2019-06-25T12:00:00"/>
<Weather cloudState="free">
<Sun intensity="0.85" azimuth="0" elevation="1.31"/>
<Fog visualRange="100000.0"/>
<Precipitation precipitationType="dry" intensity="0.0"/>
</Weather>
<RoadCondition frictionScaleFactor="1.0"/>
</Environment>
</EnvironmentAction>
</GlobalAction>
<Private entityRef="hero">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-9.4" y="-152.8" z="0.5" h="1.57079632679"/>
</Position>
</TeleportAction>
</PrivateAction>
<PrivateAction>
<ControllerAction>
<AssignControllerAction>
<Controller name="HeroAgent">
<Properties>
<Property name="module" value="external_control"/>
</Properties>
</Controller>
</AssignControllerAction>
<OverrideControllerValueAction>
<Throttle value="0" active="false"/>
<Brake value="0" active="false"/>
<Clutch value="0" active="false"/>
<ParkingBrake value="0" active="false"/>
<SteeringWheel value="0" active="false"/>
<Gear number="0" active="false"/>
</OverrideControllerValueAction>
</ControllerAction>
</PrivateAction>
</Private>
<Private entityRef="adversary">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-9.4" y="-71.0" z="0.5" h="1.57079632679"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="standing">
<PrivateAction>
<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_21421">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-16.04404067993164" y="20.857460021972656" z="0.003053054679185152"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_w_transform_21422">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="76.33442687988281" y="-41.275264739990234" z="0.5"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_w_transform_21424">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="84.27897644042969" y="-69.822265625" z="0.5"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_w_transform_21428">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-49.2298583984375" y="4.6883344650268555" z="0.5"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_w_transform_21432">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="98.3333969116211" y="38.64927291870117" z="0.5"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_w_transform_21433">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-57.04190444946289" y="-59.81649398803711" 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_21421">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_w_transform_21422">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_w_transform_21424">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_w_transform_21428">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_w_transform_21432">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
</Entities>
<Storyboard>
<Init>
<Actions>
<GlobalAction>
<EnvironmentAction>
<Environment name="Environment1">
<TimeOfDay animation="false" dateTime="2019-06-25T12:00:00"/>
<Weather cloudState="free">
<Sun intensity="0.85" azimuth="0" elevation="1.31"/>
<Fog visualRange="100000.0"/>
<Precipitation precipitationType="dry" intensity="0.0"/>
</Weather>
<RoadCondition frictionScaleFactor="1.0"/>
</Environment>
</EnvironmentAction>
</GlobalAction>
<Private entityRef="hero">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-9.4" y="-152.8" z="0.5" h="1.57079632679"/>
</Position>
</TeleportAction>
</PrivateAction>
<PrivateAction>
<ControllerAction>
<AssignControllerAction>
<Controller name="HeroAgent">
<Properties>
<Property name="module" value="external_control"/>
</Properties>
</Controller>
</AssignControllerAction>
<OverrideControllerValueAction>
<Throttle value="0" active="false"/>
<Brake value="0" active="false"/>
<Clutch value="0" active="false"/>
<ParkingBrake value="0" active="false"/>
<SteeringWheel value="0" active="false"/>
<Gear number="0" active="false"/>
</OverrideControllerValueAction>
</ControllerAction>
</PrivateAction>
</Private>
<Private entityRef="adversary">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-9.4" y="-71.0" z="0.5" h="1.57079632679"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="standing">
<PrivateAction>
<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_21421">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-16.04404067993164" y="20.857460021972656" z="0.003053054679185152"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_w_transform_21422">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="76.33442687988281" y="-41.275264739990234" z="0.5"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_w_transform_21424">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="84.27897644042969" y="-69.822265625" z="0.5"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_w_transform_21428">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-49.2298583984375" y="4.6883344650268555" z="0.5"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_w_transform_21432">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="98.3333969116211" y="38.64927291870117" z="0.5"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
</Actions>
</Init>
<Story name="MyStory">
<Act name="Behavior">
<ManeuverGroup maximumExecutionCount="1" name="ManeuverSequence">
<Actors selectTriggeringEntities="false">
<EntityRef entityRef="adversary"/>
</Actors>
<Maneuver name="LaneChangeSimpleManeuver">
<Event name="AdversaryAccelerates" priority="overwrite">
<Action name="AdversaryAccelerates">
<PrivateAction>
<LongitudinalAction>
<SpeedAction>
<SpeedActionDynamics dynamicsShape="step" value="50" dynamicsDimension="distance"/>
<SpeedActionTarget>
<AbsoluteTargetSpeed value="5.0"/>
</SpeedActionTarget>
</SpeedAction>
</LongitudinalAction>
</PrivateAction>
</Action>
<StartTrigger>
<ConditionGroup>
<Condition name="StartCondition" delay="0" conditionEdge="rising">
<ByEntityCondition>
<TriggeringEntities triggeringEntitiesRule="any">
<EntityRef entityRef="hero"/>
</TriggeringEntities>
<EntityCondition>
<RelativeDistanceCondition entityRef="adversary" relativeDistanceType="cartesianDistance" value="40.0" freespace="false" rule="lessThan"/>
</EntityCondition>
</ByEntityCondition>
</Condition>
</ConditionGroup>
</StartTrigger>
</Event>
<Event name="AdversaryChangesLane" priority="overwrite">
<Action name="AdversaryChangesLane">
<PrivateAction>
<LateralAction>
<LaneChangeAction>
<LaneChangeActionDynamics dynamicsShape="linear" value="25" dynamicsDimension="distance"/>
<LaneChangeTarget>
<RelativeTargetLane entityRef="adversary" value="-1"/>
</LaneChangeTarget>
</LaneChangeAction>
</LateralAction>
</PrivateAction>
</Action>
<StartTrigger>
<ConditionGroup>
<Condition name="AfterAdversaryAccelerates" delay="0" conditionEdge="rising">
<ByValueCondition>
<StoryboardElementStateCondition storyboardElementType="action" storyboardElementRef="AdversaryAccelerates" state="completeState"/>
</ByValueCondition>
</Condition>
</ConditionGroup>
</StartTrigger>
</Event>
</Maneuver>
</ManeuverGroup>
<StartTrigger>
<ConditionGroup>
<Condition name="OverallStartCondition" delay="0" conditionEdge="rising">
<ByEntityCondition>
<TriggeringEntities triggeringEntitiesRule="any">
<EntityRef entityRef="hero"/>
</TriggeringEntities>
<EntityCondition>
<TraveledDistanceCondition value="1.0"/>
</EntityCondition>
</ByEntityCondition>
</Condition>
<Condition name="StartTime" delay="0" conditionEdge="rising">
<ByValueCondition>
<SimulationTimeCondition value="0" rule="equalTo"/>
</ByValueCondition>
</Condition>
</ConditionGroup>
</StartTrigger>
<StopTrigger>
<ConditionGroup>
<Condition name="EndCondition" delay="0" conditionEdge="rising">
<ByEntityCondition>
<TriggeringEntities triggeringEntitiesRule="any">
<EntityRef entityRef="hero"/>
</TriggeringEntities>
<EntityCondition>
<TraveledDistanceCondition value="200.0"/>
</EntityCondition>
</ByEntityCondition>
</Condition>
</ConditionGroup>
</StopTrigger>
</Act>
</Story>
<StopTrigger>
<ConditionGroup>
<Condition name="criteria_RunningStopTest" delay="0" conditionEdge="rising">
<ByValueCondition>
<ParameterCondition parameterRef="" value="" rule="lessThan"/>
</ByValueCondition>
</Condition>
<Condition name="criteria_RunningRedLightTest" delay="0" conditionEdge="rising">
<ByValueCondition>
<ParameterCondition parameterRef="" value="" rule="lessThan"/>
</ByValueCondition>
</Condition>
<Condition name="criteria_WrongLaneTest" delay="0" conditionEdge="rising">
<ByValueCondition>
<ParameterCondition parameterRef="" value="" rule="lessThan"/>
</ByValueCondition>
</Condition>
<Condition name="criteria_OnSidewalkTest" delay="0" conditionEdge="rising">
<ByValueCondition>
<ParameterCondition parameterRef="" value="" rule="lessThan"/>
</ByValueCondition>
</Condition>
<Condition name="criteria_KeepLaneTest" delay="0" conditionEdge="rising">
<ByValueCondition>
<ParameterCondition parameterRef="" value="" rule="lessThan"/>
</ByValueCondition>
</Condition>
<Condition name="criteria_CollisionTest" delay="0" conditionEdge="rising">
<ByValueCondition>
<ParameterCondition parameterRef="" value="" rule="lessThan"/>
</ByValueCondition>
</Condition>
<Condition name="criteria_DrivenDistanceTest" delay="0" conditionEdge="rising">
<ByValueCondition>
<ParameterCondition parameterRef="distance_success" value="100" rule="lessThan"/>
</ByValueCondition>
</Condition>
</ConditionGroup>
</StopTrigger>
</Storyboard>
</OpenSCENARIO>
``` |
i would like you to add pedestrian close to standing?
```
<?xml version="1.0" ?>
<OpenSCENARIO>
<FileHeader revMajor="1" revMinor="0" date="2020-03-24T12:00:00" description="CARLA:LaneChangeSimple" author=""/>
<ParameterDeclarations/>
<CatalogLocations/>
<RoadNetwork>
<LogicFile filepath="Town04"/>
<SceneGraphFile filepath=""/>
</RoadNetwork>
<Entities>
<ScenarioObject name="hero">
<Vehicle name="vehicle.tesla.model3" vehicleCategory="car">
<ParameterDeclarations/>
<Performance maxSpeed="69.444" maxAcceleration="200" maxDeceleration="10.0"/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2.1" length="4.5" height="1.8"/>
</BoundingBox>
<Axles>
<FrontAxle maxSteering="0.5" wheelDiameter="0.6" trackWidth="1.8" positionX="3.1" positionZ="0.3"/>
<RearAxle maxSteering="0.0" wheelDiameter="0.6" trackWidth="1.8" positionX="0.0" positionZ="0.3"/>
</Axles>
<Properties>
<Property name="type" value="ego_vehicle"/>
</Properties>
</Vehicle>
</ScenarioObject>
<ScenarioObject name="adversary">
<Vehicle name="vehicle.lincoln.mkz_2017" vehicleCategory="car">
<ParameterDeclarations/>
<Performance maxSpeed="69.444" maxAcceleration="200" maxDeceleration="10.0"/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2.1" length="4.5" height="1.8"/>
</BoundingBox>
<Axles>
<FrontAxle maxSteering="0.5" wheelDiameter="0.6" trackWidth="1.8" positionX="3.1" positionZ="0.3"/>
<RearAxle maxSteering="0.0" wheelDiameter="0.6" trackWidth="1.8" positionX="0.0" positionZ="0.3"/>
</Axles>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Vehicle>
</ScenarioObject>
<ScenarioObject name="standing">
<Vehicle name="vehicle.volkswagen.t2" vehicleCategory="car">
<ParameterDeclarations/>
<Performance maxSpeed="69.444" maxAcceleration="200" maxDeceleration="10.0"/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2.1" length="4.5" height="1.8"/>
</BoundingBox>
<Axles>
<FrontAxle maxSteering="0.5" wheelDiameter="0.6" trackWidth="1.8" positionX="3.1" positionZ="0.3"/>
<RearAxle maxSteering="0.0" wheelDiameter="0.6" trackWidth="1.8" positionX="0.0" positionZ="0.3"/>
</Axles>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Vehicle>
</ScenarioObject>
<ScenarioObject name="pedestrian_close_to_adversary_11115">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_w_transform_11116">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_w_transform_11117">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_w_transform_11118">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_close_to_hero_11119">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_w_transform_11120">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_w_transform_11121">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_close_to_standing_11122">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_w_transform_11123">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_close_to_standing_11124">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
</Entities>
<Storyboard>
<Init>
<Actions>
<GlobalAction>
<EnvironmentAction>
<Environment name="Environment1">
<TimeOfDay animation="false" dateTime="2019-06-25T12:00:00"/>
<Weather cloudState="free">
<Sun intensity="0.85" azimuth="0" elevation="1.31"/>
<Fog visualRange="100000.0"/>
<Precipitation precipitationType="dry" intensity="0.0"/>
</Weather>
<RoadCondition frictionScaleFactor="1.0"/>
</Environment>
</EnvironmentAction>
</GlobalAction>
<Private entityRef="hero">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-9.4" y="-152.8" z="0.5" h="1.57079632679"/>
</Position>
</TeleportAction>
</PrivateAction>
<PrivateAction>
<ControllerAction>
<AssignControllerAction>
<Controller name="HeroAgent">
<Properties>
<Property name="module" value="external_control"/>
</Properties>
</Controller>
</AssignControllerAction>
<OverrideControllerValueAction>
<Throttle value="0" active="false"/>
<Brake value="0" active="false"/>
<Clutch value="0" active="false"/>
<ParkingBrake value="0" active="false"/>
<SteeringWheel value="0" active="false"/>
<Gear number="0" active="false"/>
</OverrideControllerValueAction>
</ControllerAction>
</PrivateAction>
</Private>
<Private entityRef="adversary">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-9.4" y="-71.0" z="0.5" h="1.57079632679"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="standing">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-8.2" y="29.2" z="0.5" h="1.57079632679"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_close_to_adversary_11115">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-1.6908273696899414" y="-72.33914184570312" z="0.033766668289899826"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_w_transform_11116">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="26.43011474609375" y="6.4658989906311035" z="0.5"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_w_transform_11117">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="46.92607498168945" y="-70.53792572021484" z="0.5"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_w_transform_11118">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-63.86699676513672" y="31.325929641723633" z="0.5"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_close_to_hero_11119">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-15.266223907470703" y="-151.1810760498047" z="0.0013734435196965933"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_w_transform_11120">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="4.022247791290283" y="-46.52994155883789" z="0.5"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_w_transform_11121">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-29.201946258544922" y="-7.451666831970215" z="0.5"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_close_to_standing_11122">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="1.5157524347305298" y="33.296302795410156" z="0.003007812425494194"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_w_transform_11123">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-97.59931945800781" y="-57.34825897216797" z="0.5"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_close_to_standing_11124">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-11.428766250610352" y="36.16414260864258" z="0.0030144117772579193"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
</Actions>
</Init>
<Story name="MyStory">
<Act name="Behavior">
<ManeuverGroup maximumExecutionCount="1" name="ManeuverSequence">
<Actors selectTriggeringEntities="false">
<EntityRef entityRef="adversary"/>
</Actors>
<Maneuver name="LaneChangeSimpleManeuver">
<Event name="AdversaryAccelerates" priority="overwrite">
<Action name="AdversaryAccelerates">
<PrivateAction>
<LongitudinalAction>
<SpeedAction>
<SpeedActionDynamics dynamicsShape="step" value="50" dynamicsDimension="distance"/>
<SpeedActionTarget>
<AbsoluteTargetSpeed value="5.0"/>
</SpeedActionTarget>
</SpeedAction>
</LongitudinalAction>
</PrivateAction>
</Action>
<StartTrigger>
<ConditionGroup>
<Condition name="StartCondition" delay="0" conditionEdge="rising">
<ByEntityCondition>
<TriggeringEntities triggeringEntitiesRule="any">
<EntityRef entityRef="hero"/>
</TriggeringEntities>
<EntityCondition>
<RelativeDistanceCondition entityRef="adversary" relativeDistanceType="cartesianDistance" value="40.0" freespace="false" rule="lessThan"/>
</EntityCondition>
</ByEntityCondition>
</Condition>
</ConditionGroup>
</StartTrigger>
</Event>
<Event name="AdversaryChangesLane" priority="overwrite">
<Action name="AdversaryChangesLane">
<PrivateAction>
<LateralAction>
<LaneChangeAction>
<LaneChangeActionDynamics dynamicsShape="linear" value="25" dynamicsDimension="distance"/>
<LaneChangeTarget>
<RelativeTargetLane entityRef="adversary" value="-1"/>
</LaneChangeTarget>
</LaneChangeAction>
</LateralAction>
</PrivateAction>
</Action>
<StartTrigger>
<ConditionGroup>
<Condition name="AfterAdversaryAccelerates" delay="0" conditionEdge="rising">
<ByValueCondition>
<StoryboardElementStateCondition storyboardElementType="action" storyboardElementRef="AdversaryAccelerates" state="completeState"/>
</ByValueCondition>
</Condition>
</ConditionGroup>
</StartTrigger>
</Event>
</Maneuver>
</ManeuverGroup>
<StartTrigger>
<ConditionGroup>
<Condition name="OverallStartCondition" delay="0" conditionEdge="rising">
<ByEntityCondition>
<TriggeringEntities triggeringEntitiesRule="any">
<EntityRef entityRef="hero"/>
</TriggeringEntities>
<EntityCondition>
<TraveledDistanceCondition value="1.0"/>
</EntityCondition>
</ByEntityCondition>
</Condition>
<Condition name="StartTime" delay="0" conditionEdge="rising">
<ByValueCondition>
<SimulationTimeCondition value="0" rule="equalTo"/>
</ByValueCondition>
</Condition>
</ConditionGroup>
</StartTrigger>
<StopTrigger>
<ConditionGroup>
<Condition name="EndCondition" delay="0" conditionEdge="rising">
<ByEntityCondition>
<TriggeringEntities triggeringEntitiesRule="any">
<EntityRef entityRef="hero"/>
</TriggeringEntities>
<EntityCondition>
<TraveledDistanceCondition value="200.0"/>
</EntityCondition>
</ByEntityCondition>
</Condition>
</ConditionGroup>
</StopTrigger>
</Act>
</Story>
<StopTrigger>
<ConditionGroup>
<Condition name="criteria_RunningStopTest" delay="0" conditionEdge="rising">
<ByValueCondition>
<ParameterCondition parameterRef="" value="" rule="lessThan"/>
</ByValueCondition>
</Condition>
<Condition name="criteria_RunningRedLightTest" delay="0" conditionEdge="rising">
<ByValueCondition>
<ParameterCondition parameterRef="" value="" rule="lessThan"/>
</ByValueCondition>
</Condition>
<Condition name="criteria_WrongLaneTest" delay="0" conditionEdge="rising">
<ByValueCondition>
<ParameterCondition parameterRef="" value="" rule="lessThan"/>
</ByValueCondition>
</Condition>
<Condition name="criteria_OnSidewalkTest" delay="0" conditionEdge="rising">
<ByValueCondition>
<ParameterCondition parameterRef="" value="" rule="lessThan"/>
</ByValueCondition>
</Condition>
<Condition name="criteria_KeepLaneTest" delay="0" conditionEdge="rising">
<ByValueCondition>
<ParameterCondition parameterRef="" value="" rule="lessThan"/>
</ByValueCondition>
</Condition>
<Condition name="criteria_CollisionTest" delay="0" conditionEdge="rising">
<ByValueCondition>
<ParameterCondition parameterRef="" value="" rule="lessThan"/>
</ByValueCondition>
</Condition>
<Condition name="criteria_DrivenDistanceTest" delay="0" conditionEdge="rising">
<ByValueCondition>
<ParameterCondition parameterRef="distance_success" value="100" rule="lessThan"/>
</ByValueCondition>
</Condition>
</ConditionGroup>
</StopTrigger>
</Storyboard>
</OpenSCENARIO>
``` | Here is the result:
```
<?xml version="1.0" ?>
<OpenSCENARIO>
<FileHeader revMajor="1" revMinor="0" date="2020-03-24T12:00:00" description="CARLA:LaneChangeSimple" author=""/>
<ParameterDeclarations/>
<CatalogLocations/>
<RoadNetwork>
<LogicFile filepath="Town04"/>
<SceneGraphFile filepath=""/>
</RoadNetwork>
<Entities>
<ScenarioObject name="hero">
<Vehicle name="vehicle.tesla.model3" vehicleCategory="car">
<ParameterDeclarations/>
<Performance maxSpeed="69.444" maxAcceleration="200" maxDeceleration="10.0"/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2.1" length="4.5" height="1.8"/>
</BoundingBox>
<Axles>
<FrontAxle maxSteering="0.5" wheelDiameter="0.6" trackWidth="1.8" positionX="3.1" positionZ="0.3"/>
<RearAxle maxSteering="0.0" wheelDiameter="0.6" trackWidth="1.8" positionX="0.0" positionZ="0.3"/>
</Axles>
<Properties>
<Property name="type" value="ego_vehicle"/>
</Properties>
</Vehicle>
</ScenarioObject>
<ScenarioObject name="adversary">
<Vehicle name="vehicle.lincoln.mkz_2017" vehicleCategory="car">
<ParameterDeclarations/>
<Performance maxSpeed="69.444" maxAcceleration="200" maxDeceleration="10.0"/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2.1" length="4.5" height="1.8"/>
</BoundingBox>
<Axles>
<FrontAxle maxSteering="0.5" wheelDiameter="0.6" trackWidth="1.8" positionX="3.1" positionZ="0.3"/>
<RearAxle maxSteering="0.0" wheelDiameter="0.6" trackWidth="1.8" positionX="0.0" positionZ="0.3"/>
</Axles>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Vehicle>
</ScenarioObject>
<ScenarioObject name="standing">
<Vehicle name="vehicle.volkswagen.t2" vehicleCategory="car">
<ParameterDeclarations/>
<Performance maxSpeed="69.444" maxAcceleration="200" maxDeceleration="10.0"/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2.1" length="4.5" height="1.8"/>
</BoundingBox>
<Axles>
<FrontAxle maxSteering="0.5" wheelDiameter="0.6" trackWidth="1.8" positionX="3.1" positionZ="0.3"/>
<RearAxle maxSteering="0.0" wheelDiameter="0.6" trackWidth="1.8" positionX="0.0" positionZ="0.3"/>
</Axles>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Vehicle>
</ScenarioObject>
<ScenarioObject name="pedestrian_close_to_adversary_11115">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_w_transform_11116">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_w_transform_11117">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_w_transform_11118">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_close_to_hero_11119">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_w_transform_11120">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_w_transform_11121">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_close_to_standing_11122">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_w_transform_11123">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_close_to_standing_11124">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_close_to_standing_11125">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
</Entities>
<Storyboard>
<Init>
<Actions>
<GlobalAction>
<EnvironmentAction>
<Environment name="Environment1">
<TimeOfDay animation="false" dateTime="2019-06-25T12:00:00"/>
<Weather cloudState="free">
<Sun intensity="0.85" azimuth="0" elevation="1.31"/>
<Fog visualRange="100000.0"/>
<Precipitation precipitationType="dry" intensity="0.0"/>
</Weather>
<RoadCondition frictionScaleFactor="1.0"/>
</Environment>
</EnvironmentAction>
</GlobalAction>
<Private entityRef="hero">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-9.4" y="-152.8" z="0.5" h="1.57079632679"/>
</Position>
</TeleportAction>
</PrivateAction>
<PrivateAction>
<ControllerAction>
<AssignControllerAction>
<Controller name="HeroAgent">
<Properties>
<Property name="module" value="external_control"/>
</Properties>
</Controller>
</AssignControllerAction>
<OverrideControllerValueAction>
<Throttle value="0" active="false"/>
<Brake value="0" active="false"/>
<Clutch value="0" active="false"/>
<ParkingBrake value="0" active="false"/>
<SteeringWheel value="0" active="false"/>
<Gear number="0" active="false"/>
</OverrideControllerValueAction>
</ControllerAction>
</PrivateAction>
</Private>
<Private entityRef="adversary">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-9.4" y="-71.0" z="0.5" h="1.57079632679"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="standing">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-8.2" y="29.2" z="0.5" h="1.57079632679"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_close_to_adversary_11115">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-1.6908273696899414" y="-72.33914184570312" z="0.033766668289899826"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_w_transform_11116">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="26.43011474609375" y="6.4658989906311035" z="0.5"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_w_transform_11117">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="46.92607498168945" y="-70.53792572021484" z="0.5"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_w_transform_11118">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-63.86699676513672" y="31.325929641723633" z="0.5"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_close_to_hero_11119">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-15.266223907470703" y="-151.1810760498047" z="0.0013734435196965933"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_w_transform_11120">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="4.022247791290283" y="-46.52994155883789" z="0.5"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_w_transform_11121">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-29.201946258544922" y="-7.451666831970215" z="0.5"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_close_to_standing_11122">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="1.5157524347305298" y="33.296302795410156" z="0.003007812425494194"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_w_transform_11123">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-97.59931945800781" y="-57.34825897216797" z="0.5"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_close_to_standing_11124">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-11.428766250610352" y="36.16414260864258" z="0.0030144117772579193"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_close_to_standing_11125">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-12.657052040100098" y="38.17947769165039" z="0.003013343783095479"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
</Actions>
</Init>
<Story name="MyStory">
<Act name="Behavior">
<ManeuverGroup maximumExecutionCount="1" name="ManeuverSequence">
<Actors selectTriggeringEntities="false">
<EntityRef entityRef="adversary"/>
</Actors>
<Maneuver name="LaneChangeSimpleManeuver">
<Event name="AdversaryAccelerates" priority="overwrite">
<Action name="AdversaryAccelerates">
<PrivateAction>
<LongitudinalAction>
<SpeedAction>
<SpeedActionDynamics dynamicsShape="step" value="50" dynamicsDimension="distance"/>
<SpeedActionTarget>
<AbsoluteTargetSpeed value="5.0"/>
</SpeedActionTarget>
</SpeedAction>
</LongitudinalAction>
</PrivateAction>
</Action>
<StartTrigger>
<ConditionGroup>
<Condition name="StartCondition" delay="0" conditionEdge="rising">
<ByEntityCondition>
<TriggeringEntities triggeringEntitiesRule="any">
<EntityRef entityRef="hero"/>
</TriggeringEntities>
<EntityCondition>
<RelativeDistanceCondition entityRef="adversary" relativeDistanceType="cartesianDistance" value="40.0" freespace="false" rule="lessThan"/>
</EntityCondition>
</ByEntityCondition>
</Condition>
</ConditionGroup>
</StartTrigger>
</Event>
<Event name="AdversaryChangesLane" priority="overwrite">
<Action name="AdversaryChangesLane">
<PrivateAction>
<LateralAction>
<LaneChangeAction>
<LaneChangeActionDynamics dynamicsShape="linear" value="25" dynamicsDimension="distance"/>
<LaneChangeTarget>
<RelativeTargetLane entityRef="adversary" value="-1"/>
</LaneChangeTarget>
</LaneChangeAction>
</LateralAction>
</PrivateAction>
</Action>
<StartTrigger>
<ConditionGroup>
<Condition name="AfterAdversaryAccelerates" delay="0" conditionEdge="rising">
<ByValueCondition>
<StoryboardElementStateCondition storyboardElementType="action" storyboardElementRef="AdversaryAccelerates" state="completeState"/>
</ByValueCondition>
</Condition>
</ConditionGroup>
</StartTrigger>
</Event>
</Maneuver>
</ManeuverGroup>
<StartTrigger>
<ConditionGroup>
<Condition name="OverallStartCondition" delay="0" conditionEdge="rising">
<ByEntityCondition>
<TriggeringEntities triggeringEntitiesRule="any">
<EntityRef entityRef="hero"/>
</TriggeringEntities>
<EntityCondition>
<TraveledDistanceCondition value="1.0"/>
</EntityCondition>
</ByEntityCondition>
</Condition>
<Condition name="StartTime" delay="0" conditionEdge="rising">
<ByValueCondition>
<SimulationTimeCondition value="0" rule="equalTo"/>
</ByValueCondition>
</Condition>
</ConditionGroup>
</StartTrigger>
<StopTrigger>
<ConditionGroup>
<Condition name="EndCondition" delay="0" conditionEdge="rising">
<ByEntityCondition>
<TriggeringEntities triggeringEntitiesRule="any">
<EntityRef entityRef="hero"/>
</TriggeringEntities>
<EntityCondition>
<TraveledDistanceCondition value="200.0"/>
</EntityCondition>
</ByEntityCondition>
</Condition>
</ConditionGroup>
</StopTrigger>
</Act>
</Story>
<StopTrigger>
<ConditionGroup>
<Condition name="criteria_RunningStopTest" delay="0" conditionEdge="rising">
<ByValueCondition>
<ParameterCondition parameterRef="" value="" rule="lessThan"/>
</ByValueCondition>
</Condition>
<Condition name="criteria_RunningRedLightTest" delay="0" conditionEdge="rising">
<ByValueCondition>
<ParameterCondition parameterRef="" value="" rule="lessThan"/>
</ByValueCondition>
</Condition>
<Condition name="criteria_WrongLaneTest" delay="0" conditionEdge="rising">
<ByValueCondition>
<ParameterCondition parameterRef="" value="" rule="lessThan"/>
</ByValueCondition>
</Condition>
<Condition name="criteria_OnSidewalkTest" delay="0" conditionEdge="rising">
<ByValueCondition>
<ParameterCondition parameterRef="" value="" rule="lessThan"/>
</ByValueCondition>
</Condition>
<Condition name="criteria_KeepLaneTest" delay="0" conditionEdge="rising">
<ByValueCondition>
<ParameterCondition parameterRef="" value="" rule="lessThan"/>
</ByValueCondition>
</Condition>
<Condition name="criteria_CollisionTest" delay="0" conditionEdge="rising">
<ByValueCondition>
<ParameterCondition parameterRef="" value="" rule="lessThan"/>
</ByValueCondition>
</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_14000">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_w_transform_14001">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_close_to_adversary_14002">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_w_transform_14003">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_close_to_adversary_14004">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_w_transform_14005">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_w_transform_14006">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_close_to_standing_14007">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_w_transform_14008">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_w_transform_14009">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_close_to_adversary_14010">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_close_to_hero_14011">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_close_to_hero_14012">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_close_to_adversary_14013">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_close_to_adversary_14014">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
</Entities>
<Storyboard>
<Init>
<Actions>
<GlobalAction>
<EnvironmentAction>
<Environment name="Environment1">
<TimeOfDay animation="false" dateTime="2019-06-25T12:00:00"/>
<Weather cloudState="free">
<Sun intensity="0.85" azimuth="0" elevation="1.31"/>
<Fog visualRange="100000.0"/>
<Precipitation precipitationType="dry" intensity="0.0"/>
</Weather>
<RoadCondition frictionScaleFactor="1.0"/>
</Environment>
</EnvironmentAction>
</GlobalAction>
<Private entityRef="hero">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-9.4" y="-152.8" z="0.5" h="1.57079632679"/>
</Position>
</TeleportAction>
</PrivateAction>
<PrivateAction>
<ControllerAction>
<AssignControllerAction>
<Controller name="HeroAgent">
<Properties>
<Property name="module" value="external_control"/>
</Properties>
</Controller>
</AssignControllerAction>
<OverrideControllerValueAction>
<Throttle value="0" active="false"/>
<Brake value="0" active="false"/>
<Clutch value="0" active="false"/>
<ParkingBrake value="0" active="false"/>
<SteeringWheel value="0" active="false"/>
<Gear number="0" active="false"/>
</OverrideControllerValueAction>
</ControllerAction>
</PrivateAction>
</Private>
<Private entityRef="adversary">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-9.4" y="-71.0" z="0.5" h="1.57079632679"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="standing">
<PrivateAction>
<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_14000">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-16.153133392333984" y="19.75164794921875" z="0.003085021860897541"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_w_transform_14001">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-40.52691650390625" y="82.72740173339844" z="0.5"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_close_to_adversary_14002">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-18.709169387817383" y="-71.84848022460938" z="0.033759839832782745"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_w_transform_14003">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="45.92171859741211" y="41.71592330932617" z="0.5"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_close_to_adversary_14004">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-10.013992309570312" y="-71.7516860961914" z="0.03374866396188736"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_w_transform_14005">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="3.098862648010254" y="-19.308998107910156" z="0.5"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_w_transform_14006">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="29.449270248413086" y="-23.688838958740234" z="0.5"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_close_to_standing_14007">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-10.487849235534668" y="20.802820205688477" z="0.003052787622436881"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_w_transform_14008">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="87.17761993408203" y="-80.13299560546875" z="0.5"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_w_transform_14009">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="87.07398986816406" y="49.18129348754883" z="0.5"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_close_to_adversary_14010">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-2.5587477684020996" y="-71.21983337402344" z="0.03384090214967728"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_close_to_hero_14011">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-10.665130615234375" y="-161.6019744873047" z="0.0014652633108198643"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_close_to_hero_14012">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-2.7004683017730713" y="-146.78173828125" z="0.0014652633108198643"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_close_to_adversary_14013">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-9.911977767944336" y="-76.20464324951172" z="0.03381332382559776"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_close_to_adversary_14014">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-18.01215362548828" y="-66.61821746826172" z="0.03380763903260231"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
</Actions>
</Init>
<Story name="MyStory">
<Act name="Behavior">
<ManeuverGroup maximumExecutionCount="1" name="ManeuverSequence">
<Actors selectTriggeringEntities="false">
<EntityRef entityRef="adversary"/>
</Actors>
<Maneuver name="LaneChangeSimpleManeuver">
<Event name="AdversaryAccelerates" priority="overwrite">
<Action name="AdversaryAccelerates">
<PrivateAction>
<LongitudinalAction>
<SpeedAction>
<SpeedActionDynamics dynamicsShape="step" value="50" dynamicsDimension="distance"/>
<SpeedActionTarget>
<AbsoluteTargetSpeed value="5.0"/>
</SpeedActionTarget>
</SpeedAction>
</LongitudinalAction>
</PrivateAction>
</Action>
<StartTrigger>
<ConditionGroup>
<Condition name="StartCondition" delay="0" conditionEdge="rising">
<ByEntityCondition>
<TriggeringEntities triggeringEntitiesRule="any">
<EntityRef entityRef="hero"/>
</TriggeringEntities>
<EntityCondition>
<RelativeDistanceCondition entityRef="adversary" relativeDistanceType="cartesianDistance" value="40.0" freespace="false" rule="lessThan"/>
</EntityCondition>
</ByEntityCondition>
</Condition>
</ConditionGroup>
</StartTrigger>
</Event>
<Event name="AdversaryChangesLane" priority="overwrite">
<Action name="AdversaryChangesLane">
<PrivateAction>
<LateralAction>
<LaneChangeAction>
<LaneChangeActionDynamics dynamicsShape="linear" value="25" dynamicsDimension="distance"/>
<LaneChangeTarget>
<RelativeTargetLane entityRef="adversary" value="-1"/>
</LaneChangeTarget>
</LaneChangeAction>
</LateralAction>
</PrivateAction>
</Action>
<StartTrigger>
<ConditionGroup>
<Condition name="AfterAdversaryAccelerates" delay="0" conditionEdge="rising">
<ByValueCondition>
<StoryboardElementStateCondition storyboardElementType="action" storyboardElementRef="AdversaryAccelerates" state="completeState"/>
</ByValueCondition>
</Condition>
</ConditionGroup>
</StartTrigger>
</Event>
</Maneuver>
</ManeuverGroup>
<StartTrigger>
<ConditionGroup>
<Condition name="OverallStartCondition" delay="0" conditionEdge="rising">
<ByEntityCondition>
<TriggeringEntities triggeringEntitiesRule="any">
<EntityRef entityRef="hero"/>
</TriggeringEntities>
<EntityCondition>
<TraveledDistanceCondition value="1.0"/>
</EntityCondition>
</ByEntityCondition>
</Condition>
<Condition name="StartTime" delay="0" conditionEdge="rising">
<ByValueCondition>
<SimulationTimeCondition value="0" rule="equalTo"/>
</ByValueCondition>
</Condition>
</ConditionGroup>
</StartTrigger>
<StopTrigger>
<ConditionGroup>
<Condition name="EndCondition" delay="0" conditionEdge="rising">
<ByEntityCondition>
<TriggeringEntities triggeringEntitiesRule="any">
<EntityRef entityRef="hero"/>
</TriggeringEntities>
<EntityCondition>
<TraveledDistanceCondition value="200.0"/>
</EntityCondition>
</ByEntityCondition>
</Condition>
</ConditionGroup>
</StopTrigger>
</Act>
</Story>
<StopTrigger>
<ConditionGroup>
<Condition name="criteria_RunningStopTest" delay="0" conditionEdge="rising">
<ByValueCondition>
<ParameterCondition parameterRef="" value="" rule="lessThan"/>
</ByValueCondition>
</Condition>
<Condition name="criteria_RunningRedLightTest" delay="0" conditionEdge="rising">
<ByValueCondition>
<ParameterCondition parameterRef="" value="" rule="lessThan"/>
</ByValueCondition>
</Condition>
<Condition name="criteria_WrongLaneTest" delay="0" conditionEdge="rising">
<ByValueCondition>
<ParameterCondition parameterRef="" value="" rule="lessThan"/>
</ByValueCondition>
</Condition>
<Condition name="criteria_OnSidewalkTest" delay="0" conditionEdge="rising">
<ByValueCondition>
<ParameterCondition parameterRef="" value="" rule="lessThan"/>
</ByValueCondition>
</Condition>
<Condition name="criteria_KeepLaneTest" delay="0" conditionEdge="rising">
<ByValueCondition>
<ParameterCondition parameterRef="" value="" rule="lessThan"/>
</ByValueCondition>
</Condition>
<Condition name="criteria_CollisionTest" delay="0" conditionEdge="rising">
<ByValueCondition>
<ParameterCondition parameterRef="" value="" rule="lessThan"/>
</ByValueCondition>
</Condition>
<Condition name="criteria_DrivenDistanceTest" delay="0" conditionEdge="rising">
<ByValueCondition>
<ParameterCondition parameterRef="distance_success" value="100" rule="lessThan"/>
</ByValueCondition>
</Condition>
</ConditionGroup>
</StopTrigger>
</Storyboard>
</OpenSCENARIO>
``` | Here is the result:
```
<?xml version="1.0" ?>
<OpenSCENARIO>
<FileHeader revMajor="1" revMinor="0" date="2020-03-24T12:00:00" description="CARLA:LaneChangeSimple" author=""/>
<ParameterDeclarations/>
<CatalogLocations/>
<RoadNetwork>
<LogicFile filepath="Town04"/>
<SceneGraphFile filepath=""/>
</RoadNetwork>
<Entities>
<ScenarioObject name="hero">
<Vehicle name="vehicle.tesla.model3" vehicleCategory="car">
<ParameterDeclarations/>
<Performance maxSpeed="69.444" maxAcceleration="200" maxDeceleration="10.0"/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2.1" length="4.5" height="1.8"/>
</BoundingBox>
<Axles>
<FrontAxle maxSteering="0.5" wheelDiameter="0.6" trackWidth="1.8" positionX="3.1" positionZ="0.3"/>
<RearAxle maxSteering="0.0" wheelDiameter="0.6" trackWidth="1.8" positionX="0.0" positionZ="0.3"/>
</Axles>
<Properties>
<Property name="type" value="ego_vehicle"/>
</Properties>
</Vehicle>
</ScenarioObject>
<ScenarioObject name="adversary">
<Vehicle name="vehicle.lincoln.mkz_2017" vehicleCategory="car">
<ParameterDeclarations/>
<Performance maxSpeed="69.444" maxAcceleration="200" maxDeceleration="10.0"/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2.1" length="4.5" height="1.8"/>
</BoundingBox>
<Axles>
<FrontAxle maxSteering="0.5" wheelDiameter="0.6" trackWidth="1.8" positionX="3.1" positionZ="0.3"/>
<RearAxle maxSteering="0.0" wheelDiameter="0.6" trackWidth="1.8" positionX="0.0" positionZ="0.3"/>
</Axles>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Vehicle>
</ScenarioObject>
<ScenarioObject name="standing">
<Vehicle name="vehicle.volkswagen.t2" vehicleCategory="car">
<ParameterDeclarations/>
<Performance maxSpeed="69.444" maxAcceleration="200" maxDeceleration="10.0"/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2.1" length="4.5" height="1.8"/>
</BoundingBox>
<Axles>
<FrontAxle maxSteering="0.5" wheelDiameter="0.6" trackWidth="1.8" positionX="3.1" positionZ="0.3"/>
<RearAxle maxSteering="0.0" wheelDiameter="0.6" 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_14000">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_w_transform_14001">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_close_to_adversary_14002">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_w_transform_14003">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_close_to_adversary_14004">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_w_transform_14005">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_w_transform_14006">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_close_to_standing_14007">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_w_transform_14008">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_w_transform_14009">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_close_to_adversary_14010">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_close_to_hero_14011">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_close_to_hero_14012">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_close_to_adversary_14013">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_close_to_adversary_14014">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_close_to_hero_14015">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
</Entities>
<Storyboard>
<Init>
<Actions>
<GlobalAction>
<EnvironmentAction>
<Environment name="Environment1">
<TimeOfDay animation="false" dateTime="2019-06-25T12:00:00"/>
<Weather cloudState="free">
<Sun intensity="0.85" azimuth="0" elevation="1.31"/>
<Fog visualRange="100000.0"/>
<Precipitation precipitationType="dry" intensity="0.0"/>
</Weather>
<RoadCondition frictionScaleFactor="1.0"/>
</Environment>
</EnvironmentAction>
</GlobalAction>
<Private entityRef="hero">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-9.4" y="-152.8" z="0.5" h="1.57079632679"/>
</Position>
</TeleportAction>
</PrivateAction>
<PrivateAction>
<ControllerAction>
<AssignControllerAction>
<Controller name="HeroAgent">
<Properties>
<Property name="module" value="external_control"/>
</Properties>
</Controller>
</AssignControllerAction>
<OverrideControllerValueAction>
<Throttle value="0" active="false"/>
<Brake value="0" active="false"/>
<Clutch value="0" active="false"/>
<ParkingBrake value="0" active="false"/>
<SteeringWheel value="0" active="false"/>
<Gear number="0" active="false"/>
</OverrideControllerValueAction>
</ControllerAction>
</PrivateAction>
</Private>
<Private entityRef="adversary">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-9.4" y="-71.0" z="0.5" h="1.57079632679"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="standing">
<PrivateAction>
<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_14000">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-16.153133392333984" y="19.75164794921875" z="0.003085021860897541"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_w_transform_14001">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-40.52691650390625" y="82.72740173339844" z="0.5"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_close_to_adversary_14002">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-18.709169387817383" y="-71.84848022460938" z="0.033759839832782745"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_w_transform_14003">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="45.92171859741211" y="41.71592330932617" z="0.5"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_close_to_adversary_14004">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-10.013992309570312" y="-71.7516860961914" z="0.03374866396188736"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_w_transform_14005">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="3.098862648010254" y="-19.308998107910156" z="0.5"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_w_transform_14006">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="29.449270248413086" y="-23.688838958740234" z="0.5"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_close_to_standing_14007">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-10.487849235534668" y="20.802820205688477" z="0.003052787622436881"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_w_transform_14008">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="87.17761993408203" y="-80.13299560546875" z="0.5"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_w_transform_14009">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="87.07398986816406" y="49.18129348754883" z="0.5"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_close_to_adversary_14010">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-2.5587477684020996" y="-71.21983337402344" z="0.03384090214967728"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_close_to_hero_14011">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-10.665130615234375" y="-161.6019744873047" z="0.0014652633108198643"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_close_to_hero_14012">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-2.7004683017730713" y="-146.78173828125" z="0.0014652633108198643"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_close_to_adversary_14013">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-9.911977767944336" y="-76.20464324951172" z="0.03381332382559776"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_close_to_adversary_14014">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-18.01215362548828" y="-66.61821746826172" z="0.03380763903260231"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_close_to_hero_14015">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-8.429667472839355" y="-156.25343322753906" 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>
``` |
add pedestrian at location (-97.62, 50.33, 0.5)?
```
<?xml version="1.0" ?>
<OpenSCENARIO>
<FileHeader revMajor="1" revMinor="0" date="2020-03-24T12:00:00" description="CARLA:LaneChangeSimple" author=""/>
<ParameterDeclarations/>
<CatalogLocations/>
<RoadNetwork>
<LogicFile filepath="Town04"/>
<SceneGraphFile filepath=""/>
</RoadNetwork>
<Entities>
<ScenarioObject name="hero">
<Vehicle name="vehicle.tesla.model3" vehicleCategory="car">
<ParameterDeclarations/>
<Performance maxSpeed="69.444" maxAcceleration="200" maxDeceleration="10.0"/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2.1" length="4.5" height="1.8"/>
</BoundingBox>
<Axles>
<FrontAxle maxSteering="0.5" wheelDiameter="0.6" trackWidth="1.8" positionX="3.1" positionZ="0.3"/>
<RearAxle maxSteering="0.0" wheelDiameter="0.6" trackWidth="1.8" positionX="0.0" positionZ="0.3"/>
</Axles>
<Properties>
<Property name="type" value="ego_vehicle"/>
</Properties>
</Vehicle>
</ScenarioObject>
<ScenarioObject name="adversary">
<Vehicle name="vehicle.lincoln.mkz_2017" vehicleCategory="car">
<ParameterDeclarations/>
<Performance maxSpeed="69.444" maxAcceleration="200" maxDeceleration="10.0"/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2.1" length="4.5" height="1.8"/>
</BoundingBox>
<Axles>
<FrontAxle maxSteering="0.5" wheelDiameter="0.6" trackWidth="1.8" positionX="3.1" positionZ="0.3"/>
<RearAxle maxSteering="0.0" wheelDiameter="0.6" trackWidth="1.8" positionX="0.0" positionZ="0.3"/>
</Axles>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Vehicle>
</ScenarioObject>
<ScenarioObject name="standing">
<Vehicle name="vehicle.volkswagen.t2" vehicleCategory="car">
<ParameterDeclarations/>
<Performance maxSpeed="69.444" maxAcceleration="200" maxDeceleration="10.0"/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2.1" length="4.5" height="1.8"/>
</BoundingBox>
<Axles>
<FrontAxle maxSteering="0.5" wheelDiameter="0.6" trackWidth="1.8" positionX="3.1" positionZ="0.3"/>
<RearAxle maxSteering="0.0" wheelDiameter="0.6" trackWidth="1.8" positionX="0.0" positionZ="0.3"/>
</Axles>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Vehicle>
</ScenarioObject>
<ScenarioObject name="pedestrian_close_to_standing_27903">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
</Entities>
<Storyboard>
<Init>
<Actions>
<GlobalAction>
<EnvironmentAction>
<Environment name="Environment1">
<TimeOfDay animation="false" dateTime="2019-06-25T12:00:00"/>
<Weather cloudState="free">
<Sun intensity="0.85" azimuth="0" elevation="1.31"/>
<Fog visualRange="100000.0"/>
<Precipitation precipitationType="dry" intensity="0.0"/>
</Weather>
<RoadCondition frictionScaleFactor="1.0"/>
</Environment>
</EnvironmentAction>
</GlobalAction>
<Private entityRef="hero">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-9.4" y="-152.8" z="0.5" h="1.57079632679"/>
</Position>
</TeleportAction>
</PrivateAction>
<PrivateAction>
<ControllerAction>
<AssignControllerAction>
<Controller name="HeroAgent">
<Properties>
<Property name="module" value="external_control"/>
</Properties>
</Controller>
</AssignControllerAction>
<OverrideControllerValueAction>
<Throttle value="0" active="false"/>
<Brake value="0" active="false"/>
<Clutch value="0" active="false"/>
<ParkingBrake value="0" active="false"/>
<SteeringWheel value="0" active="false"/>
<Gear number="0" active="false"/>
</OverrideControllerValueAction>
</ControllerAction>
</PrivateAction>
</Private>
<Private entityRef="adversary">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-9.4" y="-71.0" z="0.5" h="1.57079632679"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="standing">
<PrivateAction>
<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_27903">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-9.983488082885742" y="38.529541015625" z="0.0030724334064871073"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
</Actions>
</Init>
<Story name="MyStory">
<Act name="Behavior">
<ManeuverGroup maximumExecutionCount="1" name="ManeuverSequence">
<Actors selectTriggeringEntities="false">
<EntityRef entityRef="adversary"/>
</Actors>
<Maneuver name="LaneChangeSimpleManeuver">
<Event name="AdversaryAccelerates" priority="overwrite">
<Action name="AdversaryAccelerates">
<PrivateAction>
<LongitudinalAction>
<SpeedAction>
<SpeedActionDynamics dynamicsShape="step" value="50" dynamicsDimension="distance"/>
<SpeedActionTarget>
<AbsoluteTargetSpeed value="5.0"/>
</SpeedActionTarget>
</SpeedAction>
</LongitudinalAction>
</PrivateAction>
</Action>
<StartTrigger>
<ConditionGroup>
<Condition name="StartCondition" delay="0" conditionEdge="rising">
<ByEntityCondition>
<TriggeringEntities triggeringEntitiesRule="any">
<EntityRef entityRef="hero"/>
</TriggeringEntities>
<EntityCondition>
<RelativeDistanceCondition entityRef="adversary" relativeDistanceType="cartesianDistance" value="40.0" freespace="false" rule="lessThan"/>
</EntityCondition>
</ByEntityCondition>
</Condition>
</ConditionGroup>
</StartTrigger>
</Event>
<Event name="AdversaryChangesLane" priority="overwrite">
<Action name="AdversaryChangesLane">
<PrivateAction>
<LateralAction>
<LaneChangeAction>
<LaneChangeActionDynamics dynamicsShape="linear" value="25" dynamicsDimension="distance"/>
<LaneChangeTarget>
<RelativeTargetLane entityRef="adversary" value="-1"/>
</LaneChangeTarget>
</LaneChangeAction>
</LateralAction>
</PrivateAction>
</Action>
<StartTrigger>
<ConditionGroup>
<Condition name="AfterAdversaryAccelerates" delay="0" conditionEdge="rising">
<ByValueCondition>
<StoryboardElementStateCondition storyboardElementType="action" storyboardElementRef="AdversaryAccelerates" state="completeState"/>
</ByValueCondition>
</Condition>
</ConditionGroup>
</StartTrigger>
</Event>
</Maneuver>
</ManeuverGroup>
<StartTrigger>
<ConditionGroup>
<Condition name="OverallStartCondition" delay="0" conditionEdge="rising">
<ByEntityCondition>
<TriggeringEntities triggeringEntitiesRule="any">
<EntityRef entityRef="hero"/>
</TriggeringEntities>
<EntityCondition>
<TraveledDistanceCondition value="1.0"/>
</EntityCondition>
</ByEntityCondition>
</Condition>
<Condition name="StartTime" delay="0" conditionEdge="rising">
<ByValueCondition>
<SimulationTimeCondition value="0" rule="equalTo"/>
</ByValueCondition>
</Condition>
</ConditionGroup>
</StartTrigger>
<StopTrigger>
<ConditionGroup>
<Condition name="EndCondition" delay="0" conditionEdge="rising">
<ByEntityCondition>
<TriggeringEntities triggeringEntitiesRule="any">
<EntityRef entityRef="hero"/>
</TriggeringEntities>
<EntityCondition>
<TraveledDistanceCondition value="200.0"/>
</EntityCondition>
</ByEntityCondition>
</Condition>
</ConditionGroup>
</StopTrigger>
</Act>
</Story>
<StopTrigger>
<ConditionGroup>
<Condition name="criteria_RunningStopTest" delay="0" conditionEdge="rising">
<ByValueCondition>
<ParameterCondition parameterRef="" value="" rule="lessThan"/>
</ByValueCondition>
</Condition>
<Condition name="criteria_RunningRedLightTest" delay="0" conditionEdge="rising">
<ByValueCondition>
<ParameterCondition parameterRef="" value="" rule="lessThan"/>
</ByValueCondition>
</Condition>
<Condition name="criteria_WrongLaneTest" delay="0" conditionEdge="rising">
<ByValueCondition>
<ParameterCondition parameterRef="" value="" rule="lessThan"/>
</ByValueCondition>
</Condition>
<Condition name="criteria_OnSidewalkTest" delay="0" conditionEdge="rising">
<ByValueCondition>
<ParameterCondition parameterRef="" value="" rule="lessThan"/>
</ByValueCondition>
</Condition>
<Condition name="criteria_KeepLaneTest" delay="0" conditionEdge="rising">
<ByValueCondition>
<ParameterCondition parameterRef="" value="" rule="lessThan"/>
</ByValueCondition>
</Condition>
<Condition name="criteria_CollisionTest" delay="0" conditionEdge="rising">
<ByValueCondition>
<ParameterCondition parameterRef="" value="" rule="lessThan"/>
</ByValueCondition>
</Condition>
<Condition name="criteria_DrivenDistanceTest" delay="0" conditionEdge="rising">
<ByValueCondition>
<ParameterCondition parameterRef="distance_success" value="100" rule="lessThan"/>
</ByValueCondition>
</Condition>
</ConditionGroup>
</StopTrigger>
</Storyboard>
</OpenSCENARIO>
``` | Here is the result:
```
<?xml version="1.0" ?>
<OpenSCENARIO>
<FileHeader revMajor="1" revMinor="0" date="2020-03-24T12:00:00" description="CARLA:LaneChangeSimple" author=""/>
<ParameterDeclarations/>
<CatalogLocations/>
<RoadNetwork>
<LogicFile filepath="Town04"/>
<SceneGraphFile filepath=""/>
</RoadNetwork>
<Entities>
<ScenarioObject name="hero">
<Vehicle name="vehicle.tesla.model3" vehicleCategory="car">
<ParameterDeclarations/>
<Performance maxSpeed="69.444" maxAcceleration="200" maxDeceleration="10.0"/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2.1" length="4.5" height="1.8"/>
</BoundingBox>
<Axles>
<FrontAxle maxSteering="0.5" wheelDiameter="0.6" trackWidth="1.8" positionX="3.1" positionZ="0.3"/>
<RearAxle maxSteering="0.0" wheelDiameter="0.6" trackWidth="1.8" positionX="0.0" positionZ="0.3"/>
</Axles>
<Properties>
<Property name="type" value="ego_vehicle"/>
</Properties>
</Vehicle>
</ScenarioObject>
<ScenarioObject name="adversary">
<Vehicle name="vehicle.lincoln.mkz_2017" vehicleCategory="car">
<ParameterDeclarations/>
<Performance maxSpeed="69.444" maxAcceleration="200" maxDeceleration="10.0"/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2.1" length="4.5" height="1.8"/>
</BoundingBox>
<Axles>
<FrontAxle maxSteering="0.5" wheelDiameter="0.6" trackWidth="1.8" positionX="3.1" positionZ="0.3"/>
<RearAxle maxSteering="0.0" wheelDiameter="0.6" trackWidth="1.8" positionX="0.0" positionZ="0.3"/>
</Axles>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Vehicle>
</ScenarioObject>
<ScenarioObject name="standing">
<Vehicle name="vehicle.volkswagen.t2" vehicleCategory="car">
<ParameterDeclarations/>
<Performance maxSpeed="69.444" maxAcceleration="200" maxDeceleration="10.0"/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2.1" length="4.5" height="1.8"/>
</BoundingBox>
<Axles>
<FrontAxle maxSteering="0.5" wheelDiameter="0.6" trackWidth="1.8" positionX="3.1" positionZ="0.3"/>
<RearAxle maxSteering="0.0" wheelDiameter="0.6" 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_27903">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_w_transform_27904">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
</Entities>
<Storyboard>
<Init>
<Actions>
<GlobalAction>
<EnvironmentAction>
<Environment name="Environment1">
<TimeOfDay animation="false" dateTime="2019-06-25T12:00:00"/>
<Weather cloudState="free">
<Sun intensity="0.85" azimuth="0" elevation="1.31"/>
<Fog visualRange="100000.0"/>
<Precipitation precipitationType="dry" intensity="0.0"/>
</Weather>
<RoadCondition frictionScaleFactor="1.0"/>
</Environment>
</EnvironmentAction>
</GlobalAction>
<Private entityRef="hero">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-9.4" y="-152.8" z="0.5" h="1.57079632679"/>
</Position>
</TeleportAction>
</PrivateAction>
<PrivateAction>
<ControllerAction>
<AssignControllerAction>
<Controller name="HeroAgent">
<Properties>
<Property name="module" value="external_control"/>
</Properties>
</Controller>
</AssignControllerAction>
<OverrideControllerValueAction>
<Throttle value="0" active="false"/>
<Brake value="0" active="false"/>
<Clutch value="0" active="false"/>
<ParkingBrake value="0" active="false"/>
<SteeringWheel value="0" active="false"/>
<Gear number="0" active="false"/>
</OverrideControllerValueAction>
</ControllerAction>
</PrivateAction>
</Private>
<Private entityRef="adversary">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-9.4" y="-71.0" z="0.5" h="1.57079632679"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="standing">
<PrivateAction>
<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_27903">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-9.983488082885742" y="38.529541015625" z="0.0030724334064871073"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_w_transform_27904">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-97.62226104736328" y="50.32698440551758" z="0.5"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
</Actions>
</Init>
<Story name="MyStory">
<Act name="Behavior">
<ManeuverGroup maximumExecutionCount="1" name="ManeuverSequence">
<Actors selectTriggeringEntities="false">
<EntityRef entityRef="adversary"/>
</Actors>
<Maneuver name="LaneChangeSimpleManeuver">
<Event name="AdversaryAccelerates" priority="overwrite">
<Action name="AdversaryAccelerates">
<PrivateAction>
<LongitudinalAction>
<SpeedAction>
<SpeedActionDynamics dynamicsShape="step" value="50" dynamicsDimension="distance"/>
<SpeedActionTarget>
<AbsoluteTargetSpeed value="5.0"/>
</SpeedActionTarget>
</SpeedAction>
</LongitudinalAction>
</PrivateAction>
</Action>
<StartTrigger>
<ConditionGroup>
<Condition name="StartCondition" delay="0" conditionEdge="rising">
<ByEntityCondition>
<TriggeringEntities triggeringEntitiesRule="any">
<EntityRef entityRef="hero"/>
</TriggeringEntities>
<EntityCondition>
<RelativeDistanceCondition entityRef="adversary" relativeDistanceType="cartesianDistance" value="40.0" freespace="false" rule="lessThan"/>
</EntityCondition>
</ByEntityCondition>
</Condition>
</ConditionGroup>
</StartTrigger>
</Event>
<Event name="AdversaryChangesLane" priority="overwrite">
<Action name="AdversaryChangesLane">
<PrivateAction>
<LateralAction>
<LaneChangeAction>
<LaneChangeActionDynamics dynamicsShape="linear" value="25" dynamicsDimension="distance"/>
<LaneChangeTarget>
<RelativeTargetLane entityRef="adversary" value="-1"/>
</LaneChangeTarget>
</LaneChangeAction>
</LateralAction>
</PrivateAction>
</Action>
<StartTrigger>
<ConditionGroup>
<Condition name="AfterAdversaryAccelerates" delay="0" conditionEdge="rising">
<ByValueCondition>
<StoryboardElementStateCondition storyboardElementType="action" storyboardElementRef="AdversaryAccelerates" state="completeState"/>
</ByValueCondition>
</Condition>
</ConditionGroup>
</StartTrigger>
</Event>
</Maneuver>
</ManeuverGroup>
<StartTrigger>
<ConditionGroup>
<Condition name="OverallStartCondition" delay="0" conditionEdge="rising">
<ByEntityCondition>
<TriggeringEntities triggeringEntitiesRule="any">
<EntityRef entityRef="hero"/>
</TriggeringEntities>
<EntityCondition>
<TraveledDistanceCondition value="1.0"/>
</EntityCondition>
</ByEntityCondition>
</Condition>
<Condition name="StartTime" delay="0" conditionEdge="rising">
<ByValueCondition>
<SimulationTimeCondition value="0" rule="equalTo"/>
</ByValueCondition>
</Condition>
</ConditionGroup>
</StartTrigger>
<StopTrigger>
<ConditionGroup>
<Condition name="EndCondition" delay="0" conditionEdge="rising">
<ByEntityCondition>
<TriggeringEntities triggeringEntitiesRule="any">
<EntityRef entityRef="hero"/>
</TriggeringEntities>
<EntityCondition>
<TraveledDistanceCondition value="200.0"/>
</EntityCondition>
</ByEntityCondition>
</Condition>
</ConditionGroup>
</StopTrigger>
</Act>
</Story>
<StopTrigger>
<ConditionGroup>
<Condition name="criteria_RunningStopTest" delay="0" conditionEdge="rising">
<ByValueCondition>
<ParameterCondition parameterRef="" value="" rule="lessThan"/>
</ByValueCondition>
</Condition>
<Condition name="criteria_RunningRedLightTest" delay="0" conditionEdge="rising">
<ByValueCondition>
<ParameterCondition parameterRef="" value="" rule="lessThan"/>
</ByValueCondition>
</Condition>
<Condition name="criteria_WrongLaneTest" delay="0" conditionEdge="rising">
<ByValueCondition>
<ParameterCondition parameterRef="" value="" rule="lessThan"/>
</ByValueCondition>
</Condition>
<Condition name="criteria_OnSidewalkTest" delay="0" conditionEdge="rising">
<ByValueCondition>
<ParameterCondition parameterRef="" value="" rule="lessThan"/>
</ByValueCondition>
</Condition>
<Condition name="criteria_KeepLaneTest" delay="0" conditionEdge="rising">
<ByValueCondition>
<ParameterCondition parameterRef="" value="" rule="lessThan"/>
</ByValueCondition>
</Condition>
<Condition name="criteria_CollisionTest" delay="0" conditionEdge="rising">
<ByValueCondition>
<ParameterCondition parameterRef="" value="" rule="lessThan"/>
</ByValueCondition>
</Condition>
<Condition name="criteria_DrivenDistanceTest" delay="0" conditionEdge="rising">
<ByValueCondition>
<ParameterCondition parameterRef="distance_success" value="100" rule="lessThan"/>
</ByValueCondition>
</Condition>
</ConditionGroup>
</StopTrigger>
</Storyboard>
</OpenSCENARIO>
``` |
could you add pedestrian close to hero?
```
<?xml version="1.0" ?>
<OpenSCENARIO>
<FileHeader revMajor="1" revMinor="0" date="2020-03-24T12:00:00" description="CARLA:LaneChangeSimple" author=""/>
<ParameterDeclarations/>
<CatalogLocations/>
<RoadNetwork>
<LogicFile filepath="Town04"/>
<SceneGraphFile filepath=""/>
</RoadNetwork>
<Entities>
<ScenarioObject name="hero">
<Vehicle name="vehicle.tesla.model3" vehicleCategory="car">
<ParameterDeclarations/>
<Performance maxSpeed="69.444" maxAcceleration="200" maxDeceleration="10.0"/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2.1" length="4.5" height="1.8"/>
</BoundingBox>
<Axles>
<FrontAxle maxSteering="0.5" wheelDiameter="0.6" trackWidth="1.8" positionX="3.1" positionZ="0.3"/>
<RearAxle maxSteering="0.0" wheelDiameter="0.6" trackWidth="1.8" positionX="0.0" positionZ="0.3"/>
</Axles>
<Properties>
<Property name="type" value="ego_vehicle"/>
</Properties>
</Vehicle>
</ScenarioObject>
<ScenarioObject name="adversary">
<Vehicle name="vehicle.lincoln.mkz_2017" vehicleCategory="car">
<ParameterDeclarations/>
<Performance maxSpeed="69.444" maxAcceleration="200" maxDeceleration="10.0"/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2.1" length="4.5" height="1.8"/>
</BoundingBox>
<Axles>
<FrontAxle maxSteering="0.5" wheelDiameter="0.6" trackWidth="1.8" positionX="3.1" positionZ="0.3"/>
<RearAxle maxSteering="0.0" wheelDiameter="0.6" trackWidth="1.8" positionX="0.0" positionZ="0.3"/>
</Axles>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Vehicle>
</ScenarioObject>
<ScenarioObject name="standing">
<Vehicle name="vehicle.volkswagen.t2" vehicleCategory="car">
<ParameterDeclarations/>
<Performance maxSpeed="69.444" maxAcceleration="200" maxDeceleration="10.0"/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2.1" length="4.5" height="1.8"/>
</BoundingBox>
<Axles>
<FrontAxle maxSteering="0.5" wheelDiameter="0.6" trackWidth="1.8" positionX="3.1" positionZ="0.3"/>
<RearAxle maxSteering="0.0" wheelDiameter="0.6" trackWidth="1.8" positionX="0.0" positionZ="0.3"/>
</Axles>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Vehicle>
</ScenarioObject>
<ScenarioObject name="pedestrian_close_to_standing_1533">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_close_to_hero_1534">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_w_transform_1535">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_w_transform_1536">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_close_to_adversary_1537">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_close_to_standing_1538">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_w_transform_1539">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_close_to_hero_1540">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_w_transform_1541">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
</Entities>
<Storyboard>
<Init>
<Actions>
<GlobalAction>
<EnvironmentAction>
<Environment name="Environment1">
<TimeOfDay animation="false" dateTime="2019-06-25T12:00:00"/>
<Weather cloudState="free">
<Sun intensity="0.85" azimuth="0" elevation="1.31"/>
<Fog visualRange="100000.0"/>
<Precipitation precipitationType="dry" intensity="0.0"/>
</Weather>
<RoadCondition frictionScaleFactor="1.0"/>
</Environment>
</EnvironmentAction>
</GlobalAction>
<Private entityRef="hero">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-9.4" y="-152.8" z="0.5" h="1.57079632679"/>
</Position>
</TeleportAction>
</PrivateAction>
<PrivateAction>
<ControllerAction>
<AssignControllerAction>
<Controller name="HeroAgent">
<Properties>
<Property name="module" value="external_control"/>
</Properties>
</Controller>
</AssignControllerAction>
<OverrideControllerValueAction>
<Throttle value="0" active="false"/>
<Brake value="0" active="false"/>
<Clutch value="0" active="false"/>
<ParkingBrake value="0" active="false"/>
<SteeringWheel value="0" active="false"/>
<Gear number="0" active="false"/>
</OverrideControllerValueAction>
</ControllerAction>
</PrivateAction>
</Private>
<Private entityRef="adversary">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-9.4" y="-71.0" z="0.5" h="1.57079632679"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="standing">
<PrivateAction>
<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_1533">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-4.411341667175293" y="22.84469223022461" z="0.003122520400211215"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_close_to_hero_1534">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-2.937666177749634" y="-157.3415985107422" z="0.0016365813789889216"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_w_transform_1535">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="24.743589401245117" y="94.34561920166016" z="0.5"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_w_transform_1536">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-78.93722534179688" y="10.675439834594727" z="0.5"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_close_to_adversary_1537">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-12.534663200378418" y="-65.98701477050781" z="0.033834073692560196"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_close_to_standing_1538">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-12.51136302947998" y="24.111661911010742" z="0.003103828290477395"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_w_transform_1539">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-19.809240341186523" y="-5.9934186935424805" z="0.5"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_close_to_hero_1540">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-5.227719306945801" y="-150.60501098632812" z="0.0016365813789889216"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_w_transform_1541">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="14.86883544921875" y="29.203582763671875" 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_1533">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_close_to_hero_1534">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_w_transform_1535">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_w_transform_1536">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_close_to_adversary_1537">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_close_to_standing_1538">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_w_transform_1539">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_close_to_hero_1540">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_w_transform_1541">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_close_to_hero_1542">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
</Entities>
<Storyboard>
<Init>
<Actions>
<GlobalAction>
<EnvironmentAction>
<Environment name="Environment1">
<TimeOfDay animation="false" dateTime="2019-06-25T12:00:00"/>
<Weather cloudState="free">
<Sun intensity="0.85" azimuth="0" elevation="1.31"/>
<Fog visualRange="100000.0"/>
<Precipitation precipitationType="dry" intensity="0.0"/>
</Weather>
<RoadCondition frictionScaleFactor="1.0"/>
</Environment>
</EnvironmentAction>
</GlobalAction>
<Private entityRef="hero">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-9.4" y="-152.8" z="0.5" h="1.57079632679"/>
</Position>
</TeleportAction>
</PrivateAction>
<PrivateAction>
<ControllerAction>
<AssignControllerAction>
<Controller name="HeroAgent">
<Properties>
<Property name="module" value="external_control"/>
</Properties>
</Controller>
</AssignControllerAction>
<OverrideControllerValueAction>
<Throttle value="0" active="false"/>
<Brake value="0" active="false"/>
<Clutch value="0" active="false"/>
<ParkingBrake value="0" active="false"/>
<SteeringWheel value="0" active="false"/>
<Gear number="0" active="false"/>
</OverrideControllerValueAction>
</ControllerAction>
</PrivateAction>
</Private>
<Private entityRef="adversary">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-9.4" y="-71.0" z="0.5" h="1.57079632679"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="standing">
<PrivateAction>
<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_1533">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-4.411341667175293" y="22.84469223022461" z="0.003122520400211215"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_close_to_hero_1534">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-2.937666177749634" y="-157.3415985107422" z="0.0016365813789889216"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_w_transform_1535">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="24.743589401245117" y="94.34561920166016" z="0.5"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_w_transform_1536">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-78.93722534179688" y="10.675439834594727" z="0.5"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_close_to_adversary_1537">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-12.534663200378418" y="-65.98701477050781" z="0.033834073692560196"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_close_to_standing_1538">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-12.51136302947998" y="24.111661911010742" z="0.003103828290477395"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_w_transform_1539">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-19.809240341186523" y="-5.9934186935424805" z="0.5"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_close_to_hero_1540">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-5.227719306945801" y="-150.60501098632812" z="0.0016365813789889216"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_w_transform_1541">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="14.86883544921875" y="29.203582763671875" z="0.5"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_close_to_hero_1542">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-68.35309600830078" y="-146.5631561279297" z="0.0016365813789889216"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
</Actions>
</Init>
<Story name="MyStory">
<Act name="Behavior">
<ManeuverGroup maximumExecutionCount="1" name="ManeuverSequence">
<Actors selectTriggeringEntities="false">
<EntityRef entityRef="adversary"/>
</Actors>
<Maneuver name="LaneChangeSimpleManeuver">
<Event name="AdversaryAccelerates" priority="overwrite">
<Action name="AdversaryAccelerates">
<PrivateAction>
<LongitudinalAction>
<SpeedAction>
<SpeedActionDynamics dynamicsShape="step" value="50" dynamicsDimension="distance"/>
<SpeedActionTarget>
<AbsoluteTargetSpeed value="5.0"/>
</SpeedActionTarget>
</SpeedAction>
</LongitudinalAction>
</PrivateAction>
</Action>
<StartTrigger>
<ConditionGroup>
<Condition name="StartCondition" delay="0" conditionEdge="rising">
<ByEntityCondition>
<TriggeringEntities triggeringEntitiesRule="any">
<EntityRef entityRef="hero"/>
</TriggeringEntities>
<EntityCondition>
<RelativeDistanceCondition entityRef="adversary" relativeDistanceType="cartesianDistance" value="40.0" freespace="false" rule="lessThan"/>
</EntityCondition>
</ByEntityCondition>
</Condition>
</ConditionGroup>
</StartTrigger>
</Event>
<Event name="AdversaryChangesLane" priority="overwrite">
<Action name="AdversaryChangesLane">
<PrivateAction>
<LateralAction>
<LaneChangeAction>
<LaneChangeActionDynamics dynamicsShape="linear" value="25" dynamicsDimension="distance"/>
<LaneChangeTarget>
<RelativeTargetLane entityRef="adversary" value="-1"/>
</LaneChangeTarget>
</LaneChangeAction>
</LateralAction>
</PrivateAction>
</Action>
<StartTrigger>
<ConditionGroup>
<Condition name="AfterAdversaryAccelerates" delay="0" conditionEdge="rising">
<ByValueCondition>
<StoryboardElementStateCondition storyboardElementType="action" storyboardElementRef="AdversaryAccelerates" state="completeState"/>
</ByValueCondition>
</Condition>
</ConditionGroup>
</StartTrigger>
</Event>
</Maneuver>
</ManeuverGroup>
<StartTrigger>
<ConditionGroup>
<Condition name="OverallStartCondition" delay="0" conditionEdge="rising">
<ByEntityCondition>
<TriggeringEntities triggeringEntitiesRule="any">
<EntityRef entityRef="hero"/>
</TriggeringEntities>
<EntityCondition>
<TraveledDistanceCondition value="1.0"/>
</EntityCondition>
</ByEntityCondition>
</Condition>
<Condition name="StartTime" delay="0" conditionEdge="rising">
<ByValueCondition>
<SimulationTimeCondition value="0" rule="equalTo"/>
</ByValueCondition>
</Condition>
</ConditionGroup>
</StartTrigger>
<StopTrigger>
<ConditionGroup>
<Condition name="EndCondition" delay="0" conditionEdge="rising">
<ByEntityCondition>
<TriggeringEntities triggeringEntitiesRule="any">
<EntityRef entityRef="hero"/>
</TriggeringEntities>
<EntityCondition>
<TraveledDistanceCondition value="200.0"/>
</EntityCondition>
</ByEntityCondition>
</Condition>
</ConditionGroup>
</StopTrigger>
</Act>
</Story>
<StopTrigger>
<ConditionGroup>
<Condition name="criteria_RunningStopTest" delay="0" conditionEdge="rising">
<ByValueCondition>
<ParameterCondition parameterRef="" value="" rule="lessThan"/>
</ByValueCondition>
</Condition>
<Condition name="criteria_RunningRedLightTest" delay="0" conditionEdge="rising">
<ByValueCondition>
<ParameterCondition parameterRef="" value="" rule="lessThan"/>
</ByValueCondition>
</Condition>
<Condition name="criteria_WrongLaneTest" delay="0" conditionEdge="rising">
<ByValueCondition>
<ParameterCondition parameterRef="" value="" rule="lessThan"/>
</ByValueCondition>
</Condition>
<Condition name="criteria_OnSidewalkTest" delay="0" conditionEdge="rising">
<ByValueCondition>
<ParameterCondition parameterRef="" value="" rule="lessThan"/>
</ByValueCondition>
</Condition>
<Condition name="criteria_KeepLaneTest" delay="0" conditionEdge="rising">
<ByValueCondition>
<ParameterCondition parameterRef="" value="" rule="lessThan"/>
</ByValueCondition>
</Condition>
<Condition name="criteria_CollisionTest" delay="0" conditionEdge="rising">
<ByValueCondition>
<ParameterCondition parameterRef="" value="" rule="lessThan"/>
</ByValueCondition>
</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 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_24058">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_close_to_adversary_24060">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_close_to_standing_24061">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_w_transform_24062">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_w_transform_24066">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_close_to_hero_24068">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
</Entities>
<Storyboard>
<Init>
<Actions>
<GlobalAction>
<EnvironmentAction>
<Environment name="Environment1">
<TimeOfDay animation="false" dateTime="2019-06-25T12:00:00"/>
<Weather cloudState="free">
<Sun intensity="0.85" azimuth="0" elevation="1.31"/>
<Fog visualRange="100000.0"/>
<Precipitation precipitationType="dry" intensity="0.0"/>
</Weather>
<RoadCondition frictionScaleFactor="1.0"/>
</Environment>
</EnvironmentAction>
</GlobalAction>
<Private entityRef="hero">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-9.4" y="-152.8" z="0.5" h="1.57079632679"/>
</Position>
</TeleportAction>
</PrivateAction>
<PrivateAction>
<ControllerAction>
<AssignControllerAction>
<Controller name="HeroAgent">
<Properties>
<Property name="module" value="external_control"/>
</Properties>
</Controller>
</AssignControllerAction>
<OverrideControllerValueAction>
<Throttle value="0" active="false"/>
<Brake value="0" active="false"/>
<Clutch value="0" active="false"/>
<ParkingBrake value="0" active="false"/>
<SteeringWheel value="0" active="false"/>
<Gear number="0" active="false"/>
</OverrideControllerValueAction>
</ControllerAction>
</PrivateAction>
</Private>
<Private entityRef="adversary">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-9.4" y="-71.0" z="0.5" h="1.57079632679"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="standing">
<PrivateAction>
<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_24058">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-3.3619210720062256" y="-76.38060760498047" z="0.03382209688425064"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_close_to_adversary_24060">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-13.478408813476562" y="-84.20049285888672" z="0.033780213445425034"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_close_to_standing_24061">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-6.617940425872803" y="23.54196548461914" z="0.0030897140968590975"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_w_transform_24062">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="99.47386932373047" y="87.90169525146484" z="0.5"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_w_transform_24066">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-3.2345259189605713" y="-15.446252822875977" z="0.5"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_close_to_hero_24068">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-17.761001586914062" y="-165.38372802734375" 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_adversary_24060">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_close_to_standing_24061">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_w_transform_24062">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_w_transform_24066">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_close_to_hero_24068">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
</Entities>
<Storyboard>
<Init>
<Actions>
<GlobalAction>
<EnvironmentAction>
<Environment name="Environment1">
<TimeOfDay animation="false" dateTime="2019-06-25T12:00:00"/>
<Weather cloudState="free">
<Sun intensity="0.85" azimuth="0" elevation="1.31"/>
<Fog visualRange="100000.0"/>
<Precipitation precipitationType="dry" intensity="0.0"/>
</Weather>
<RoadCondition frictionScaleFactor="1.0"/>
</Environment>
</EnvironmentAction>
</GlobalAction>
<Private entityRef="hero">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-9.4" y="-152.8" z="0.5" h="1.57079632679"/>
</Position>
</TeleportAction>
</PrivateAction>
<PrivateAction>
<ControllerAction>
<AssignControllerAction>
<Controller name="HeroAgent">
<Properties>
<Property name="module" value="external_control"/>
</Properties>
</Controller>
</AssignControllerAction>
<OverrideControllerValueAction>
<Throttle value="0" active="false"/>
<Brake value="0" active="false"/>
<Clutch value="0" active="false"/>
<ParkingBrake value="0" active="false"/>
<SteeringWheel value="0" active="false"/>
<Gear number="0" active="false"/>
</OverrideControllerValueAction>
</ControllerAction>
</PrivateAction>
</Private>
<Private entityRef="adversary">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-9.4" y="-71.0" z="0.5" h="1.57079632679"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="standing">
<PrivateAction>
<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_24060">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-13.478408813476562" y="-84.20049285888672" z="0.033780213445425034"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_close_to_standing_24061">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-6.617940425872803" y="23.54196548461914" z="0.0030897140968590975"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_w_transform_24062">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="99.47386932373047" y="87.90169525146484" z="0.5"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_w_transform_24066">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-3.2345259189605713" y="-15.446252822875977" z="0.5"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_close_to_hero_24068">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-17.761001586914062" y="-165.38372802734375" 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 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_hero_21064">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_close_to_hero_21065">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_w_transform_21066">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_close_to_hero_21067">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_close_to_hero_21068">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_close_to_hero_21069">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_w_transform_21070">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_close_to_standing_21071">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_close_to_adversary_21072">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_close_to_adversary_21073">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_close_to_hero_21074">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
</Entities>
<Storyboard>
<Init>
<Actions>
<GlobalAction>
<EnvironmentAction>
<Environment name="Environment1">
<TimeOfDay animation="false" dateTime="2019-06-25T12:00:00"/>
<Weather cloudState="free">
<Sun intensity="0.85" azimuth="0" elevation="1.31"/>
<Fog visualRange="100000.0"/>
<Precipitation precipitationType="dry" intensity="0.0"/>
</Weather>
<RoadCondition frictionScaleFactor="1.0"/>
</Environment>
</EnvironmentAction>
</GlobalAction>
<Private entityRef="hero">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-9.4" y="-152.8" z="0.5" h="1.57079632679"/>
</Position>
</TeleportAction>
</PrivateAction>
<PrivateAction>
<ControllerAction>
<AssignControllerAction>
<Controller name="HeroAgent">
<Properties>
<Property name="module" value="external_control"/>
</Properties>
</Controller>
</AssignControllerAction>
<OverrideControllerValueAction>
<Throttle value="0" active="false"/>
<Brake value="0" active="false"/>
<Clutch value="0" active="false"/>
<ParkingBrake value="0" active="false"/>
<SteeringWheel value="0" active="false"/>
<Gear number="0" active="false"/>
</OverrideControllerValueAction>
</ControllerAction>
</PrivateAction>
</Private>
<Private entityRef="adversary">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-9.4" y="-71.0" z="0.5" h="1.57079632679"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="standing">
<PrivateAction>
<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_21064">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-9.116255760192871" y="-157.79437255859375" z="0.0014652633108198643"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_close_to_hero_21065">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-15.03836441040039" y="-157.8789825439453" z="0.0014652633108198643"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_w_transform_21066">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-75.9439468383789" y="-86.92757415771484" z="0.5"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_close_to_hero_21067">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-1.7834025621414185" y="-146.7189178466797" z="0.0014652633108198643"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_close_to_hero_21068">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-17.545028686523438" y="-143.4571075439453" z="0.0014652633108198643"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_close_to_hero_21069">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-4.882874488830566" y="-149.43746948242188" z="0.0014652633108198643"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_w_transform_21070">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-77.05107116699219" y="-85.01795959472656" z="0.5"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_close_to_standing_21071">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-9.537827491760254" y="35.5035285949707" z="0.0030436324886977673"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_close_to_adversary_21072">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="1.7897435426712036" y="-70.51233673095703" z="0.03376960754394531"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_close_to_adversary_21073">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-10.216022491455078" y="-76.89917755126953" z="0.033832013607025146"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_close_to_hero_21074">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-3.334301710128784" y="-153.20663452148438" 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_21064">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_close_to_hero_21065">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_w_transform_21066">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_close_to_hero_21067">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_close_to_hero_21068">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_close_to_hero_21069">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_w_transform_21070">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_close_to_standing_21071">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_close_to_adversary_21072">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_close_to_adversary_21073">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_close_to_hero_21074">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_close_to_hero_21075">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
</Entities>
<Storyboard>
<Init>
<Actions>
<GlobalAction>
<EnvironmentAction>
<Environment name="Environment1">
<TimeOfDay animation="false" dateTime="2019-06-25T12:00:00"/>
<Weather cloudState="free">
<Sun intensity="0.85" azimuth="0" elevation="1.31"/>
<Fog visualRange="100000.0"/>
<Precipitation precipitationType="dry" intensity="0.0"/>
</Weather>
<RoadCondition frictionScaleFactor="1.0"/>
</Environment>
</EnvironmentAction>
</GlobalAction>
<Private entityRef="hero">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-9.4" y="-152.8" z="0.5" h="1.57079632679"/>
</Position>
</TeleportAction>
</PrivateAction>
<PrivateAction>
<ControllerAction>
<AssignControllerAction>
<Controller name="HeroAgent">
<Properties>
<Property name="module" value="external_control"/>
</Properties>
</Controller>
</AssignControllerAction>
<OverrideControllerValueAction>
<Throttle value="0" active="false"/>
<Brake value="0" active="false"/>
<Clutch value="0" active="false"/>
<ParkingBrake value="0" active="false"/>
<SteeringWheel value="0" active="false"/>
<Gear number="0" active="false"/>
</OverrideControllerValueAction>
</ControllerAction>
</PrivateAction>
</Private>
<Private entityRef="adversary">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-9.4" y="-71.0" z="0.5" h="1.57079632679"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="standing">
<PrivateAction>
<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_21064">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-9.116255760192871" y="-157.79437255859375" z="0.0014652633108198643"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_close_to_hero_21065">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-15.03836441040039" y="-157.8789825439453" z="0.0014652633108198643"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_w_transform_21066">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-75.9439468383789" y="-86.92757415771484" z="0.5"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_close_to_hero_21067">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-1.7834025621414185" y="-146.7189178466797" z="0.0014652633108198643"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_close_to_hero_21068">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-17.545028686523438" y="-143.4571075439453" z="0.0014652633108198643"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_close_to_hero_21069">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-4.882874488830566" y="-149.43746948242188" z="0.0014652633108198643"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_w_transform_21070">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-77.05107116699219" y="-85.01795959472656" z="0.5"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_close_to_standing_21071">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-9.537827491760254" y="35.5035285949707" z="0.0030436324886977673"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_close_to_adversary_21072">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="1.7897435426712036" y="-70.51233673095703" z="0.03376960754394531"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_close_to_adversary_21073">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-10.216022491455078" y="-76.89917755126953" z="0.033832013607025146"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_close_to_hero_21074">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-3.334301710128784" y="-153.20663452148438" z="0.0014652633108198643"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_close_to_hero_21075">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-19.380125045776367" y="-155.8245391845703" 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 you to demonstrate remove pedestrian actor named pedestrian_close_to_hero_6104?
```
<?xml version="1.0" ?>
<OpenSCENARIO>
<FileHeader revMajor="1" revMinor="0" date="2020-03-24T12:00:00" description="CARLA:LaneChangeSimple" author=""/>
<ParameterDeclarations/>
<CatalogLocations/>
<RoadNetwork>
<LogicFile filepath="Town04"/>
<SceneGraphFile filepath=""/>
</RoadNetwork>
<Entities>
<ScenarioObject name="hero">
<Vehicle name="vehicle.tesla.model3" vehicleCategory="car">
<ParameterDeclarations/>
<Performance maxSpeed="69.444" maxAcceleration="200" maxDeceleration="10.0"/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2.1" length="4.5" height="1.8"/>
</BoundingBox>
<Axles>
<FrontAxle maxSteering="0.5" wheelDiameter="0.6" trackWidth="1.8" positionX="3.1" positionZ="0.3"/>
<RearAxle maxSteering="0.0" wheelDiameter="0.6" trackWidth="1.8" positionX="0.0" positionZ="0.3"/>
</Axles>
<Properties>
<Property name="type" value="ego_vehicle"/>
</Properties>
</Vehicle>
</ScenarioObject>
<ScenarioObject name="adversary">
<Vehicle name="vehicle.lincoln.mkz_2017" vehicleCategory="car">
<ParameterDeclarations/>
<Performance maxSpeed="69.444" maxAcceleration="200" maxDeceleration="10.0"/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2.1" length="4.5" height="1.8"/>
</BoundingBox>
<Axles>
<FrontAxle maxSteering="0.5" wheelDiameter="0.6" trackWidth="1.8" positionX="3.1" positionZ="0.3"/>
<RearAxle maxSteering="0.0" wheelDiameter="0.6" trackWidth="1.8" positionX="0.0" positionZ="0.3"/>
</Axles>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Vehicle>
</ScenarioObject>
<ScenarioObject name="standing">
<Vehicle name="vehicle.volkswagen.t2" vehicleCategory="car">
<ParameterDeclarations/>
<Performance maxSpeed="69.444" maxAcceleration="200" maxDeceleration="10.0"/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2.1" length="4.5" height="1.8"/>
</BoundingBox>
<Axles>
<FrontAxle maxSteering="0.5" wheelDiameter="0.6" trackWidth="1.8" positionX="3.1" positionZ="0.3"/>
<RearAxle maxSteering="0.0" wheelDiameter="0.6" 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_6097">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_w_transform_6098">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_close_to_standing_6099">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_close_to_standing_6100">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_close_to_standing_6101">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_close_to_adversary_6102">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_w_transform_6103">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_close_to_hero_6104">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_close_to_hero_6105">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_close_to_standing_6107">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_close_to_standing_6108">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_w_transform_6109">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_w_transform_6110">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_w_transform_6111">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_w_transform_6112">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_w_transform_6113">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
</Entities>
<Storyboard>
<Init>
<Actions>
<GlobalAction>
<EnvironmentAction>
<Environment name="Environment1">
<TimeOfDay animation="false" dateTime="2019-06-25T12:00:00"/>
<Weather cloudState="free">
<Sun intensity="0.85" azimuth="0" elevation="1.31"/>
<Fog visualRange="100000.0"/>
<Precipitation precipitationType="dry" intensity="0.0"/>
</Weather>
<RoadCondition frictionScaleFactor="1.0"/>
</Environment>
</EnvironmentAction>
</GlobalAction>
<Private entityRef="hero">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-9.4" y="-152.8" z="0.5" h="1.57079632679"/>
</Position>
</TeleportAction>
</PrivateAction>
<PrivateAction>
<ControllerAction>
<AssignControllerAction>
<Controller name="HeroAgent">
<Properties>
<Property name="module" value="external_control"/>
</Properties>
</Controller>
</AssignControllerAction>
<OverrideControllerValueAction>
<Throttle value="0" active="false"/>
<Brake value="0" active="false"/>
<Clutch value="0" active="false"/>
<ParkingBrake value="0" active="false"/>
<SteeringWheel value="0" active="false"/>
<Gear number="0" active="false"/>
</OverrideControllerValueAction>
</ControllerAction>
</PrivateAction>
</Private>
<Private entityRef="adversary">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-9.4" y="-71.0" z="0.5" h="1.57079632679"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="standing">
<PrivateAction>
<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_6097">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-15.814948081970215" y="-76.86207580566406" z="0.03383796662092209"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_w_transform_6098">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="75.2503433227539" y="-30.141080856323242" z="0.5"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_close_to_standing_6099">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-9.927964210510254" y="35.54458236694336" z="0.0030789566226303577"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_close_to_standing_6100">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-10.070667266845703" y="26.055471420288086" z="0.003033332759514451"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_close_to_standing_6101">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-7.036076068878174" y="28.57599449157715" z="0.003060035640373826"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_close_to_adversary_6102">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-19.03484344482422" y="-75.26075744628906" z="0.03382587432861328"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_w_transform_6103">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-15.607410430908203" y="-70.26738739013672" z="0.5"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_close_to_hero_6104">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-3.0554616451263428" y="-161.77896118164062" z="0.0014652633108198643"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_close_to_hero_6105">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-22.37067985534668" y="-153.89410400390625" z="0.0014652633108198643"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_close_to_standing_6107">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-6.256818771362305" y="13.137067794799805" z="0.0030392836779356003"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_close_to_standing_6108">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-1.142612338066101" y="42.819454193115234" z="0.003043289063498378"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_w_transform_6109">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="84.23867797851562" y="-10.290482521057129" z="0.5"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_w_transform_6110">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="38.49211120605469" y="52.11866760253906" z="0.5"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_w_transform_6111">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-69.50792694091797" y="6.948747634887695" z="0.5"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_w_transform_6112">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="40.14236068725586" y="-66.2760009765625" z="0.5"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_w_transform_6113">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="76.8136215209961" y="-35.77406311035156" 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_6097">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_w_transform_6098">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_close_to_standing_6099">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_close_to_standing_6100">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_close_to_standing_6101">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_close_to_adversary_6102">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_w_transform_6103">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_close_to_hero_6105">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_close_to_standing_6107">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_close_to_standing_6108">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_w_transform_6109">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_w_transform_6110">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_w_transform_6111">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_w_transform_6112">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_w_transform_6113">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
</Entities>
<Storyboard>
<Init>
<Actions>
<GlobalAction>
<EnvironmentAction>
<Environment name="Environment1">
<TimeOfDay animation="false" dateTime="2019-06-25T12:00:00"/>
<Weather cloudState="free">
<Sun intensity="0.85" azimuth="0" elevation="1.31"/>
<Fog visualRange="100000.0"/>
<Precipitation precipitationType="dry" intensity="0.0"/>
</Weather>
<RoadCondition frictionScaleFactor="1.0"/>
</Environment>
</EnvironmentAction>
</GlobalAction>
<Private entityRef="hero">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-9.4" y="-152.8" z="0.5" h="1.57079632679"/>
</Position>
</TeleportAction>
</PrivateAction>
<PrivateAction>
<ControllerAction>
<AssignControllerAction>
<Controller name="HeroAgent">
<Properties>
<Property name="module" value="external_control"/>
</Properties>
</Controller>
</AssignControllerAction>
<OverrideControllerValueAction>
<Throttle value="0" active="false"/>
<Brake value="0" active="false"/>
<Clutch value="0" active="false"/>
<ParkingBrake value="0" active="false"/>
<SteeringWheel value="0" active="false"/>
<Gear number="0" active="false"/>
</OverrideControllerValueAction>
</ControllerAction>
</PrivateAction>
</Private>
<Private entityRef="adversary">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-9.4" y="-71.0" z="0.5" h="1.57079632679"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="standing">
<PrivateAction>
<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_6097">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-15.814948081970215" y="-76.86207580566406" z="0.03383796662092209"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_w_transform_6098">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="75.2503433227539" y="-30.141080856323242" z="0.5"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_close_to_standing_6099">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-9.927964210510254" y="35.54458236694336" z="0.0030789566226303577"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_close_to_standing_6100">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-10.070667266845703" y="26.055471420288086" z="0.003033332759514451"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_close_to_standing_6101">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-7.036076068878174" y="28.57599449157715" z="0.003060035640373826"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_close_to_adversary_6102">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-19.03484344482422" y="-75.26075744628906" z="0.03382587432861328"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_w_transform_6103">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-15.607410430908203" y="-70.26738739013672" z="0.5"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_close_to_hero_6105">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-22.37067985534668" y="-153.89410400390625" z="0.0014652633108198643"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_close_to_standing_6107">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-6.256818771362305" y="13.137067794799805" z="0.0030392836779356003"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_close_to_standing_6108">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-1.142612338066101" y="42.819454193115234" z="0.003043289063498378"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_w_transform_6109">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="84.23867797851562" y="-10.290482521057129" z="0.5"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_w_transform_6110">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="38.49211120605469" y="52.11866760253906" z="0.5"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_w_transform_6111">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-69.50792694091797" y="6.948747634887695" z="0.5"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_w_transform_6112">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="40.14236068725586" y="-66.2760009765625" z="0.5"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_w_transform_6113">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="76.8136215209961" y="-35.77406311035156" 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 (-23.16, 52.28, 0.5)?
```
<?xml version="1.0" ?>
<OpenSCENARIO>
<FileHeader revMajor="1" revMinor="0" date="2020-03-24T12:00:00" description="CARLA:LaneChangeSimple" author=""/>
<ParameterDeclarations/>
<CatalogLocations/>
<RoadNetwork>
<LogicFile filepath="Town04"/>
<SceneGraphFile filepath=""/>
</RoadNetwork>
<Entities>
<ScenarioObject name="hero">
<Vehicle name="vehicle.tesla.model3" vehicleCategory="car">
<ParameterDeclarations/>
<Performance maxSpeed="69.444" maxAcceleration="200" maxDeceleration="10.0"/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2.1" length="4.5" height="1.8"/>
</BoundingBox>
<Axles>
<FrontAxle maxSteering="0.5" wheelDiameter="0.6" trackWidth="1.8" positionX="3.1" positionZ="0.3"/>
<RearAxle maxSteering="0.0" wheelDiameter="0.6" trackWidth="1.8" positionX="0.0" positionZ="0.3"/>
</Axles>
<Properties>
<Property name="type" value="ego_vehicle"/>
</Properties>
</Vehicle>
</ScenarioObject>
<ScenarioObject name="adversary">
<Vehicle name="vehicle.lincoln.mkz_2017" vehicleCategory="car">
<ParameterDeclarations/>
<Performance maxSpeed="69.444" maxAcceleration="200" maxDeceleration="10.0"/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2.1" length="4.5" height="1.8"/>
</BoundingBox>
<Axles>
<FrontAxle maxSteering="0.5" wheelDiameter="0.6" trackWidth="1.8" positionX="3.1" positionZ="0.3"/>
<RearAxle maxSteering="0.0" wheelDiameter="0.6" trackWidth="1.8" positionX="0.0" positionZ="0.3"/>
</Axles>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Vehicle>
</ScenarioObject>
<ScenarioObject name="standing">
<Vehicle name="vehicle.volkswagen.t2" vehicleCategory="car">
<ParameterDeclarations/>
<Performance maxSpeed="69.444" maxAcceleration="200" maxDeceleration="10.0"/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2.1" length="4.5" height="1.8"/>
</BoundingBox>
<Axles>
<FrontAxle maxSteering="0.5" wheelDiameter="0.6" trackWidth="1.8" positionX="3.1" positionZ="0.3"/>
<RearAxle maxSteering="0.0" wheelDiameter="0.6" trackWidth="1.8" positionX="0.0" positionZ="0.3"/>
</Axles>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Vehicle>
</ScenarioObject>
<ScenarioObject name="pedestrian_close_to_adversary_7867">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_close_to_standing_7868">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_close_to_standing_7869">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_w_transform_7870">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_w_transform_7871">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_close_to_adversary_7872">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_close_to_hero_7873">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_w_transform_7874">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_close_to_hero_7875">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_close_to_standing_7876">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_w_transform_7877">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_w_transform_7878">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_close_to_adversary_7879">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_w_transform_7880">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_w_transform_7881">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_close_to_adversary_7882">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_w_transform_7883">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_w_transform_7884">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_close_to_adversary_7885">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_w_transform_7886">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
</Entities>
<Storyboard>
<Init>
<Actions>
<GlobalAction>
<EnvironmentAction>
<Environment name="Environment1">
<TimeOfDay animation="false" dateTime="2019-06-25T12:00:00"/>
<Weather cloudState="free">
<Sun intensity="0.85" azimuth="0" elevation="1.31"/>
<Fog visualRange="100000.0"/>
<Precipitation precipitationType="dry" intensity="0.0"/>
</Weather>
<RoadCondition frictionScaleFactor="1.0"/>
</Environment>
</EnvironmentAction>
</GlobalAction>
<Private entityRef="hero">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-9.4" y="-152.8" z="0.5" h="1.57079632679"/>
</Position>
</TeleportAction>
</PrivateAction>
<PrivateAction>
<ControllerAction>
<AssignControllerAction>
<Controller name="HeroAgent">
<Properties>
<Property name="module" value="external_control"/>
</Properties>
</Controller>
</AssignControllerAction>
<OverrideControllerValueAction>
<Throttle value="0" active="false"/>
<Brake value="0" active="false"/>
<Clutch value="0" active="false"/>
<ParkingBrake value="0" active="false"/>
<SteeringWheel value="0" active="false"/>
<Gear number="0" active="false"/>
</OverrideControllerValueAction>
</ControllerAction>
</PrivateAction>
</Private>
<Private entityRef="adversary">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-9.4" y="-71.0" z="0.5" h="1.57079632679"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="standing">
<PrivateAction>
<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_7867">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-11.227058410644531" y="-63.553558349609375" z="0.033797722309827805"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_close_to_standing_7868">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-1.9691379070281982" y="20.635459899902344" z="0.003047027625143528"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_close_to_standing_7869">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-10.621030807495117" y="34.09819793701172" z="0.0030460739508271217"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_w_transform_7870">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-16.195674896240234" y="-66.88941955566406" z="0.5"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_w_transform_7871">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-61.64900588989258" y="51.19938278198242" z="0.5"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_close_to_adversary_7872">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-12.346003532409668" y="-62.84036636352539" z="0.03378276899456978"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_close_to_hero_7873">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-22.13570213317871" y="-155.5063018798828" z="0.0016471862327307463"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_w_transform_7874">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-2.044886589050293" y="-29.917057037353516" z="0.5"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_close_to_hero_7875">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-11.204840660095215" y="-152.19480895996094" z="0.0016471862327307463"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_close_to_standing_7876">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-15.87448501586914" y="36.593997955322266" z="0.0030932235531508923"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_w_transform_7877">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-95.58061981201172" y="93.2394027709961" z="0.5"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_w_transform_7878">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-16.304237365722656" y="-33.86017608642578" z="0.5"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_close_to_adversary_7879">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-12.652789115905762" y="-64.04176330566406" z="0.033858489245176315"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_w_transform_7880">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="4.807807922363281" y="-14.419154167175293" z="0.5"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_w_transform_7881">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="82.41435241699219" y="45.227203369140625" z="0.5"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_close_to_adversary_7882">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-6.565920352935791" y="-73.78556823730469" z="0.03383159637451172"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_w_transform_7883">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="1.3581739664077759" y="38.649715423583984" z="0.5"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_w_transform_7884">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="80.544189453125" y="-72.90965270996094" z="0.5"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_close_to_adversary_7885">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-1.1019327640533447" y="-63.917625427246094" z="0.03382209688425064"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_w_transform_7886">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="25.772268295288086" y="46.15925979614258" 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_7867">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_close_to_standing_7868">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_close_to_standing_7869">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_w_transform_7870">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_w_transform_7871">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_close_to_adversary_7872">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_close_to_hero_7873">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_w_transform_7874">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_close_to_hero_7875">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_close_to_standing_7876">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_w_transform_7877">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_w_transform_7878">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_close_to_adversary_7879">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_w_transform_7880">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_w_transform_7881">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_close_to_adversary_7882">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_w_transform_7883">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_w_transform_7884">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_close_to_adversary_7885">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_w_transform_7886">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_w_transform_7887">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
</Entities>
<Storyboard>
<Init>
<Actions>
<GlobalAction>
<EnvironmentAction>
<Environment name="Environment1">
<TimeOfDay animation="false" dateTime="2019-06-25T12:00:00"/>
<Weather cloudState="free">
<Sun intensity="0.85" azimuth="0" elevation="1.31"/>
<Fog visualRange="100000.0"/>
<Precipitation precipitationType="dry" intensity="0.0"/>
</Weather>
<RoadCondition frictionScaleFactor="1.0"/>
</Environment>
</EnvironmentAction>
</GlobalAction>
<Private entityRef="hero">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-9.4" y="-152.8" z="0.5" h="1.57079632679"/>
</Position>
</TeleportAction>
</PrivateAction>
<PrivateAction>
<ControllerAction>
<AssignControllerAction>
<Controller name="HeroAgent">
<Properties>
<Property name="module" value="external_control"/>
</Properties>
</Controller>
</AssignControllerAction>
<OverrideControllerValueAction>
<Throttle value="0" active="false"/>
<Brake value="0" active="false"/>
<Clutch value="0" active="false"/>
<ParkingBrake value="0" active="false"/>
<SteeringWheel value="0" active="false"/>
<Gear number="0" active="false"/>
</OverrideControllerValueAction>
</ControllerAction>
</PrivateAction>
</Private>
<Private entityRef="adversary">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-9.4" y="-71.0" z="0.5" h="1.57079632679"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="standing">
<PrivateAction>
<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_7867">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-11.227058410644531" y="-63.553558349609375" z="0.033797722309827805"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_close_to_standing_7868">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-1.9691379070281982" y="20.635459899902344" z="0.003047027625143528"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_close_to_standing_7869">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-10.621030807495117" y="34.09819793701172" z="0.0030460739508271217"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_w_transform_7870">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-16.195674896240234" y="-66.88941955566406" z="0.5"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_w_transform_7871">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-61.64900588989258" y="51.19938278198242" z="0.5"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_close_to_adversary_7872">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-12.346003532409668" y="-62.84036636352539" z="0.03378276899456978"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_close_to_hero_7873">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-22.13570213317871" y="-155.5063018798828" z="0.0016471862327307463"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_w_transform_7874">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-2.044886589050293" y="-29.917057037353516" z="0.5"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_close_to_hero_7875">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-11.204840660095215" y="-152.19480895996094" z="0.0016471862327307463"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_close_to_standing_7876">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-15.87448501586914" y="36.593997955322266" z="0.0030932235531508923"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_w_transform_7877">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-95.58061981201172" y="93.2394027709961" z="0.5"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_w_transform_7878">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-16.304237365722656" y="-33.86017608642578" z="0.5"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_close_to_adversary_7879">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-12.652789115905762" y="-64.04176330566406" z="0.033858489245176315"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_w_transform_7880">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="4.807807922363281" y="-14.419154167175293" z="0.5"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_w_transform_7881">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="82.41435241699219" y="45.227203369140625" z="0.5"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_close_to_adversary_7882">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-6.565920352935791" y="-73.78556823730469" z="0.03383159637451172"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_w_transform_7883">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="1.3581739664077759" y="38.649715423583984" z="0.5"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_w_transform_7884">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="80.544189453125" y="-72.90965270996094" z="0.5"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_close_to_adversary_7885">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-1.1019327640533447" y="-63.917625427246094" z="0.03382209688425064"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_w_transform_7886">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="25.772268295288086" y="46.15925979614258" z="0.5"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_w_transform_7887">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-23.156953811645508" y="52.27655792236328" z="0.5"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
</Actions>
</Init>
<Story name="MyStory">
<Act name="Behavior">
<ManeuverGroup maximumExecutionCount="1" name="ManeuverSequence">
<Actors selectTriggeringEntities="false">
<EntityRef entityRef="adversary"/>
</Actors>
<Maneuver name="LaneChangeSimpleManeuver">
<Event name="AdversaryAccelerates" priority="overwrite">
<Action name="AdversaryAccelerates">
<PrivateAction>
<LongitudinalAction>
<SpeedAction>
<SpeedActionDynamics dynamicsShape="step" value="50" dynamicsDimension="distance"/>
<SpeedActionTarget>
<AbsoluteTargetSpeed value="5.0"/>
</SpeedActionTarget>
</SpeedAction>
</LongitudinalAction>
</PrivateAction>
</Action>
<StartTrigger>
<ConditionGroup>
<Condition name="StartCondition" delay="0" conditionEdge="rising">
<ByEntityCondition>
<TriggeringEntities triggeringEntitiesRule="any">
<EntityRef entityRef="hero"/>
</TriggeringEntities>
<EntityCondition>
<RelativeDistanceCondition entityRef="adversary" relativeDistanceType="cartesianDistance" value="40.0" freespace="false" rule="lessThan"/>
</EntityCondition>
</ByEntityCondition>
</Condition>
</ConditionGroup>
</StartTrigger>
</Event>
<Event name="AdversaryChangesLane" priority="overwrite">
<Action name="AdversaryChangesLane">
<PrivateAction>
<LateralAction>
<LaneChangeAction>
<LaneChangeActionDynamics dynamicsShape="linear" value="25" dynamicsDimension="distance"/>
<LaneChangeTarget>
<RelativeTargetLane entityRef="adversary" value="-1"/>
</LaneChangeTarget>
</LaneChangeAction>
</LateralAction>
</PrivateAction>
</Action>
<StartTrigger>
<ConditionGroup>
<Condition name="AfterAdversaryAccelerates" delay="0" conditionEdge="rising">
<ByValueCondition>
<StoryboardElementStateCondition storyboardElementType="action" storyboardElementRef="AdversaryAccelerates" state="completeState"/>
</ByValueCondition>
</Condition>
</ConditionGroup>
</StartTrigger>
</Event>
</Maneuver>
</ManeuverGroup>
<StartTrigger>
<ConditionGroup>
<Condition name="OverallStartCondition" delay="0" conditionEdge="rising">
<ByEntityCondition>
<TriggeringEntities triggeringEntitiesRule="any">
<EntityRef entityRef="hero"/>
</TriggeringEntities>
<EntityCondition>
<TraveledDistanceCondition value="1.0"/>
</EntityCondition>
</ByEntityCondition>
</Condition>
<Condition name="StartTime" delay="0" conditionEdge="rising">
<ByValueCondition>
<SimulationTimeCondition value="0" rule="equalTo"/>
</ByValueCondition>
</Condition>
</ConditionGroup>
</StartTrigger>
<StopTrigger>
<ConditionGroup>
<Condition name="EndCondition" delay="0" conditionEdge="rising">
<ByEntityCondition>
<TriggeringEntities triggeringEntitiesRule="any">
<EntityRef entityRef="hero"/>
</TriggeringEntities>
<EntityCondition>
<TraveledDistanceCondition value="200.0"/>
</EntityCondition>
</ByEntityCondition>
</Condition>
</ConditionGroup>
</StopTrigger>
</Act>
</Story>
<StopTrigger>
<ConditionGroup>
<Condition name="criteria_RunningStopTest" delay="0" conditionEdge="rising">
<ByValueCondition>
<ParameterCondition parameterRef="" value="" rule="lessThan"/>
</ByValueCondition>
</Condition>
<Condition name="criteria_RunningRedLightTest" delay="0" conditionEdge="rising">
<ByValueCondition>
<ParameterCondition parameterRef="" value="" rule="lessThan"/>
</ByValueCondition>
</Condition>
<Condition name="criteria_WrongLaneTest" delay="0" conditionEdge="rising">
<ByValueCondition>
<ParameterCondition parameterRef="" value="" rule="lessThan"/>
</ByValueCondition>
</Condition>
<Condition name="criteria_OnSidewalkTest" delay="0" conditionEdge="rising">
<ByValueCondition>
<ParameterCondition parameterRef="" value="" rule="lessThan"/>
</ByValueCondition>
</Condition>
<Condition name="criteria_KeepLaneTest" delay="0" conditionEdge="rising">
<ByValueCondition>
<ParameterCondition parameterRef="" value="" rule="lessThan"/>
</ByValueCondition>
</Condition>
<Condition name="criteria_CollisionTest" delay="0" conditionEdge="rising">
<ByValueCondition>
<ParameterCondition parameterRef="" value="" rule="lessThan"/>
</ByValueCondition>
</Condition>
<Condition name="criteria_DrivenDistanceTest" delay="0" conditionEdge="rising">
<ByValueCondition>
<ParameterCondition parameterRef="distance_success" value="100" rule="lessThan"/>
</ByValueCondition>
</Condition>
</ConditionGroup>
</StopTrigger>
</Storyboard>
</OpenSCENARIO>
``` |
i would like you to add pedestrian at location (20.04, 81.5, 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_18076">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_close_to_adversary_18077">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_close_to_hero_18078">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_w_transform_18080">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
</Entities>
<Storyboard>
<Init>
<Actions>
<GlobalAction>
<EnvironmentAction>
<Environment name="Environment1">
<TimeOfDay animation="false" dateTime="2019-06-25T12:00:00"/>
<Weather cloudState="free">
<Sun intensity="0.85" azimuth="0" elevation="1.31"/>
<Fog visualRange="100000.0"/>
<Precipitation precipitationType="dry" intensity="0.0"/>
</Weather>
<RoadCondition frictionScaleFactor="1.0"/>
</Environment>
</EnvironmentAction>
</GlobalAction>
<Private entityRef="hero">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-9.4" y="-152.8" z="0.5" h="1.57079632679"/>
</Position>
</TeleportAction>
</PrivateAction>
<PrivateAction>
<ControllerAction>
<AssignControllerAction>
<Controller name="HeroAgent">
<Properties>
<Property name="module" value="external_control"/>
</Properties>
</Controller>
</AssignControllerAction>
<OverrideControllerValueAction>
<Throttle value="0" active="false"/>
<Brake value="0" active="false"/>
<Clutch value="0" active="false"/>
<ParkingBrake value="0" active="false"/>
<SteeringWheel value="0" active="false"/>
<Gear number="0" active="false"/>
</OverrideControllerValueAction>
</ControllerAction>
</PrivateAction>
</Private>
<Private entityRef="adversary">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-9.4" y="-71.0" z="0.5" h="1.57079632679"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="standing">
<PrivateAction>
<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_18076">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="0.9852580428123474" y="36.99539566040039" z="0.0030081176664680243"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_close_to_adversary_18077">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-3.2864396572113037" y="-78.22029113769531" z="0.033775024116039276"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_close_to_hero_18078">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-9.488285064697266" y="-234.45350646972656" z="0.001678848173469305"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_w_transform_18080">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="13.2090425491333" y="-60.636016845703125" 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_18076">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_close_to_adversary_18077">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_close_to_hero_18078">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_w_transform_18080">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_w_transform_18081">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
</Entities>
<Storyboard>
<Init>
<Actions>
<GlobalAction>
<EnvironmentAction>
<Environment name="Environment1">
<TimeOfDay animation="false" dateTime="2019-06-25T12:00:00"/>
<Weather cloudState="free">
<Sun intensity="0.85" azimuth="0" elevation="1.31"/>
<Fog visualRange="100000.0"/>
<Precipitation precipitationType="dry" intensity="0.0"/>
</Weather>
<RoadCondition frictionScaleFactor="1.0"/>
</Environment>
</EnvironmentAction>
</GlobalAction>
<Private entityRef="hero">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-9.4" y="-152.8" z="0.5" h="1.57079632679"/>
</Position>
</TeleportAction>
</PrivateAction>
<PrivateAction>
<ControllerAction>
<AssignControllerAction>
<Controller name="HeroAgent">
<Properties>
<Property name="module" value="external_control"/>
</Properties>
</Controller>
</AssignControllerAction>
<OverrideControllerValueAction>
<Throttle value="0" active="false"/>
<Brake value="0" active="false"/>
<Clutch value="0" active="false"/>
<ParkingBrake value="0" active="false"/>
<SteeringWheel value="0" active="false"/>
<Gear number="0" active="false"/>
</OverrideControllerValueAction>
</ControllerAction>
</PrivateAction>
</Private>
<Private entityRef="adversary">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-9.4" y="-71.0" z="0.5" h="1.57079632679"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="standing">
<PrivateAction>
<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_18076">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="0.9852580428123474" y="36.99539566040039" z="0.0030081176664680243"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_close_to_adversary_18077">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-3.2864396572113037" y="-78.22029113769531" z="0.033775024116039276"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_close_to_hero_18078">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-9.488285064697266" y="-234.45350646972656" z="0.001678848173469305"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_w_transform_18080">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="13.2090425491333" y="-60.636016845703125" z="0.5"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_w_transform_18081">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="20.044458389282227" y="81.5008544921875" 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_standing_21504">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_close_to_hero_21505">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_close_to_adversary_21506">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_close_to_adversary_21507">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_close_to_standing_21508">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_w_transform_21509">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_close_to_standing_21510">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_close_to_hero_21511">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_close_to_standing_21512">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_w_transform_21513">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_w_transform_21514">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_close_to_standing_21515">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_w_transform_21516">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_w_transform_21517">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_w_transform_21518">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_w_transform_21519">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_w_transform_21520">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_w_transform_21521">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
</Entities>
<Storyboard>
<Init>
<Actions>
<GlobalAction>
<EnvironmentAction>
<Environment name="Environment1">
<TimeOfDay animation="false" dateTime="2019-06-25T12:00:00"/>
<Weather cloudState="free">
<Sun intensity="0.85" azimuth="0" elevation="1.31"/>
<Fog visualRange="100000.0"/>
<Precipitation precipitationType="dry" intensity="0.0"/>
</Weather>
<RoadCondition frictionScaleFactor="1.0"/>
</Environment>
</EnvironmentAction>
</GlobalAction>
<Private entityRef="hero">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-9.4" y="-152.8" z="0.5" h="1.57079632679"/>
</Position>
</TeleportAction>
</PrivateAction>
<PrivateAction>
<ControllerAction>
<AssignControllerAction>
<Controller name="HeroAgent">
<Properties>
<Property name="module" value="external_control"/>
</Properties>
</Controller>
</AssignControllerAction>
<OverrideControllerValueAction>
<Throttle value="0" active="false"/>
<Brake value="0" active="false"/>
<Clutch value="0" active="false"/>
<ParkingBrake value="0" active="false"/>
<SteeringWheel value="0" active="false"/>
<Gear number="0" active="false"/>
</OverrideControllerValueAction>
</ControllerAction>
</PrivateAction>
</Private>
<Private entityRef="adversary">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-9.4" y="-71.0" z="0.5" h="1.57079632679"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="standing">
<PrivateAction>
<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_21504">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-7.0675225257873535" y="29.43516731262207" z="0.0029870604630559683"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_close_to_hero_21505">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-12.19441032409668" y="-144.73387145996094" z="0.0020974730141460896"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_close_to_adversary_21506">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="0.40364542603492737" y="-64.56321716308594" z="0.03375312685966492"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_close_to_adversary_21507">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-13.710506439208984" y="-70.99422454833984" z="0.03378044068813324"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_close_to_standing_21508">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-10.526979446411133" y="29.05440330505371" z="0.0029992293566465378"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_w_transform_21509">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="29.518632888793945" y="51.34674835205078" z="0.5"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_close_to_standing_21510">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-13.485637664794922" y="25.97115707397461" z="0.0030408476013690233"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_close_to_hero_21511">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-3.122612953186035" y="-146.4061279296875" z="0.0020974730141460896"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_close_to_standing_21512">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-17.068622589111328" y="26.30862045288086" z="0.003090286161750555"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_w_transform_21513">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="77.8127212524414" y="87.18502807617188" z="0.5"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_w_transform_21514">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-75.61031341552734" y="-49.76955795288086" z="0.5"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_close_to_standing_21515">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-8.463555335998535" y="33.59539031982422" z="0.0030930708162486553"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_w_transform_21516">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="36.413169860839844" y="87.10254669189453" z="0.5"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_w_transform_21517">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="80.70435333251953" y="74.29315185546875" z="0.5"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_w_transform_21518">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="64.69515991210938" y="-1.04780113697052" z="0.5"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_w_transform_21519">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-7.625423431396484" y="88.69252014160156" z="0.5"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_w_transform_21520">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="15.635879516601562" y="46.74813461303711" z="0.5"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_w_transform_21521">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="13.518148422241211" y="64.41533660888672" 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_21504">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_close_to_hero_21505">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_close_to_adversary_21506">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_close_to_adversary_21507">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_close_to_standing_21508">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_w_transform_21509">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_close_to_standing_21510">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_close_to_hero_21511">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_close_to_standing_21512">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_w_transform_21513">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_w_transform_21514">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_close_to_standing_21515">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_w_transform_21516">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_w_transform_21517">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_w_transform_21518">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_w_transform_21519">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_w_transform_21520">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_w_transform_21521">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_close_to_standing_21522">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
</Entities>
<Storyboard>
<Init>
<Actions>
<GlobalAction>
<EnvironmentAction>
<Environment name="Environment1">
<TimeOfDay animation="false" dateTime="2019-06-25T12:00:00"/>
<Weather cloudState="free">
<Sun intensity="0.85" azimuth="0" elevation="1.31"/>
<Fog visualRange="100000.0"/>
<Precipitation precipitationType="dry" intensity="0.0"/>
</Weather>
<RoadCondition frictionScaleFactor="1.0"/>
</Environment>
</EnvironmentAction>
</GlobalAction>
<Private entityRef="hero">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-9.4" y="-152.8" z="0.5" h="1.57079632679"/>
</Position>
</TeleportAction>
</PrivateAction>
<PrivateAction>
<ControllerAction>
<AssignControllerAction>
<Controller name="HeroAgent">
<Properties>
<Property name="module" value="external_control"/>
</Properties>
</Controller>
</AssignControllerAction>
<OverrideControllerValueAction>
<Throttle value="0" active="false"/>
<Brake value="0" active="false"/>
<Clutch value="0" active="false"/>
<ParkingBrake value="0" active="false"/>
<SteeringWheel value="0" active="false"/>
<Gear number="0" active="false"/>
</OverrideControllerValueAction>
</ControllerAction>
</PrivateAction>
</Private>
<Private entityRef="adversary">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-9.4" y="-71.0" z="0.5" h="1.57079632679"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="standing">
<PrivateAction>
<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_21504">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-7.0675225257873535" y="29.43516731262207" z="0.0029870604630559683"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_close_to_hero_21505">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-12.19441032409668" y="-144.73387145996094" z="0.0020974730141460896"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_close_to_adversary_21506">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="0.40364542603492737" y="-64.56321716308594" z="0.03375312685966492"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_close_to_adversary_21507">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-13.710506439208984" y="-70.99422454833984" z="0.03378044068813324"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_close_to_standing_21508">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-10.526979446411133" y="29.05440330505371" z="0.0029992293566465378"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_w_transform_21509">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="29.518632888793945" y="51.34674835205078" z="0.5"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_close_to_standing_21510">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-13.485637664794922" y="25.97115707397461" z="0.0030408476013690233"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_close_to_hero_21511">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-3.122612953186035" y="-146.4061279296875" z="0.0020974730141460896"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_close_to_standing_21512">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-17.068622589111328" y="26.30862045288086" z="0.003090286161750555"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_w_transform_21513">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="77.8127212524414" y="87.18502807617188" z="0.5"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_w_transform_21514">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-75.61031341552734" y="-49.76955795288086" z="0.5"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_close_to_standing_21515">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-8.463555335998535" y="33.59539031982422" z="0.0030930708162486553"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_w_transform_21516">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="36.413169860839844" y="87.10254669189453" z="0.5"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_w_transform_21517">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="80.70435333251953" y="74.29315185546875" z="0.5"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_w_transform_21518">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="64.69515991210938" y="-1.04780113697052" z="0.5"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_w_transform_21519">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-7.625423431396484" y="88.69252014160156" z="0.5"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_w_transform_21520">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="15.635879516601562" y="46.74813461303711" z="0.5"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_w_transform_21521">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="13.518148422241211" y="64.41533660888672" z="0.5"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_close_to_standing_21522">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-14.467893600463867" y="25.886690139770508" z="0.002974014263600111"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
</Actions>
</Init>
<Story name="MyStory">
<Act name="Behavior">
<ManeuverGroup maximumExecutionCount="1" name="ManeuverSequence">
<Actors selectTriggeringEntities="false">
<EntityRef entityRef="adversary"/>
</Actors>
<Maneuver name="LaneChangeSimpleManeuver">
<Event name="AdversaryAccelerates" priority="overwrite">
<Action name="AdversaryAccelerates">
<PrivateAction>
<LongitudinalAction>
<SpeedAction>
<SpeedActionDynamics dynamicsShape="step" value="50" dynamicsDimension="distance"/>
<SpeedActionTarget>
<AbsoluteTargetSpeed value="5.0"/>
</SpeedActionTarget>
</SpeedAction>
</LongitudinalAction>
</PrivateAction>
</Action>
<StartTrigger>
<ConditionGroup>
<Condition name="StartCondition" delay="0" conditionEdge="rising">
<ByEntityCondition>
<TriggeringEntities triggeringEntitiesRule="any">
<EntityRef entityRef="hero"/>
</TriggeringEntities>
<EntityCondition>
<RelativeDistanceCondition entityRef="adversary" relativeDistanceType="cartesianDistance" value="40.0" freespace="false" rule="lessThan"/>
</EntityCondition>
</ByEntityCondition>
</Condition>
</ConditionGroup>
</StartTrigger>
</Event>
<Event name="AdversaryChangesLane" priority="overwrite">
<Action name="AdversaryChangesLane">
<PrivateAction>
<LateralAction>
<LaneChangeAction>
<LaneChangeActionDynamics dynamicsShape="linear" value="25" dynamicsDimension="distance"/>
<LaneChangeTarget>
<RelativeTargetLane entityRef="adversary" value="-1"/>
</LaneChangeTarget>
</LaneChangeAction>
</LateralAction>
</PrivateAction>
</Action>
<StartTrigger>
<ConditionGroup>
<Condition name="AfterAdversaryAccelerates" delay="0" conditionEdge="rising">
<ByValueCondition>
<StoryboardElementStateCondition storyboardElementType="action" storyboardElementRef="AdversaryAccelerates" state="completeState"/>
</ByValueCondition>
</Condition>
</ConditionGroup>
</StartTrigger>
</Event>
</Maneuver>
</ManeuverGroup>
<StartTrigger>
<ConditionGroup>
<Condition name="OverallStartCondition" delay="0" conditionEdge="rising">
<ByEntityCondition>
<TriggeringEntities triggeringEntitiesRule="any">
<EntityRef entityRef="hero"/>
</TriggeringEntities>
<EntityCondition>
<TraveledDistanceCondition value="1.0"/>
</EntityCondition>
</ByEntityCondition>
</Condition>
<Condition name="StartTime" delay="0" conditionEdge="rising">
<ByValueCondition>
<SimulationTimeCondition value="0" rule="equalTo"/>
</ByValueCondition>
</Condition>
</ConditionGroup>
</StartTrigger>
<StopTrigger>
<ConditionGroup>
<Condition name="EndCondition" delay="0" conditionEdge="rising">
<ByEntityCondition>
<TriggeringEntities triggeringEntitiesRule="any">
<EntityRef entityRef="hero"/>
</TriggeringEntities>
<EntityCondition>
<TraveledDistanceCondition value="200.0"/>
</EntityCondition>
</ByEntityCondition>
</Condition>
</ConditionGroup>
</StopTrigger>
</Act>
</Story>
<StopTrigger>
<ConditionGroup>
<Condition name="criteria_RunningStopTest" delay="0" conditionEdge="rising">
<ByValueCondition>
<ParameterCondition parameterRef="" value="" rule="lessThan"/>
</ByValueCondition>
</Condition>
<Condition name="criteria_RunningRedLightTest" delay="0" conditionEdge="rising">
<ByValueCondition>
<ParameterCondition parameterRef="" value="" rule="lessThan"/>
</ByValueCondition>
</Condition>
<Condition name="criteria_WrongLaneTest" delay="0" conditionEdge="rising">
<ByValueCondition>
<ParameterCondition parameterRef="" value="" rule="lessThan"/>
</ByValueCondition>
</Condition>
<Condition name="criteria_OnSidewalkTest" delay="0" conditionEdge="rising">
<ByValueCondition>
<ParameterCondition parameterRef="" value="" rule="lessThan"/>
</ByValueCondition>
</Condition>
<Condition name="criteria_KeepLaneTest" delay="0" conditionEdge="rising">
<ByValueCondition>
<ParameterCondition parameterRef="" value="" rule="lessThan"/>
</ByValueCondition>
</Condition>
<Condition name="criteria_CollisionTest" delay="0" conditionEdge="rising">
<ByValueCondition>
<ParameterCondition parameterRef="" value="" rule="lessThan"/>
</ByValueCondition>
</Condition>
<Condition name="criteria_DrivenDistanceTest" delay="0" conditionEdge="rising">
<ByValueCondition>
<ParameterCondition parameterRef="distance_success" value="100" rule="lessThan"/>
</ByValueCondition>
</Condition>
</ConditionGroup>
</StopTrigger>
</Storyboard>
</OpenSCENARIO>
``` |
would you add pedestrian at location (95.36, 54.92, 0.5)?
```
<?xml version="1.0" ?>
<OpenSCENARIO>
<FileHeader revMajor="1" revMinor="0" date="2020-03-24T12:00:00" description="CARLA:LaneChangeSimple" author=""/>
<ParameterDeclarations/>
<CatalogLocations/>
<RoadNetwork>
<LogicFile filepath="Town04"/>
<SceneGraphFile filepath=""/>
</RoadNetwork>
<Entities>
<ScenarioObject name="hero">
<Vehicle name="vehicle.tesla.model3" vehicleCategory="car">
<ParameterDeclarations/>
<Performance maxSpeed="69.444" maxAcceleration="200" maxDeceleration="10.0"/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2.1" length="4.5" height="1.8"/>
</BoundingBox>
<Axles>
<FrontAxle maxSteering="0.5" wheelDiameter="0.6" trackWidth="1.8" positionX="3.1" positionZ="0.3"/>
<RearAxle maxSteering="0.0" wheelDiameter="0.6" trackWidth="1.8" positionX="0.0" positionZ="0.3"/>
</Axles>
<Properties>
<Property name="type" value="ego_vehicle"/>
</Properties>
</Vehicle>
</ScenarioObject>
<ScenarioObject name="adversary">
<Vehicle name="vehicle.lincoln.mkz_2017" vehicleCategory="car">
<ParameterDeclarations/>
<Performance maxSpeed="69.444" maxAcceleration="200" maxDeceleration="10.0"/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2.1" length="4.5" height="1.8"/>
</BoundingBox>
<Axles>
<FrontAxle maxSteering="0.5" wheelDiameter="0.6" trackWidth="1.8" positionX="3.1" positionZ="0.3"/>
<RearAxle maxSteering="0.0" wheelDiameter="0.6" trackWidth="1.8" positionX="0.0" positionZ="0.3"/>
</Axles>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Vehicle>
</ScenarioObject>
<ScenarioObject name="standing">
<Vehicle name="vehicle.volkswagen.t2" vehicleCategory="car">
<ParameterDeclarations/>
<Performance maxSpeed="69.444" maxAcceleration="200" maxDeceleration="10.0"/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2.1" length="4.5" height="1.8"/>
</BoundingBox>
<Axles>
<FrontAxle maxSteering="0.5" wheelDiameter="0.6" trackWidth="1.8" positionX="3.1" positionZ="0.3"/>
<RearAxle maxSteering="0.0" wheelDiameter="0.6" trackWidth="1.8" positionX="0.0" positionZ="0.3"/>
</Axles>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Vehicle>
</ScenarioObject>
<ScenarioObject name="pedestrian_close_to_standing_2437">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_w_transform_2438">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_close_to_standing_2439">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_w_transform_2440">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_w_transform_2441">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_w_transform_2442">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_w_transform_2443">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_close_to_standing_2444">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_close_to_adversary_2445">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_w_transform_2446">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_close_to_standing_2447">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_close_to_adversary_2448">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_close_to_hero_2449">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
</Entities>
<Storyboard>
<Init>
<Actions>
<GlobalAction>
<EnvironmentAction>
<Environment name="Environment1">
<TimeOfDay animation="false" dateTime="2019-06-25T12:00:00"/>
<Weather cloudState="free">
<Sun intensity="0.85" azimuth="0" elevation="1.31"/>
<Fog visualRange="100000.0"/>
<Precipitation precipitationType="dry" intensity="0.0"/>
</Weather>
<RoadCondition frictionScaleFactor="1.0"/>
</Environment>
</EnvironmentAction>
</GlobalAction>
<Private entityRef="hero">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-9.4" y="-152.8" z="0.5" h="1.57079632679"/>
</Position>
</TeleportAction>
</PrivateAction>
<PrivateAction>
<ControllerAction>
<AssignControllerAction>
<Controller name="HeroAgent">
<Properties>
<Property name="module" value="external_control"/>
</Properties>
</Controller>
</AssignControllerAction>
<OverrideControllerValueAction>
<Throttle value="0" active="false"/>
<Brake value="0" active="false"/>
<Clutch value="0" active="false"/>
<ParkingBrake value="0" active="false"/>
<SteeringWheel value="0" active="false"/>
<Gear number="0" active="false"/>
</OverrideControllerValueAction>
</ControllerAction>
</PrivateAction>
</Private>
<Private entityRef="adversary">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-9.4" y="-71.0" z="0.5" h="1.57079632679"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="standing">
<PrivateAction>
<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_2437">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-6.2353596687316895" y="33.91468048095703" z="0.0029973983764648438"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_w_transform_2438">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-98.0862045288086" y="20.960857391357422" z="0.5"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_close_to_standing_2439">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-2.7988340854644775" y="31.676856994628906" z="0.003000183030962944"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_w_transform_2440">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="7.547235012054443" y="17.564090728759766" z="0.5"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_w_transform_2441">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-7.122216701507568" y="32.99540710449219" z="0.5"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_w_transform_2442">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-58.247615814208984" y="-67.8539047241211" z="0.5"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_w_transform_2443">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-8.912312507629395" y="98.90943145751953" z="0.5"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_close_to_standing_2444">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-5.336686611175537" y="23.416654586791992" z="0.0030730818398296833"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_close_to_adversary_2445">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-11.316144943237305" y="-74.05805969238281" z="0.03376960754394531"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_w_transform_2446">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="91.6280288696289" y="11.312532424926758" z="0.5"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_close_to_standing_2447">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-16.25592041015625" y="21.315052032470703" z="0.003008346538990736"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_close_to_adversary_2448">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-17.085556030273438" y="-75.94902038574219" z="0.03373962268233299"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_close_to_hero_2449">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-4.558553695678711" y="-145.38955688476562" z="0.0013900374760851264"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
</Actions>
</Init>
<Story name="MyStory">
<Act name="Behavior">
<ManeuverGroup maximumExecutionCount="1" name="ManeuverSequence">
<Actors selectTriggeringEntities="false">
<EntityRef entityRef="adversary"/>
</Actors>
<Maneuver name="LaneChangeSimpleManeuver">
<Event name="AdversaryAccelerates" priority="overwrite">
<Action name="AdversaryAccelerates">
<PrivateAction>
<LongitudinalAction>
<SpeedAction>
<SpeedActionDynamics dynamicsShape="step" value="50" dynamicsDimension="distance"/>
<SpeedActionTarget>
<AbsoluteTargetSpeed value="5.0"/>
</SpeedActionTarget>
</SpeedAction>
</LongitudinalAction>
</PrivateAction>
</Action>
<StartTrigger>
<ConditionGroup>
<Condition name="StartCondition" delay="0" conditionEdge="rising">
<ByEntityCondition>
<TriggeringEntities triggeringEntitiesRule="any">
<EntityRef entityRef="hero"/>
</TriggeringEntities>
<EntityCondition>
<RelativeDistanceCondition entityRef="adversary" relativeDistanceType="cartesianDistance" value="40.0" freespace="false" rule="lessThan"/>
</EntityCondition>
</ByEntityCondition>
</Condition>
</ConditionGroup>
</StartTrigger>
</Event>
<Event name="AdversaryChangesLane" priority="overwrite">
<Action name="AdversaryChangesLane">
<PrivateAction>
<LateralAction>
<LaneChangeAction>
<LaneChangeActionDynamics dynamicsShape="linear" value="25" dynamicsDimension="distance"/>
<LaneChangeTarget>
<RelativeTargetLane entityRef="adversary" value="-1"/>
</LaneChangeTarget>
</LaneChangeAction>
</LateralAction>
</PrivateAction>
</Action>
<StartTrigger>
<ConditionGroup>
<Condition name="AfterAdversaryAccelerates" delay="0" conditionEdge="rising">
<ByValueCondition>
<StoryboardElementStateCondition storyboardElementType="action" storyboardElementRef="AdversaryAccelerates" state="completeState"/>
</ByValueCondition>
</Condition>
</ConditionGroup>
</StartTrigger>
</Event>
</Maneuver>
</ManeuverGroup>
<StartTrigger>
<ConditionGroup>
<Condition name="OverallStartCondition" delay="0" conditionEdge="rising">
<ByEntityCondition>
<TriggeringEntities triggeringEntitiesRule="any">
<EntityRef entityRef="hero"/>
</TriggeringEntities>
<EntityCondition>
<TraveledDistanceCondition value="1.0"/>
</EntityCondition>
</ByEntityCondition>
</Condition>
<Condition name="StartTime" delay="0" conditionEdge="rising">
<ByValueCondition>
<SimulationTimeCondition value="0" rule="equalTo"/>
</ByValueCondition>
</Condition>
</ConditionGroup>
</StartTrigger>
<StopTrigger>
<ConditionGroup>
<Condition name="EndCondition" delay="0" conditionEdge="rising">
<ByEntityCondition>
<TriggeringEntities triggeringEntitiesRule="any">
<EntityRef entityRef="hero"/>
</TriggeringEntities>
<EntityCondition>
<TraveledDistanceCondition value="200.0"/>
</EntityCondition>
</ByEntityCondition>
</Condition>
</ConditionGroup>
</StopTrigger>
</Act>
</Story>
<StopTrigger>
<ConditionGroup>
<Condition name="criteria_RunningStopTest" delay="0" conditionEdge="rising">
<ByValueCondition>
<ParameterCondition parameterRef="" value="" rule="lessThan"/>
</ByValueCondition>
</Condition>
<Condition name="criteria_RunningRedLightTest" delay="0" conditionEdge="rising">
<ByValueCondition>
<ParameterCondition parameterRef="" value="" rule="lessThan"/>
</ByValueCondition>
</Condition>
<Condition name="criteria_WrongLaneTest" delay="0" conditionEdge="rising">
<ByValueCondition>
<ParameterCondition parameterRef="" value="" rule="lessThan"/>
</ByValueCondition>
</Condition>
<Condition name="criteria_OnSidewalkTest" delay="0" conditionEdge="rising">
<ByValueCondition>
<ParameterCondition parameterRef="" value="" rule="lessThan"/>
</ByValueCondition>
</Condition>
<Condition name="criteria_KeepLaneTest" delay="0" conditionEdge="rising">
<ByValueCondition>
<ParameterCondition parameterRef="" value="" rule="lessThan"/>
</ByValueCondition>
</Condition>
<Condition name="criteria_CollisionTest" delay="0" conditionEdge="rising">
<ByValueCondition>
<ParameterCondition parameterRef="" value="" rule="lessThan"/>
</ByValueCondition>
</Condition>
<Condition name="criteria_DrivenDistanceTest" delay="0" conditionEdge="rising">
<ByValueCondition>
<ParameterCondition parameterRef="distance_success" value="100" rule="lessThan"/>
</ByValueCondition>
</Condition>
</ConditionGroup>
</StopTrigger>
</Storyboard>
</OpenSCENARIO>
``` | Here is the result:
```
<?xml version="1.0" ?>
<OpenSCENARIO>
<FileHeader revMajor="1" revMinor="0" date="2020-03-24T12:00:00" description="CARLA:LaneChangeSimple" author=""/>
<ParameterDeclarations/>
<CatalogLocations/>
<RoadNetwork>
<LogicFile filepath="Town04"/>
<SceneGraphFile filepath=""/>
</RoadNetwork>
<Entities>
<ScenarioObject name="hero">
<Vehicle name="vehicle.tesla.model3" vehicleCategory="car">
<ParameterDeclarations/>
<Performance maxSpeed="69.444" maxAcceleration="200" maxDeceleration="10.0"/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2.1" length="4.5" height="1.8"/>
</BoundingBox>
<Axles>
<FrontAxle maxSteering="0.5" wheelDiameter="0.6" trackWidth="1.8" positionX="3.1" positionZ="0.3"/>
<RearAxle maxSteering="0.0" wheelDiameter="0.6" trackWidth="1.8" positionX="0.0" positionZ="0.3"/>
</Axles>
<Properties>
<Property name="type" value="ego_vehicle"/>
</Properties>
</Vehicle>
</ScenarioObject>
<ScenarioObject name="adversary">
<Vehicle name="vehicle.lincoln.mkz_2017" vehicleCategory="car">
<ParameterDeclarations/>
<Performance maxSpeed="69.444" maxAcceleration="200" maxDeceleration="10.0"/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2.1" length="4.5" height="1.8"/>
</BoundingBox>
<Axles>
<FrontAxle maxSteering="0.5" wheelDiameter="0.6" trackWidth="1.8" positionX="3.1" positionZ="0.3"/>
<RearAxle maxSteering="0.0" wheelDiameter="0.6" trackWidth="1.8" positionX="0.0" positionZ="0.3"/>
</Axles>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Vehicle>
</ScenarioObject>
<ScenarioObject name="standing">
<Vehicle name="vehicle.volkswagen.t2" vehicleCategory="car">
<ParameterDeclarations/>
<Performance maxSpeed="69.444" maxAcceleration="200" maxDeceleration="10.0"/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2.1" length="4.5" height="1.8"/>
</BoundingBox>
<Axles>
<FrontAxle maxSteering="0.5" wheelDiameter="0.6" trackWidth="1.8" positionX="3.1" positionZ="0.3"/>
<RearAxle maxSteering="0.0" wheelDiameter="0.6" trackWidth="1.8" positionX="0.0" positionZ="0.3"/>
</Axles>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Vehicle>
</ScenarioObject>
<ScenarioObject name="pedestrian_close_to_standing_2437">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_w_transform_2438">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_close_to_standing_2439">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_w_transform_2440">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_w_transform_2441">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_w_transform_2442">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_w_transform_2443">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_close_to_standing_2444">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_close_to_adversary_2445">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_w_transform_2446">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_close_to_standing_2447">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_close_to_adversary_2448">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_close_to_hero_2449">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_w_transform_2450">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
</Entities>
<Storyboard>
<Init>
<Actions>
<GlobalAction>
<EnvironmentAction>
<Environment name="Environment1">
<TimeOfDay animation="false" dateTime="2019-06-25T12:00:00"/>
<Weather cloudState="free">
<Sun intensity="0.85" azimuth="0" elevation="1.31"/>
<Fog visualRange="100000.0"/>
<Precipitation precipitationType="dry" intensity="0.0"/>
</Weather>
<RoadCondition frictionScaleFactor="1.0"/>
</Environment>
</EnvironmentAction>
</GlobalAction>
<Private entityRef="hero">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-9.4" y="-152.8" z="0.5" h="1.57079632679"/>
</Position>
</TeleportAction>
</PrivateAction>
<PrivateAction>
<ControllerAction>
<AssignControllerAction>
<Controller name="HeroAgent">
<Properties>
<Property name="module" value="external_control"/>
</Properties>
</Controller>
</AssignControllerAction>
<OverrideControllerValueAction>
<Throttle value="0" active="false"/>
<Brake value="0" active="false"/>
<Clutch value="0" active="false"/>
<ParkingBrake value="0" active="false"/>
<SteeringWheel value="0" active="false"/>
<Gear number="0" active="false"/>
</OverrideControllerValueAction>
</ControllerAction>
</PrivateAction>
</Private>
<Private entityRef="adversary">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-9.4" y="-71.0" z="0.5" h="1.57079632679"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="standing">
<PrivateAction>
<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_2437">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-6.2353596687316895" y="33.91468048095703" z="0.0029973983764648438"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_w_transform_2438">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-98.0862045288086" y="20.960857391357422" z="0.5"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_close_to_standing_2439">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-2.7988340854644775" y="31.676856994628906" z="0.003000183030962944"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_w_transform_2440">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="7.547235012054443" y="17.564090728759766" z="0.5"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_w_transform_2441">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-7.122216701507568" y="32.99540710449219" z="0.5"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_w_transform_2442">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-58.247615814208984" y="-67.8539047241211" z="0.5"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_w_transform_2443">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-8.912312507629395" y="98.90943145751953" z="0.5"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_close_to_standing_2444">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-5.336686611175537" y="23.416654586791992" z="0.0030730818398296833"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_close_to_adversary_2445">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-11.316144943237305" y="-74.05805969238281" z="0.03376960754394531"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_w_transform_2446">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="91.6280288696289" y="11.312532424926758" z="0.5"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_close_to_standing_2447">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-16.25592041015625" y="21.315052032470703" z="0.003008346538990736"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_close_to_adversary_2448">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-17.085556030273438" y="-75.94902038574219" z="0.03373962268233299"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_close_to_hero_2449">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-4.558553695678711" y="-145.38955688476562" z="0.0013900374760851264"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_w_transform_2450">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="95.36344909667969" y="54.92011260986328" z="0.5"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
</Actions>
</Init>
<Story name="MyStory">
<Act name="Behavior">
<ManeuverGroup maximumExecutionCount="1" name="ManeuverSequence">
<Actors selectTriggeringEntities="false">
<EntityRef entityRef="adversary"/>
</Actors>
<Maneuver name="LaneChangeSimpleManeuver">
<Event name="AdversaryAccelerates" priority="overwrite">
<Action name="AdversaryAccelerates">
<PrivateAction>
<LongitudinalAction>
<SpeedAction>
<SpeedActionDynamics dynamicsShape="step" value="50" dynamicsDimension="distance"/>
<SpeedActionTarget>
<AbsoluteTargetSpeed value="5.0"/>
</SpeedActionTarget>
</SpeedAction>
</LongitudinalAction>
</PrivateAction>
</Action>
<StartTrigger>
<ConditionGroup>
<Condition name="StartCondition" delay="0" conditionEdge="rising">
<ByEntityCondition>
<TriggeringEntities triggeringEntitiesRule="any">
<EntityRef entityRef="hero"/>
</TriggeringEntities>
<EntityCondition>
<RelativeDistanceCondition entityRef="adversary" relativeDistanceType="cartesianDistance" value="40.0" freespace="false" rule="lessThan"/>
</EntityCondition>
</ByEntityCondition>
</Condition>
</ConditionGroup>
</StartTrigger>
</Event>
<Event name="AdversaryChangesLane" priority="overwrite">
<Action name="AdversaryChangesLane">
<PrivateAction>
<LateralAction>
<LaneChangeAction>
<LaneChangeActionDynamics dynamicsShape="linear" value="25" dynamicsDimension="distance"/>
<LaneChangeTarget>
<RelativeTargetLane entityRef="adversary" value="-1"/>
</LaneChangeTarget>
</LaneChangeAction>
</LateralAction>
</PrivateAction>
</Action>
<StartTrigger>
<ConditionGroup>
<Condition name="AfterAdversaryAccelerates" delay="0" conditionEdge="rising">
<ByValueCondition>
<StoryboardElementStateCondition storyboardElementType="action" storyboardElementRef="AdversaryAccelerates" state="completeState"/>
</ByValueCondition>
</Condition>
</ConditionGroup>
</StartTrigger>
</Event>
</Maneuver>
</ManeuverGroup>
<StartTrigger>
<ConditionGroup>
<Condition name="OverallStartCondition" delay="0" conditionEdge="rising">
<ByEntityCondition>
<TriggeringEntities triggeringEntitiesRule="any">
<EntityRef entityRef="hero"/>
</TriggeringEntities>
<EntityCondition>
<TraveledDistanceCondition value="1.0"/>
</EntityCondition>
</ByEntityCondition>
</Condition>
<Condition name="StartTime" delay="0" conditionEdge="rising">
<ByValueCondition>
<SimulationTimeCondition value="0" rule="equalTo"/>
</ByValueCondition>
</Condition>
</ConditionGroup>
</StartTrigger>
<StopTrigger>
<ConditionGroup>
<Condition name="EndCondition" delay="0" conditionEdge="rising">
<ByEntityCondition>
<TriggeringEntities triggeringEntitiesRule="any">
<EntityRef entityRef="hero"/>
</TriggeringEntities>
<EntityCondition>
<TraveledDistanceCondition value="200.0"/>
</EntityCondition>
</ByEntityCondition>
</Condition>
</ConditionGroup>
</StopTrigger>
</Act>
</Story>
<StopTrigger>
<ConditionGroup>
<Condition name="criteria_RunningStopTest" delay="0" conditionEdge="rising">
<ByValueCondition>
<ParameterCondition parameterRef="" value="" rule="lessThan"/>
</ByValueCondition>
</Condition>
<Condition name="criteria_RunningRedLightTest" delay="0" conditionEdge="rising">
<ByValueCondition>
<ParameterCondition parameterRef="" value="" rule="lessThan"/>
</ByValueCondition>
</Condition>
<Condition name="criteria_WrongLaneTest" delay="0" conditionEdge="rising">
<ByValueCondition>
<ParameterCondition parameterRef="" value="" rule="lessThan"/>
</ByValueCondition>
</Condition>
<Condition name="criteria_OnSidewalkTest" delay="0" conditionEdge="rising">
<ByValueCondition>
<ParameterCondition parameterRef="" value="" rule="lessThan"/>
</ByValueCondition>
</Condition>
<Condition name="criteria_KeepLaneTest" delay="0" conditionEdge="rising">
<ByValueCondition>
<ParameterCondition parameterRef="" value="" rule="lessThan"/>
</ByValueCondition>
</Condition>
<Condition name="criteria_CollisionTest" delay="0" conditionEdge="rising">
<ByValueCondition>
<ParameterCondition parameterRef="" value="" rule="lessThan"/>
</ByValueCondition>
</Condition>
<Condition name="criteria_DrivenDistanceTest" delay="0" conditionEdge="rising">
<ByValueCondition>
<ParameterCondition parameterRef="distance_success" value="100" rule="lessThan"/>
</ByValueCondition>
</Condition>
</ConditionGroup>
</StopTrigger>
</Storyboard>
</OpenSCENARIO>
``` |
i would like to command you to add pedestrian close to 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_20401">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_close_to_adversary_20402">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_close_to_standing_20403">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_close_to_standing_20404">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_close_to_standing_20405">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_w_transform_20406">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_close_to_adversary_20407">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_close_to_standing_20408">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_w_transform_20409">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
</Entities>
<Storyboard>
<Init>
<Actions>
<GlobalAction>
<EnvironmentAction>
<Environment name="Environment1">
<TimeOfDay animation="false" dateTime="2019-06-25T12:00:00"/>
<Weather cloudState="free">
<Sun intensity="0.85" azimuth="0" elevation="1.31"/>
<Fog visualRange="100000.0"/>
<Precipitation precipitationType="dry" intensity="0.0"/>
</Weather>
<RoadCondition frictionScaleFactor="1.0"/>
</Environment>
</EnvironmentAction>
</GlobalAction>
<Private entityRef="hero">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-9.4" y="-152.8" z="0.5" h="1.57079632679"/>
</Position>
</TeleportAction>
</PrivateAction>
<PrivateAction>
<ControllerAction>
<AssignControllerAction>
<Controller name="HeroAgent">
<Properties>
<Property name="module" value="external_control"/>
</Properties>
</Controller>
</AssignControllerAction>
<OverrideControllerValueAction>
<Throttle value="0" active="false"/>
<Brake value="0" active="false"/>
<Clutch value="0" active="false"/>
<ParkingBrake value="0" active="false"/>
<SteeringWheel value="0" active="false"/>
<Gear number="0" active="false"/>
</OverrideControllerValueAction>
</ControllerAction>
</PrivateAction>
</Private>
<Private entityRef="adversary">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-9.4" y="-71.0" z="0.5" h="1.57079632679"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="standing">
<PrivateAction>
<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_20401">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-10.069110870361328" y="-65.04994201660156" z="0.033809393644332886"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_close_to_adversary_20402">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-13.273945808410645" y="-75.4506607055664" z="0.033778343349695206"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_close_to_standing_20403">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-9.583659172058105" y="38.49604415893555" z="0.0029954146593809128"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_close_to_standing_20404">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-5.027439117431641" y="35.230262756347656" z="0.003015823196619749"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_close_to_standing_20405">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-16.554458618164062" y="19.51154136657715" z="0.0030624771025031805"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_w_transform_20406">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-25.68383026123047" y="-4.87711763381958" z="0.5"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_close_to_adversary_20407">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-5.701635360717773" y="-73.89573669433594" z="0.0338544063270092"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_close_to_standing_20408">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-10.722855567932129" y="28.603696823120117" z="0.0030856323428452015"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_w_transform_20409">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="11.921247482299805" y="-1.1739076375961304" 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_20401">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_close_to_adversary_20402">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_close_to_standing_20403">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_close_to_standing_20404">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_close_to_standing_20405">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_w_transform_20406">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_close_to_adversary_20407">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_close_to_standing_20408">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_w_transform_20409">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_close_to_hero_20410">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
</Entities>
<Storyboard>
<Init>
<Actions>
<GlobalAction>
<EnvironmentAction>
<Environment name="Environment1">
<TimeOfDay animation="false" dateTime="2019-06-25T12:00:00"/>
<Weather cloudState="free">
<Sun intensity="0.85" azimuth="0" elevation="1.31"/>
<Fog visualRange="100000.0"/>
<Precipitation precipitationType="dry" intensity="0.0"/>
</Weather>
<RoadCondition frictionScaleFactor="1.0"/>
</Environment>
</EnvironmentAction>
</GlobalAction>
<Private entityRef="hero">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-9.4" y="-152.8" z="0.5" h="1.57079632679"/>
</Position>
</TeleportAction>
</PrivateAction>
<PrivateAction>
<ControllerAction>
<AssignControllerAction>
<Controller name="HeroAgent">
<Properties>
<Property name="module" value="external_control"/>
</Properties>
</Controller>
</AssignControllerAction>
<OverrideControllerValueAction>
<Throttle value="0" active="false"/>
<Brake value="0" active="false"/>
<Clutch value="0" active="false"/>
<ParkingBrake value="0" active="false"/>
<SteeringWheel value="0" active="false"/>
<Gear number="0" active="false"/>
</OverrideControllerValueAction>
</ControllerAction>
</PrivateAction>
</Private>
<Private entityRef="adversary">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-9.4" y="-71.0" z="0.5" h="1.57079632679"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="standing">
<PrivateAction>
<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_20401">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-10.069110870361328" y="-65.04994201660156" z="0.033809393644332886"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_close_to_adversary_20402">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-13.273945808410645" y="-75.4506607055664" z="0.033778343349695206"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_close_to_standing_20403">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-9.583659172058105" y="38.49604415893555" z="0.0029954146593809128"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_close_to_standing_20404">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-5.027439117431641" y="35.230262756347656" z="0.003015823196619749"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_close_to_standing_20405">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-16.554458618164062" y="19.51154136657715" z="0.0030624771025031805"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_w_transform_20406">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-25.68383026123047" y="-4.87711763381958" z="0.5"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_close_to_adversary_20407">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-5.701635360717773" y="-73.89573669433594" z="0.0338544063270092"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_close_to_standing_20408">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-10.722855567932129" y="28.603696823120117" z="0.0030856323428452015"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_w_transform_20409">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="11.921247482299805" y="-1.1739076375961304" z="0.5"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_close_to_hero_20410">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-9.130157470703125" y="-147.42994689941406" 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 order you to remove pedestrian actor named pedestrian_w_transform_3755?
```
<?xml version="1.0" ?>
<OpenSCENARIO>
<FileHeader revMajor="1" revMinor="0" date="2020-03-24T12:00:00" description="CARLA:LaneChangeSimple" author=""/>
<ParameterDeclarations/>
<CatalogLocations/>
<RoadNetwork>
<LogicFile filepath="Town04"/>
<SceneGraphFile filepath=""/>
</RoadNetwork>
<Entities>
<ScenarioObject name="hero">
<Vehicle name="vehicle.tesla.model3" vehicleCategory="car">
<ParameterDeclarations/>
<Performance maxSpeed="69.444" maxAcceleration="200" maxDeceleration="10.0"/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2.1" length="4.5" height="1.8"/>
</BoundingBox>
<Axles>
<FrontAxle maxSteering="0.5" wheelDiameter="0.6" trackWidth="1.8" positionX="3.1" positionZ="0.3"/>
<RearAxle maxSteering="0.0" wheelDiameter="0.6" trackWidth="1.8" positionX="0.0" positionZ="0.3"/>
</Axles>
<Properties>
<Property name="type" value="ego_vehicle"/>
</Properties>
</Vehicle>
</ScenarioObject>
<ScenarioObject name="adversary">
<Vehicle name="vehicle.lincoln.mkz_2017" vehicleCategory="car">
<ParameterDeclarations/>
<Performance maxSpeed="69.444" maxAcceleration="200" maxDeceleration="10.0"/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2.1" length="4.5" height="1.8"/>
</BoundingBox>
<Axles>
<FrontAxle maxSteering="0.5" wheelDiameter="0.6" trackWidth="1.8" positionX="3.1" positionZ="0.3"/>
<RearAxle maxSteering="0.0" wheelDiameter="0.6" trackWidth="1.8" positionX="0.0" positionZ="0.3"/>
</Axles>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Vehicle>
</ScenarioObject>
<ScenarioObject name="standing">
<Vehicle name="vehicle.volkswagen.t2" vehicleCategory="car">
<ParameterDeclarations/>
<Performance maxSpeed="69.444" maxAcceleration="200" maxDeceleration="10.0"/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2.1" length="4.5" height="1.8"/>
</BoundingBox>
<Axles>
<FrontAxle maxSteering="0.5" wheelDiameter="0.6" trackWidth="1.8" positionX="3.1" positionZ="0.3"/>
<RearAxle maxSteering="0.0" wheelDiameter="0.6" 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_3752">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_close_to_standing_3753">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_close_to_adversary_3754">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_w_transform_3755">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_w_transform_3756">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_close_to_adversary_3757">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_close_to_hero_3758">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_close_to_standing_3759">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_close_to_adversary_3760">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_w_transform_3761">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_w_transform_3765">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_w_transform_3766">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_w_transform_3767">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
</Entities>
<Storyboard>
<Init>
<Actions>
<GlobalAction>
<EnvironmentAction>
<Environment name="Environment1">
<TimeOfDay animation="false" dateTime="2019-06-25T12:00:00"/>
<Weather cloudState="free">
<Sun intensity="0.85" azimuth="0" elevation="1.31"/>
<Fog visualRange="100000.0"/>
<Precipitation precipitationType="dry" intensity="0.0"/>
</Weather>
<RoadCondition frictionScaleFactor="1.0"/>
</Environment>
</EnvironmentAction>
</GlobalAction>
<Private entityRef="hero">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-9.4" y="-152.8" z="0.5" h="1.57079632679"/>
</Position>
</TeleportAction>
</PrivateAction>
<PrivateAction>
<ControllerAction>
<AssignControllerAction>
<Controller name="HeroAgent">
<Properties>
<Property name="module" value="external_control"/>
</Properties>
</Controller>
</AssignControllerAction>
<OverrideControllerValueAction>
<Throttle value="0" active="false"/>
<Brake value="0" active="false"/>
<Clutch value="0" active="false"/>
<ParkingBrake value="0" active="false"/>
<SteeringWheel value="0" active="false"/>
<Gear number="0" active="false"/>
</OverrideControllerValueAction>
</ControllerAction>
</PrivateAction>
</Private>
<Private entityRef="adversary">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-9.4" y="-71.0" z="0.5" h="1.57079632679"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="standing">
<PrivateAction>
<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_3752">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-9.0047607421875" y="45.17167663574219" z="0.0031237411312758923"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_close_to_standing_3753">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-7.40626859664917" y="33.079833984375" z="0.0031081007327884436"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_close_to_adversary_3754">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-8.569878578186035" y="-81.86801147460938" z="0.03385070711374283"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_w_transform_3755">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-1.9639625549316406" y="43.92478942871094" z="0.5"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_w_transform_3756">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="66.89498138427734" y="8.253457069396973" z="0.5"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_close_to_adversary_3757">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-18.51568603515625" y="-78.77839660644531" z="0.03386470675468445"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_close_to_hero_3758">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-23.92376136779785" y="-159.7811737060547" z="0.0015143966302275658"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_close_to_standing_3759">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-2.8391129970550537" y="19.929763793945312" z="0.003113975515589118"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_close_to_adversary_3760">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-1.540697455406189" y="-66.04338073730469" z="0.03385711461305618"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_w_transform_3761">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="20.528287887573242" y="39.343116760253906" z="0.5"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_w_transform_3765">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="65.97675323486328" y="44.073970794677734" z="0.5"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_w_transform_3766">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-49.87650680541992" y="24.75334358215332" z="0.5"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_w_transform_3767">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-81.49774932861328" y="-53.8632926940918" 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_3752">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_close_to_standing_3753">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_close_to_adversary_3754">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_w_transform_3756">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_close_to_adversary_3757">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_close_to_hero_3758">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_close_to_standing_3759">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_close_to_adversary_3760">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_w_transform_3761">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_w_transform_3765">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_w_transform_3766">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_w_transform_3767">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
</Entities>
<Storyboard>
<Init>
<Actions>
<GlobalAction>
<EnvironmentAction>
<Environment name="Environment1">
<TimeOfDay animation="false" dateTime="2019-06-25T12:00:00"/>
<Weather cloudState="free">
<Sun intensity="0.85" azimuth="0" elevation="1.31"/>
<Fog visualRange="100000.0"/>
<Precipitation precipitationType="dry" intensity="0.0"/>
</Weather>
<RoadCondition frictionScaleFactor="1.0"/>
</Environment>
</EnvironmentAction>
</GlobalAction>
<Private entityRef="hero">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-9.4" y="-152.8" z="0.5" h="1.57079632679"/>
</Position>
</TeleportAction>
</PrivateAction>
<PrivateAction>
<ControllerAction>
<AssignControllerAction>
<Controller name="HeroAgent">
<Properties>
<Property name="module" value="external_control"/>
</Properties>
</Controller>
</AssignControllerAction>
<OverrideControllerValueAction>
<Throttle value="0" active="false"/>
<Brake value="0" active="false"/>
<Clutch value="0" active="false"/>
<ParkingBrake value="0" active="false"/>
<SteeringWheel value="0" active="false"/>
<Gear number="0" active="false"/>
</OverrideControllerValueAction>
</ControllerAction>
</PrivateAction>
</Private>
<Private entityRef="adversary">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-9.4" y="-71.0" z="0.5" h="1.57079632679"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="standing">
<PrivateAction>
<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_3752">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-9.0047607421875" y="45.17167663574219" z="0.0031237411312758923"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_close_to_standing_3753">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-7.40626859664917" y="33.079833984375" z="0.0031081007327884436"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_close_to_adversary_3754">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-8.569878578186035" y="-81.86801147460938" z="0.03385070711374283"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_w_transform_3756">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="66.89498138427734" y="8.253457069396973" z="0.5"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_close_to_adversary_3757">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-18.51568603515625" y="-78.77839660644531" z="0.03386470675468445"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_close_to_hero_3758">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-23.92376136779785" y="-159.7811737060547" z="0.0015143966302275658"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_close_to_standing_3759">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-2.8391129970550537" y="19.929763793945312" z="0.003113975515589118"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_close_to_adversary_3760">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-1.540697455406189" y="-66.04338073730469" z="0.03385711461305618"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_w_transform_3761">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="20.528287887573242" y="39.343116760253906" z="0.5"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_w_transform_3765">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="65.97675323486328" y="44.073970794677734" z="0.5"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_w_transform_3766">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-49.87650680541992" y="24.75334358215332" z="0.5"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_w_transform_3767">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-81.49774932861328" y="-53.8632926940918" z="0.5"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
</Actions>
</Init>
<Story name="MyStory">
<Act name="Behavior">
<ManeuverGroup maximumExecutionCount="1" name="ManeuverSequence">
<Actors selectTriggeringEntities="false">
<EntityRef entityRef="adversary"/>
</Actors>
<Maneuver name="LaneChangeSimpleManeuver">
<Event name="AdversaryAccelerates" priority="overwrite">
<Action name="AdversaryAccelerates">
<PrivateAction>
<LongitudinalAction>
<SpeedAction>
<SpeedActionDynamics dynamicsShape="step" value="50" dynamicsDimension="distance"/>
<SpeedActionTarget>
<AbsoluteTargetSpeed value="5.0"/>
</SpeedActionTarget>
</SpeedAction>
</LongitudinalAction>
</PrivateAction>
</Action>
<StartTrigger>
<ConditionGroup>
<Condition name="StartCondition" delay="0" conditionEdge="rising">
<ByEntityCondition>
<TriggeringEntities triggeringEntitiesRule="any">
<EntityRef entityRef="hero"/>
</TriggeringEntities>
<EntityCondition>
<RelativeDistanceCondition entityRef="adversary" relativeDistanceType="cartesianDistance" value="40.0" freespace="false" rule="lessThan"/>
</EntityCondition>
</ByEntityCondition>
</Condition>
</ConditionGroup>
</StartTrigger>
</Event>
<Event name="AdversaryChangesLane" priority="overwrite">
<Action name="AdversaryChangesLane">
<PrivateAction>
<LateralAction>
<LaneChangeAction>
<LaneChangeActionDynamics dynamicsShape="linear" value="25" dynamicsDimension="distance"/>
<LaneChangeTarget>
<RelativeTargetLane entityRef="adversary" value="-1"/>
</LaneChangeTarget>
</LaneChangeAction>
</LateralAction>
</PrivateAction>
</Action>
<StartTrigger>
<ConditionGroup>
<Condition name="AfterAdversaryAccelerates" delay="0" conditionEdge="rising">
<ByValueCondition>
<StoryboardElementStateCondition storyboardElementType="action" storyboardElementRef="AdversaryAccelerates" state="completeState"/>
</ByValueCondition>
</Condition>
</ConditionGroup>
</StartTrigger>
</Event>
</Maneuver>
</ManeuverGroup>
<StartTrigger>
<ConditionGroup>
<Condition name="OverallStartCondition" delay="0" conditionEdge="rising">
<ByEntityCondition>
<TriggeringEntities triggeringEntitiesRule="any">
<EntityRef entityRef="hero"/>
</TriggeringEntities>
<EntityCondition>
<TraveledDistanceCondition value="1.0"/>
</EntityCondition>
</ByEntityCondition>
</Condition>
<Condition name="StartTime" delay="0" conditionEdge="rising">
<ByValueCondition>
<SimulationTimeCondition value="0" rule="equalTo"/>
</ByValueCondition>
</Condition>
</ConditionGroup>
</StartTrigger>
<StopTrigger>
<ConditionGroup>
<Condition name="EndCondition" delay="0" conditionEdge="rising">
<ByEntityCondition>
<TriggeringEntities triggeringEntitiesRule="any">
<EntityRef entityRef="hero"/>
</TriggeringEntities>
<EntityCondition>
<TraveledDistanceCondition value="200.0"/>
</EntityCondition>
</ByEntityCondition>
</Condition>
</ConditionGroup>
</StopTrigger>
</Act>
</Story>
<StopTrigger>
<ConditionGroup>
<Condition name="criteria_RunningStopTest" delay="0" conditionEdge="rising">
<ByValueCondition>
<ParameterCondition parameterRef="" value="" rule="lessThan"/>
</ByValueCondition>
</Condition>
<Condition name="criteria_RunningRedLightTest" delay="0" conditionEdge="rising">
<ByValueCondition>
<ParameterCondition parameterRef="" value="" rule="lessThan"/>
</ByValueCondition>
</Condition>
<Condition name="criteria_WrongLaneTest" delay="0" conditionEdge="rising">
<ByValueCondition>
<ParameterCondition parameterRef="" value="" rule="lessThan"/>
</ByValueCondition>
</Condition>
<Condition name="criteria_OnSidewalkTest" delay="0" conditionEdge="rising">
<ByValueCondition>
<ParameterCondition parameterRef="" value="" rule="lessThan"/>
</ByValueCondition>
</Condition>
<Condition name="criteria_KeepLaneTest" delay="0" conditionEdge="rising">
<ByValueCondition>
<ParameterCondition parameterRef="" value="" rule="lessThan"/>
</ByValueCondition>
</Condition>
<Condition name="criteria_CollisionTest" delay="0" conditionEdge="rising">
<ByValueCondition>
<ParameterCondition parameterRef="" value="" rule="lessThan"/>
</ByValueCondition>
</Condition>
<Condition name="criteria_DrivenDistanceTest" delay="0" conditionEdge="rising">
<ByValueCondition>
<ParameterCondition parameterRef="distance_success" value="100" rule="lessThan"/>
</ByValueCondition>
</Condition>
</ConditionGroup>
</StopTrigger>
</Storyboard>
</OpenSCENARIO>
``` |
i would like to request you to remove pedestrian actor named pedestrian_close_to_hero_27019?
```
<?xml version="1.0" ?>
<OpenSCENARIO>
<FileHeader revMajor="1" revMinor="0" date="2020-03-24T12:00:00" description="CARLA:LaneChangeSimple" author=""/>
<ParameterDeclarations/>
<CatalogLocations/>
<RoadNetwork>
<LogicFile filepath="Town04"/>
<SceneGraphFile filepath=""/>
</RoadNetwork>
<Entities>
<ScenarioObject name="hero">
<Vehicle name="vehicle.tesla.model3" vehicleCategory="car">
<ParameterDeclarations/>
<Performance maxSpeed="69.444" maxAcceleration="200" maxDeceleration="10.0"/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2.1" length="4.5" height="1.8"/>
</BoundingBox>
<Axles>
<FrontAxle maxSteering="0.5" wheelDiameter="0.6" trackWidth="1.8" positionX="3.1" positionZ="0.3"/>
<RearAxle maxSteering="0.0" wheelDiameter="0.6" trackWidth="1.8" positionX="0.0" positionZ="0.3"/>
</Axles>
<Properties>
<Property name="type" value="ego_vehicle"/>
</Properties>
</Vehicle>
</ScenarioObject>
<ScenarioObject name="adversary">
<Vehicle name="vehicle.lincoln.mkz_2017" vehicleCategory="car">
<ParameterDeclarations/>
<Performance maxSpeed="69.444" maxAcceleration="200" maxDeceleration="10.0"/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2.1" length="4.5" height="1.8"/>
</BoundingBox>
<Axles>
<FrontAxle maxSteering="0.5" wheelDiameter="0.6" trackWidth="1.8" positionX="3.1" positionZ="0.3"/>
<RearAxle maxSteering="0.0" wheelDiameter="0.6" trackWidth="1.8" positionX="0.0" positionZ="0.3"/>
</Axles>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Vehicle>
</ScenarioObject>
<ScenarioObject name="standing">
<Vehicle name="vehicle.volkswagen.t2" vehicleCategory="car">
<ParameterDeclarations/>
<Performance maxSpeed="69.444" maxAcceleration="200" maxDeceleration="10.0"/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2.1" length="4.5" height="1.8"/>
</BoundingBox>
<Axles>
<FrontAxle maxSteering="0.5" wheelDiameter="0.6" trackWidth="1.8" positionX="3.1" positionZ="0.3"/>
<RearAxle maxSteering="0.0" wheelDiameter="0.6" 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_27006">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
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<BoundingBox>
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<Properties>
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</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_w_transform_27007">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
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<ScenarioObject name="pedestrian_w_transform_27008">
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<Storyboard>
<Init>
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<Weather cloudState="free">
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<Story name="MyStory">
<Act name="Behavior">
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<Actors selectTriggeringEntities="false">
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<Maneuver name="LaneChangeSimpleManeuver">
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<Action name="AdversaryAccelerates">
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<StartTrigger>
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<RelativeDistanceCondition entityRef="adversary" relativeDistanceType="cartesianDistance" value="40.0" freespace="false" rule="lessThan"/>
</EntityCondition>
</ByEntityCondition>
</Condition>
</ConditionGroup>
</StartTrigger>
</Event>
<Event name="AdversaryChangesLane" priority="overwrite">
<Action name="AdversaryChangesLane">
<PrivateAction>
<LateralAction>
<LaneChangeAction>
<LaneChangeActionDynamics dynamicsShape="linear" value="25" dynamicsDimension="distance"/>
<LaneChangeTarget>
<RelativeTargetLane entityRef="adversary" value="-1"/>
</LaneChangeTarget>
</LaneChangeAction>
</LateralAction>
</PrivateAction>
</Action>
<StartTrigger>
<ConditionGroup>
<Condition name="AfterAdversaryAccelerates" delay="0" conditionEdge="rising">
<ByValueCondition>
<StoryboardElementStateCondition storyboardElementType="action" storyboardElementRef="AdversaryAccelerates" state="completeState"/>
</ByValueCondition>
</Condition>
</ConditionGroup>
</StartTrigger>
</Event>
</Maneuver>
</ManeuverGroup>
<StartTrigger>
<ConditionGroup>
<Condition name="OverallStartCondition" delay="0" conditionEdge="rising">
<ByEntityCondition>
<TriggeringEntities triggeringEntitiesRule="any">
<EntityRef entityRef="hero"/>
</TriggeringEntities>
<EntityCondition>
<TraveledDistanceCondition value="1.0"/>
</EntityCondition>
</ByEntityCondition>
</Condition>
<Condition name="StartTime" delay="0" conditionEdge="rising">
<ByValueCondition>
<SimulationTimeCondition value="0" rule="equalTo"/>
</ByValueCondition>
</Condition>
</ConditionGroup>
</StartTrigger>
<StopTrigger>
<ConditionGroup>
<Condition name="EndCondition" delay="0" conditionEdge="rising">
<ByEntityCondition>
<TriggeringEntities triggeringEntitiesRule="any">
<EntityRef entityRef="hero"/>
</TriggeringEntities>
<EntityCondition>
<TraveledDistanceCondition value="200.0"/>
</EntityCondition>
</ByEntityCondition>
</Condition>
</ConditionGroup>
</StopTrigger>
</Act>
</Story>
<StopTrigger>
<ConditionGroup>
<Condition name="criteria_RunningStopTest" delay="0" conditionEdge="rising">
<ByValueCondition>
<ParameterCondition parameterRef="" value="" rule="lessThan"/>
</ByValueCondition>
</Condition>
<Condition name="criteria_RunningRedLightTest" delay="0" conditionEdge="rising">
<ByValueCondition>
<ParameterCondition parameterRef="" value="" rule="lessThan"/>
</ByValueCondition>
</Condition>
<Condition name="criteria_WrongLaneTest" delay="0" conditionEdge="rising">
<ByValueCondition>
<ParameterCondition parameterRef="" value="" rule="lessThan"/>
</ByValueCondition>
</Condition>
<Condition name="criteria_OnSidewalkTest" delay="0" conditionEdge="rising">
<ByValueCondition>
<ParameterCondition parameterRef="" value="" rule="lessThan"/>
</ByValueCondition>
</Condition>
<Condition name="criteria_KeepLaneTest" delay="0" conditionEdge="rising">
<ByValueCondition>
<ParameterCondition parameterRef="" value="" rule="lessThan"/>
</ByValueCondition>
</Condition>
<Condition name="criteria_CollisionTest" delay="0" conditionEdge="rising">
<ByValueCondition>
<ParameterCondition parameterRef="" value="" rule="lessThan"/>
</ByValueCondition>
</Condition>
<Condition name="criteria_DrivenDistanceTest" delay="0" conditionEdge="rising">
<ByValueCondition>
<ParameterCondition parameterRef="distance_success" value="100" rule="lessThan"/>
</ByValueCondition>
</Condition>
</ConditionGroup>
</StopTrigger>
</Storyboard>
</OpenSCENARIO>
``` | Here is the result:
```
<?xml version="1.0" ?>
<OpenSCENARIO>
<FileHeader revMajor="1" revMinor="0" date="2020-03-24T12:00:00" description="CARLA:LaneChangeSimple" author=""/>
<ParameterDeclarations/>
<CatalogLocations/>
<RoadNetwork>
<LogicFile filepath="Town04"/>
<SceneGraphFile filepath=""/>
</RoadNetwork>
<Entities>
<ScenarioObject name="hero">
<Vehicle name="vehicle.tesla.model3" vehicleCategory="car">
<ParameterDeclarations/>
<Performance maxSpeed="69.444" maxAcceleration="200" maxDeceleration="10.0"/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2.1" length="4.5" height="1.8"/>
</BoundingBox>
<Axles>
<FrontAxle maxSteering="0.5" wheelDiameter="0.6" trackWidth="1.8" positionX="3.1" positionZ="0.3"/>
<RearAxle maxSteering="0.0" wheelDiameter="0.6" trackWidth="1.8" positionX="0.0" positionZ="0.3"/>
</Axles>
<Properties>
<Property name="type" value="ego_vehicle"/>
</Properties>
</Vehicle>
</ScenarioObject>
<ScenarioObject name="adversary">
<Vehicle name="vehicle.lincoln.mkz_2017" vehicleCategory="car">
<ParameterDeclarations/>
<Performance maxSpeed="69.444" maxAcceleration="200" maxDeceleration="10.0"/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2.1" length="4.5" height="1.8"/>
</BoundingBox>
<Axles>
<FrontAxle maxSteering="0.5" wheelDiameter="0.6" trackWidth="1.8" positionX="3.1" positionZ="0.3"/>
<RearAxle maxSteering="0.0" wheelDiameter="0.6" trackWidth="1.8" positionX="0.0" positionZ="0.3"/>
</Axles>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Vehicle>
</ScenarioObject>
<ScenarioObject name="standing">
<Vehicle name="vehicle.volkswagen.t2" vehicleCategory="car">
<ParameterDeclarations/>
<Performance maxSpeed="69.444" maxAcceleration="200" maxDeceleration="10.0"/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2.1" length="4.5" height="1.8"/>
</BoundingBox>
<Axles>
<FrontAxle maxSteering="0.5" wheelDiameter="0.6" trackWidth="1.8" positionX="3.1" positionZ="0.3"/>
<RearAxle maxSteering="0.0" wheelDiameter="0.6" 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_27006">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_w_transform_27007">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_w_transform_27008">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_close_to_hero_27009">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_close_to_hero_27010">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_close_to_adversary_27011">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_w_transform_27012">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_w_transform_27013">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_close_to_standing_27015">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_close_to_standing_27016">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_w_transform_27017">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_close_to_adversary_27018">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_close_to_adversary_27020">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_close_to_hero_27021">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_w_transform_27022">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_close_to_standing_27023">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_close_to_standing_27025">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_close_to_standing_27026">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_close_to_standing_27027">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_close_to_standing_27028">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_close_to_standing_27029">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_close_to_hero_27030">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_close_to_standing_27033">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_close_to_standing_27034">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
</Entities>
<Storyboard>
<Init>
<Actions>
<GlobalAction>
<EnvironmentAction>
<Environment name="Environment1">
<TimeOfDay animation="false" dateTime="2019-06-25T12:00:00"/>
<Weather cloudState="free">
<Sun intensity="0.85" azimuth="0" elevation="1.31"/>
<Fog visualRange="100000.0"/>
<Precipitation precipitationType="dry" intensity="0.0"/>
</Weather>
<RoadCondition frictionScaleFactor="1.0"/>
</Environment>
</EnvironmentAction>
</GlobalAction>
<Private entityRef="hero">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-9.4" y="-152.8" z="0.5" h="1.57079632679"/>
</Position>
</TeleportAction>
</PrivateAction>
<PrivateAction>
<ControllerAction>
<AssignControllerAction>
<Controller name="HeroAgent">
<Properties>
<Property name="module" value="external_control"/>
</Properties>
</Controller>
</AssignControllerAction>
<OverrideControllerValueAction>
<Throttle value="0" active="false"/>
<Brake value="0" active="false"/>
<Clutch value="0" active="false"/>
<ParkingBrake value="0" active="false"/>
<SteeringWheel value="0" active="false"/>
<Gear number="0" active="false"/>
</OverrideControllerValueAction>
</ControllerAction>
</PrivateAction>
</Private>
<Private entityRef="adversary">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-9.4" y="-71.0" z="0.5" h="1.57079632679"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="standing">
<PrivateAction>
<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_27006">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-2.306500196456909" y="-155.34765625" z="0.0014652633108198643"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_w_transform_27007">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="42.46526336669922" y="66.24151611328125" z="0.5"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_w_transform_27008">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-66.63591766357422" y="-62.817264556884766" z="0.5"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_close_to_hero_27009">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-15.096041679382324" y="-155.73851013183594" z="0.0014652633108198643"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_close_to_hero_27010">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-16.796003341674805" y="-152.37217712402344" z="0.0014652633108198643"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_close_to_adversary_27011">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-1.1486107110977173" y="-76.68275451660156" z="0.0338212214410305"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_w_transform_27012">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-74.12632751464844" y="-64.81096649169922" z="0.5"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_w_transform_27013">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-77.60554504394531" y="87.91944885253906" z="0.5"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_close_to_standing_27015">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-9.165109634399414" y="35.9475212097168" z="0.0030132674146443605"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_close_to_standing_27016">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-2.6553986072540283" y="29.70810317993164" z="0.0030653763096779585"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_w_transform_27017">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-48.60934829711914" y="-21.447036743164062" z="0.5"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_close_to_adversary_27018">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-13.223580360412598" y="-79.64689636230469" z="0.03384849429130554"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_close_to_adversary_27020">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-10.893238067626953" y="-54.78561019897461" z="0.03382854536175728"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_close_to_hero_27021">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-5.516343593597412" y="-143.8040008544922" z="0.0014652633108198643"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_w_transform_27022">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="91.85025024414062" y="-51.006622314453125" z="0.5"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_close_to_standing_27023">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-17.075572967529297" y="27.603073120117188" z="0.00307636265642941"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_close_to_standing_27025">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-10.696148872375488" y="31.04855728149414" z="0.0030736541375517845"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_close_to_standing_27026">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-17.634923934936523" y="28.634122848510742" z="0.0031032562255859375"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_close_to_standing_27027">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-5.268861293792725" y="30.37938117980957" z="0.0031162642408162355"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_close_to_standing_27028">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-14.172277450561523" y="27.888364791870117" z="0.0030664061196148396"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_close_to_standing_27029">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-5.470468521118164" y="31.312177658081055" z="0.0030819319654256105"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_close_to_hero_27030">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-17.41916275024414" y="-164.05633544921875" z="0.0014652633108198643"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_close_to_standing_27033">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="0.35125890374183655" y="24.112388610839844" z="0.003083534073084593"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_close_to_standing_27034">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-2.27656626701355" y="18.650602340698242" z="0.003087119897827506"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
</Actions>
</Init>
<Story name="MyStory">
<Act name="Behavior">
<ManeuverGroup maximumExecutionCount="1" name="ManeuverSequence">
<Actors selectTriggeringEntities="false">
<EntityRef entityRef="adversary"/>
</Actors>
<Maneuver name="LaneChangeSimpleManeuver">
<Event name="AdversaryAccelerates" priority="overwrite">
<Action name="AdversaryAccelerates">
<PrivateAction>
<LongitudinalAction>
<SpeedAction>
<SpeedActionDynamics dynamicsShape="step" value="50" dynamicsDimension="distance"/>
<SpeedActionTarget>
<AbsoluteTargetSpeed value="5.0"/>
</SpeedActionTarget>
</SpeedAction>
</LongitudinalAction>
</PrivateAction>
</Action>
<StartTrigger>
<ConditionGroup>
<Condition name="StartCondition" delay="0" conditionEdge="rising">
<ByEntityCondition>
<TriggeringEntities triggeringEntitiesRule="any">
<EntityRef entityRef="hero"/>
</TriggeringEntities>
<EntityCondition>
<RelativeDistanceCondition entityRef="adversary" relativeDistanceType="cartesianDistance" value="40.0" freespace="false" rule="lessThan"/>
</EntityCondition>
</ByEntityCondition>
</Condition>
</ConditionGroup>
</StartTrigger>
</Event>
<Event name="AdversaryChangesLane" priority="overwrite">
<Action name="AdversaryChangesLane">
<PrivateAction>
<LateralAction>
<LaneChangeAction>
<LaneChangeActionDynamics dynamicsShape="linear" value="25" dynamicsDimension="distance"/>
<LaneChangeTarget>
<RelativeTargetLane entityRef="adversary" value="-1"/>
</LaneChangeTarget>
</LaneChangeAction>
</LateralAction>
</PrivateAction>
</Action>
<StartTrigger>
<ConditionGroup>
<Condition name="AfterAdversaryAccelerates" delay="0" conditionEdge="rising">
<ByValueCondition>
<StoryboardElementStateCondition storyboardElementType="action" storyboardElementRef="AdversaryAccelerates" state="completeState"/>
</ByValueCondition>
</Condition>
</ConditionGroup>
</StartTrigger>
</Event>
</Maneuver>
</ManeuverGroup>
<StartTrigger>
<ConditionGroup>
<Condition name="OverallStartCondition" delay="0" conditionEdge="rising">
<ByEntityCondition>
<TriggeringEntities triggeringEntitiesRule="any">
<EntityRef entityRef="hero"/>
</TriggeringEntities>
<EntityCondition>
<TraveledDistanceCondition value="1.0"/>
</EntityCondition>
</ByEntityCondition>
</Condition>
<Condition name="StartTime" delay="0" conditionEdge="rising">
<ByValueCondition>
<SimulationTimeCondition value="0" rule="equalTo"/>
</ByValueCondition>
</Condition>
</ConditionGroup>
</StartTrigger>
<StopTrigger>
<ConditionGroup>
<Condition name="EndCondition" delay="0" conditionEdge="rising">
<ByEntityCondition>
<TriggeringEntities triggeringEntitiesRule="any">
<EntityRef entityRef="hero"/>
</TriggeringEntities>
<EntityCondition>
<TraveledDistanceCondition value="200.0"/>
</EntityCondition>
</ByEntityCondition>
</Condition>
</ConditionGroup>
</StopTrigger>
</Act>
</Story>
<StopTrigger>
<ConditionGroup>
<Condition name="criteria_RunningStopTest" delay="0" conditionEdge="rising">
<ByValueCondition>
<ParameterCondition parameterRef="" value="" rule="lessThan"/>
</ByValueCondition>
</Condition>
<Condition name="criteria_RunningRedLightTest" delay="0" conditionEdge="rising">
<ByValueCondition>
<ParameterCondition parameterRef="" value="" rule="lessThan"/>
</ByValueCondition>
</Condition>
<Condition name="criteria_WrongLaneTest" delay="0" conditionEdge="rising">
<ByValueCondition>
<ParameterCondition parameterRef="" value="" rule="lessThan"/>
</ByValueCondition>
</Condition>
<Condition name="criteria_OnSidewalkTest" delay="0" conditionEdge="rising">
<ByValueCondition>
<ParameterCondition parameterRef="" value="" rule="lessThan"/>
</ByValueCondition>
</Condition>
<Condition name="criteria_KeepLaneTest" delay="0" conditionEdge="rising">
<ByValueCondition>
<ParameterCondition parameterRef="" value="" rule="lessThan"/>
</ByValueCondition>
</Condition>
<Condition name="criteria_CollisionTest" delay="0" conditionEdge="rising">
<ByValueCondition>
<ParameterCondition parameterRef="" value="" rule="lessThan"/>
</ByValueCondition>
</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 (-22.4, 81.66, 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_19107">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_close_to_standing_19108">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_close_to_standing_19109">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_w_transform_19110">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_w_transform_19111">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_close_to_standing_19112">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_w_transform_19113">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_w_transform_19114">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_close_to_standing_19115">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
</Entities>
<Storyboard>
<Init>
<Actions>
<GlobalAction>
<EnvironmentAction>
<Environment name="Environment1">
<TimeOfDay animation="false" dateTime="2019-06-25T12:00:00"/>
<Weather cloudState="free">
<Sun intensity="0.85" azimuth="0" elevation="1.31"/>
<Fog visualRange="100000.0"/>
<Precipitation precipitationType="dry" intensity="0.0"/>
</Weather>
<RoadCondition frictionScaleFactor="1.0"/>
</Environment>
</EnvironmentAction>
</GlobalAction>
<Private entityRef="hero">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-9.4" y="-152.8" z="0.5" h="1.57079632679"/>
</Position>
</TeleportAction>
</PrivateAction>
<PrivateAction>
<ControllerAction>
<AssignControllerAction>
<Controller name="HeroAgent">
<Properties>
<Property name="module" value="external_control"/>
</Properties>
</Controller>
</AssignControllerAction>
<OverrideControllerValueAction>
<Throttle value="0" active="false"/>
<Brake value="0" active="false"/>
<Clutch value="0" active="false"/>
<ParkingBrake value="0" active="false"/>
<SteeringWheel value="0" active="false"/>
<Gear number="0" active="false"/>
</OverrideControllerValueAction>
</ControllerAction>
</PrivateAction>
</Private>
<Private entityRef="adversary">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-9.4" y="-71.0" z="0.5" h="1.57079632679"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="standing">
<PrivateAction>
<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_19107">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-14.19487476348877" y="-79.75125885009766" z="0.03380279615521431"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_close_to_standing_19108">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-16.85886573791504" y="28.963743209838867" z="0.0030651092529296875"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_close_to_standing_19109">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-11.573701858520508" y="35.109161376953125" z="0.0030563734471797943"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_w_transform_19110">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="14.697891235351562" y="-2.780636787414551" z="0.5"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_w_transform_19111">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="4.032038688659668" y="-88.07201385498047" z="0.5"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_close_to_standing_19112">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-4.295812129974365" y="25.361661911010742" z="0.0030414580833166838"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_w_transform_19113">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-97.33154296875" y="47.11307907104492" z="0.5"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_w_transform_19114">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-13.150041580200195" y="-85.52377319335938" z="0.5"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_close_to_standing_19115">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-8.474547386169434" y="19.725563049316406" 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>
``` | Here is the result:
```
<?xml version="1.0" ?>
<OpenSCENARIO>
<FileHeader revMajor="1" revMinor="0" date="2020-03-24T12:00:00" description="CARLA:LaneChangeSimple" author=""/>
<ParameterDeclarations/>
<CatalogLocations/>
<RoadNetwork>
<LogicFile filepath="Town04"/>
<SceneGraphFile filepath=""/>
</RoadNetwork>
<Entities>
<ScenarioObject name="hero">
<Vehicle name="vehicle.tesla.model3" vehicleCategory="car">
<ParameterDeclarations/>
<Performance maxSpeed="69.444" maxAcceleration="200" maxDeceleration="10.0"/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2.1" length="4.5" height="1.8"/>
</BoundingBox>
<Axles>
<FrontAxle maxSteering="0.5" wheelDiameter="0.6" trackWidth="1.8" positionX="3.1" positionZ="0.3"/>
<RearAxle maxSteering="0.0" wheelDiameter="0.6" trackWidth="1.8" positionX="0.0" positionZ="0.3"/>
</Axles>
<Properties>
<Property name="type" value="ego_vehicle"/>
</Properties>
</Vehicle>
</ScenarioObject>
<ScenarioObject name="adversary">
<Vehicle name="vehicle.lincoln.mkz_2017" vehicleCategory="car">
<ParameterDeclarations/>
<Performance maxSpeed="69.444" maxAcceleration="200" maxDeceleration="10.0"/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2.1" length="4.5" height="1.8"/>
</BoundingBox>
<Axles>
<FrontAxle maxSteering="0.5" wheelDiameter="0.6" trackWidth="1.8" positionX="3.1" positionZ="0.3"/>
<RearAxle maxSteering="0.0" wheelDiameter="0.6" trackWidth="1.8" positionX="0.0" positionZ="0.3"/>
</Axles>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Vehicle>
</ScenarioObject>
<ScenarioObject name="standing">
<Vehicle name="vehicle.volkswagen.t2" vehicleCategory="car">
<ParameterDeclarations/>
<Performance maxSpeed="69.444" maxAcceleration="200" maxDeceleration="10.0"/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2.1" length="4.5" height="1.8"/>
</BoundingBox>
<Axles>
<FrontAxle maxSteering="0.5" wheelDiameter="0.6" trackWidth="1.8" positionX="3.1" positionZ="0.3"/>
<RearAxle maxSteering="0.0" wheelDiameter="0.6" 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_19107">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_close_to_standing_19108">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_close_to_standing_19109">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_w_transform_19110">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_w_transform_19111">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_close_to_standing_19112">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_w_transform_19113">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_w_transform_19114">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_close_to_standing_19115">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_w_transform_19116">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
</Entities>
<Storyboard>
<Init>
<Actions>
<GlobalAction>
<EnvironmentAction>
<Environment name="Environment1">
<TimeOfDay animation="false" dateTime="2019-06-25T12:00:00"/>
<Weather cloudState="free">
<Sun intensity="0.85" azimuth="0" elevation="1.31"/>
<Fog visualRange="100000.0"/>
<Precipitation precipitationType="dry" intensity="0.0"/>
</Weather>
<RoadCondition frictionScaleFactor="1.0"/>
</Environment>
</EnvironmentAction>
</GlobalAction>
<Private entityRef="hero">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-9.4" y="-152.8" z="0.5" h="1.57079632679"/>
</Position>
</TeleportAction>
</PrivateAction>
<PrivateAction>
<ControllerAction>
<AssignControllerAction>
<Controller name="HeroAgent">
<Properties>
<Property name="module" value="external_control"/>
</Properties>
</Controller>
</AssignControllerAction>
<OverrideControllerValueAction>
<Throttle value="0" active="false"/>
<Brake value="0" active="false"/>
<Clutch value="0" active="false"/>
<ParkingBrake value="0" active="false"/>
<SteeringWheel value="0" active="false"/>
<Gear number="0" active="false"/>
</OverrideControllerValueAction>
</ControllerAction>
</PrivateAction>
</Private>
<Private entityRef="adversary">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-9.4" y="-71.0" z="0.5" h="1.57079632679"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="standing">
<PrivateAction>
<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_19107">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-14.19487476348877" y="-79.75125885009766" z="0.03380279615521431"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_close_to_standing_19108">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-16.85886573791504" y="28.963743209838867" z="0.0030651092529296875"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_close_to_standing_19109">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-11.573701858520508" y="35.109161376953125" z="0.0030563734471797943"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_w_transform_19110">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="14.697891235351562" y="-2.780636787414551" z="0.5"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_w_transform_19111">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="4.032038688659668" y="-88.07201385498047" z="0.5"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_close_to_standing_19112">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-4.295812129974365" y="25.361661911010742" z="0.0030414580833166838"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_w_transform_19113">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-97.33154296875" y="47.11307907104492" z="0.5"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_w_transform_19114">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-13.150041580200195" y="-85.52377319335938" z="0.5"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_close_to_standing_19115">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-8.474547386169434" y="19.725563049316406" z="0.003022498916834593"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_w_transform_19116">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-22.39832878112793" y="81.658203125" 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_hero_30440">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_close_to_adversary_30441">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_w_transform_30442">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_close_to_hero_30443">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_close_to_adversary_30444">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
</Entities>
<Storyboard>
<Init>
<Actions>
<GlobalAction>
<EnvironmentAction>
<Environment name="Environment1">
<TimeOfDay animation="false" dateTime="2019-06-25T12:00:00"/>
<Weather cloudState="free">
<Sun intensity="0.85" azimuth="0" elevation="1.31"/>
<Fog visualRange="100000.0"/>
<Precipitation precipitationType="dry" intensity="0.0"/>
</Weather>
<RoadCondition frictionScaleFactor="1.0"/>
</Environment>
</EnvironmentAction>
</GlobalAction>
<Private entityRef="hero">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-9.4" y="-152.8" z="0.5" h="1.57079632679"/>
</Position>
</TeleportAction>
</PrivateAction>
<PrivateAction>
<ControllerAction>
<AssignControllerAction>
<Controller name="HeroAgent">
<Properties>
<Property name="module" value="external_control"/>
</Properties>
</Controller>
</AssignControllerAction>
<OverrideControllerValueAction>
<Throttle value="0" active="false"/>
<Brake value="0" active="false"/>
<Clutch value="0" active="false"/>
<ParkingBrake value="0" active="false"/>
<SteeringWheel value="0" active="false"/>
<Gear number="0" active="false"/>
</OverrideControllerValueAction>
</ControllerAction>
</PrivateAction>
</Private>
<Private entityRef="adversary">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-9.4" y="-71.0" z="0.5" h="1.57079632679"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="standing">
<PrivateAction>
<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_30440">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-18.220136642456055" y="-154.18077087402344" z="0.0020544815342873335"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_close_to_adversary_30441">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-17.208911895751953" y="-74.92758178710938" z="0.03383006900548935"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_w_transform_30442">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="4.190323352813721" y="60.11088562011719" z="0.5"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_close_to_hero_30443">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-16.510591506958008" y="-153.5206298828125" z="0.0020544815342873335"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_close_to_adversary_30444">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-21.60041618347168" y="-62.49863052368164" z="0.033769987523555756"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
</Actions>
</Init>
<Story name="MyStory">
<Act name="Behavior">
<ManeuverGroup maximumExecutionCount="1" name="ManeuverSequence">
<Actors selectTriggeringEntities="false">
<EntityRef entityRef="adversary"/>
</Actors>
<Maneuver name="LaneChangeSimpleManeuver">
<Event name="AdversaryAccelerates" priority="overwrite">
<Action name="AdversaryAccelerates">
<PrivateAction>
<LongitudinalAction>
<SpeedAction>
<SpeedActionDynamics dynamicsShape="step" value="50" dynamicsDimension="distance"/>
<SpeedActionTarget>
<AbsoluteTargetSpeed value="5.0"/>
</SpeedActionTarget>
</SpeedAction>
</LongitudinalAction>
</PrivateAction>
</Action>
<StartTrigger>
<ConditionGroup>
<Condition name="StartCondition" delay="0" conditionEdge="rising">
<ByEntityCondition>
<TriggeringEntities triggeringEntitiesRule="any">
<EntityRef entityRef="hero"/>
</TriggeringEntities>
<EntityCondition>
<RelativeDistanceCondition entityRef="adversary" relativeDistanceType="cartesianDistance" value="40.0" freespace="false" rule="lessThan"/>
</EntityCondition>
</ByEntityCondition>
</Condition>
</ConditionGroup>
</StartTrigger>
</Event>
<Event name="AdversaryChangesLane" priority="overwrite">
<Action name="AdversaryChangesLane">
<PrivateAction>
<LateralAction>
<LaneChangeAction>
<LaneChangeActionDynamics dynamicsShape="linear" value="25" dynamicsDimension="distance"/>
<LaneChangeTarget>
<RelativeTargetLane entityRef="adversary" value="-1"/>
</LaneChangeTarget>
</LaneChangeAction>
</LateralAction>
</PrivateAction>
</Action>
<StartTrigger>
<ConditionGroup>
<Condition name="AfterAdversaryAccelerates" delay="0" conditionEdge="rising">
<ByValueCondition>
<StoryboardElementStateCondition storyboardElementType="action" storyboardElementRef="AdversaryAccelerates" state="completeState"/>
</ByValueCondition>
</Condition>
</ConditionGroup>
</StartTrigger>
</Event>
</Maneuver>
</ManeuverGroup>
<StartTrigger>
<ConditionGroup>
<Condition name="OverallStartCondition" delay="0" conditionEdge="rising">
<ByEntityCondition>
<TriggeringEntities triggeringEntitiesRule="any">
<EntityRef entityRef="hero"/>
</TriggeringEntities>
<EntityCondition>
<TraveledDistanceCondition value="1.0"/>
</EntityCondition>
</ByEntityCondition>
</Condition>
<Condition name="StartTime" delay="0" conditionEdge="rising">
<ByValueCondition>
<SimulationTimeCondition value="0" rule="equalTo"/>
</ByValueCondition>
</Condition>
</ConditionGroup>
</StartTrigger>
<StopTrigger>
<ConditionGroup>
<Condition name="EndCondition" delay="0" conditionEdge="rising">
<ByEntityCondition>
<TriggeringEntities triggeringEntitiesRule="any">
<EntityRef entityRef="hero"/>
</TriggeringEntities>
<EntityCondition>
<TraveledDistanceCondition value="200.0"/>
</EntityCondition>
</ByEntityCondition>
</Condition>
</ConditionGroup>
</StopTrigger>
</Act>
</Story>
<StopTrigger>
<ConditionGroup>
<Condition name="criteria_RunningStopTest" delay="0" conditionEdge="rising">
<ByValueCondition>
<ParameterCondition parameterRef="" value="" rule="lessThan"/>
</ByValueCondition>
</Condition>
<Condition name="criteria_RunningRedLightTest" delay="0" conditionEdge="rising">
<ByValueCondition>
<ParameterCondition parameterRef="" value="" rule="lessThan"/>
</ByValueCondition>
</Condition>
<Condition name="criteria_WrongLaneTest" delay="0" conditionEdge="rising">
<ByValueCondition>
<ParameterCondition parameterRef="" value="" rule="lessThan"/>
</ByValueCondition>
</Condition>
<Condition name="criteria_OnSidewalkTest" delay="0" conditionEdge="rising">
<ByValueCondition>
<ParameterCondition parameterRef="" value="" rule="lessThan"/>
</ByValueCondition>
</Condition>
<Condition name="criteria_KeepLaneTest" delay="0" conditionEdge="rising">
<ByValueCondition>
<ParameterCondition parameterRef="" value="" rule="lessThan"/>
</ByValueCondition>
</Condition>
<Condition name="criteria_CollisionTest" delay="0" conditionEdge="rising">
<ByValueCondition>
<ParameterCondition parameterRef="" value="" rule="lessThan"/>
</ByValueCondition>
</Condition>
<Condition name="criteria_DrivenDistanceTest" delay="0" conditionEdge="rising">
<ByValueCondition>
<ParameterCondition parameterRef="distance_success" value="100" rule="lessThan"/>
</ByValueCondition>
</Condition>
</ConditionGroup>
</StopTrigger>
</Storyboard>
</OpenSCENARIO>
``` | Here is the result:
```
<?xml version="1.0" ?>
<OpenSCENARIO>
<FileHeader revMajor="1" revMinor="0" date="2020-03-24T12:00:00" description="CARLA:LaneChangeSimple" author=""/>
<ParameterDeclarations/>
<CatalogLocations/>
<RoadNetwork>
<LogicFile filepath="Town04"/>
<SceneGraphFile filepath=""/>
</RoadNetwork>
<Entities>
<ScenarioObject name="hero">
<Vehicle name="vehicle.tesla.model3" vehicleCategory="car">
<ParameterDeclarations/>
<Performance maxSpeed="69.444" maxAcceleration="200" maxDeceleration="10.0"/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2.1" length="4.5" height="1.8"/>
</BoundingBox>
<Axles>
<FrontAxle maxSteering="0.5" wheelDiameter="0.6" trackWidth="1.8" positionX="3.1" positionZ="0.3"/>
<RearAxle maxSteering="0.0" wheelDiameter="0.6" trackWidth="1.8" positionX="0.0" positionZ="0.3"/>
</Axles>
<Properties>
<Property name="type" value="ego_vehicle"/>
</Properties>
</Vehicle>
</ScenarioObject>
<ScenarioObject name="adversary">
<Vehicle name="vehicle.lincoln.mkz_2017" vehicleCategory="car">
<ParameterDeclarations/>
<Performance maxSpeed="69.444" maxAcceleration="200" maxDeceleration="10.0"/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2.1" length="4.5" height="1.8"/>
</BoundingBox>
<Axles>
<FrontAxle maxSteering="0.5" wheelDiameter="0.6" trackWidth="1.8" positionX="3.1" positionZ="0.3"/>
<RearAxle maxSteering="0.0" wheelDiameter="0.6" trackWidth="1.8" positionX="0.0" positionZ="0.3"/>
</Axles>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Vehicle>
</ScenarioObject>
<ScenarioObject name="standing">
<Vehicle name="vehicle.volkswagen.t2" vehicleCategory="car">
<ParameterDeclarations/>
<Performance maxSpeed="69.444" maxAcceleration="200" maxDeceleration="10.0"/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2.1" length="4.5" height="1.8"/>
</BoundingBox>
<Axles>
<FrontAxle maxSteering="0.5" wheelDiameter="0.6" trackWidth="1.8" positionX="3.1" positionZ="0.3"/>
<RearAxle maxSteering="0.0" wheelDiameter="0.6" 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_30440">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_close_to_adversary_30441">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_w_transform_30442">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_close_to_hero_30443">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_close_to_adversary_30444">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_close_to_adversary_30445">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
</Entities>
<Storyboard>
<Init>
<Actions>
<GlobalAction>
<EnvironmentAction>
<Environment name="Environment1">
<TimeOfDay animation="false" dateTime="2019-06-25T12:00:00"/>
<Weather cloudState="free">
<Sun intensity="0.85" azimuth="0" elevation="1.31"/>
<Fog visualRange="100000.0"/>
<Precipitation precipitationType="dry" intensity="0.0"/>
</Weather>
<RoadCondition frictionScaleFactor="1.0"/>
</Environment>
</EnvironmentAction>
</GlobalAction>
<Private entityRef="hero">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-9.4" y="-152.8" z="0.5" h="1.57079632679"/>
</Position>
</TeleportAction>
</PrivateAction>
<PrivateAction>
<ControllerAction>
<AssignControllerAction>
<Controller name="HeroAgent">
<Properties>
<Property name="module" value="external_control"/>
</Properties>
</Controller>
</AssignControllerAction>
<OverrideControllerValueAction>
<Throttle value="0" active="false"/>
<Brake value="0" active="false"/>
<Clutch value="0" active="false"/>
<ParkingBrake value="0" active="false"/>
<SteeringWheel value="0" active="false"/>
<Gear number="0" active="false"/>
</OverrideControllerValueAction>
</ControllerAction>
</PrivateAction>
</Private>
<Private entityRef="adversary">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-9.4" y="-71.0" z="0.5" h="1.57079632679"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="standing">
<PrivateAction>
<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_30440">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-18.220136642456055" y="-154.18077087402344" z="0.0020544815342873335"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_close_to_adversary_30441">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-17.208911895751953" y="-74.92758178710938" z="0.03383006900548935"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_w_transform_30442">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="4.190323352813721" y="60.11088562011719" z="0.5"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_close_to_hero_30443">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-16.510591506958008" y="-153.5206298828125" z="0.0020544815342873335"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_close_to_adversary_30444">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-21.60041618347168" y="-62.49863052368164" z="0.033769987523555756"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_close_to_adversary_30445">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-10.016319274902344" y="-69.95928955078125" z="0.033770330250263214"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
</Actions>
</Init>
<Story name="MyStory">
<Act name="Behavior">
<ManeuverGroup maximumExecutionCount="1" name="ManeuverSequence">
<Actors selectTriggeringEntities="false">
<EntityRef entityRef="adversary"/>
</Actors>
<Maneuver name="LaneChangeSimpleManeuver">
<Event name="AdversaryAccelerates" priority="overwrite">
<Action name="AdversaryAccelerates">
<PrivateAction>
<LongitudinalAction>
<SpeedAction>
<SpeedActionDynamics dynamicsShape="step" value="50" dynamicsDimension="distance"/>
<SpeedActionTarget>
<AbsoluteTargetSpeed value="5.0"/>
</SpeedActionTarget>
</SpeedAction>
</LongitudinalAction>
</PrivateAction>
</Action>
<StartTrigger>
<ConditionGroup>
<Condition name="StartCondition" delay="0" conditionEdge="rising">
<ByEntityCondition>
<TriggeringEntities triggeringEntitiesRule="any">
<EntityRef entityRef="hero"/>
</TriggeringEntities>
<EntityCondition>
<RelativeDistanceCondition entityRef="adversary" relativeDistanceType="cartesianDistance" value="40.0" freespace="false" rule="lessThan"/>
</EntityCondition>
</ByEntityCondition>
</Condition>
</ConditionGroup>
</StartTrigger>
</Event>
<Event name="AdversaryChangesLane" priority="overwrite">
<Action name="AdversaryChangesLane">
<PrivateAction>
<LateralAction>
<LaneChangeAction>
<LaneChangeActionDynamics dynamicsShape="linear" value="25" dynamicsDimension="distance"/>
<LaneChangeTarget>
<RelativeTargetLane entityRef="adversary" value="-1"/>
</LaneChangeTarget>
</LaneChangeAction>
</LateralAction>
</PrivateAction>
</Action>
<StartTrigger>
<ConditionGroup>
<Condition name="AfterAdversaryAccelerates" delay="0" conditionEdge="rising">
<ByValueCondition>
<StoryboardElementStateCondition storyboardElementType="action" storyboardElementRef="AdversaryAccelerates" state="completeState"/>
</ByValueCondition>
</Condition>
</ConditionGroup>
</StartTrigger>
</Event>
</Maneuver>
</ManeuverGroup>
<StartTrigger>
<ConditionGroup>
<Condition name="OverallStartCondition" delay="0" conditionEdge="rising">
<ByEntityCondition>
<TriggeringEntities triggeringEntitiesRule="any">
<EntityRef entityRef="hero"/>
</TriggeringEntities>
<EntityCondition>
<TraveledDistanceCondition value="1.0"/>
</EntityCondition>
</ByEntityCondition>
</Condition>
<Condition name="StartTime" delay="0" conditionEdge="rising">
<ByValueCondition>
<SimulationTimeCondition value="0" rule="equalTo"/>
</ByValueCondition>
</Condition>
</ConditionGroup>
</StartTrigger>
<StopTrigger>
<ConditionGroup>
<Condition name="EndCondition" delay="0" conditionEdge="rising">
<ByEntityCondition>
<TriggeringEntities triggeringEntitiesRule="any">
<EntityRef entityRef="hero"/>
</TriggeringEntities>
<EntityCondition>
<TraveledDistanceCondition value="200.0"/>
</EntityCondition>
</ByEntityCondition>
</Condition>
</ConditionGroup>
</StopTrigger>
</Act>
</Story>
<StopTrigger>
<ConditionGroup>
<Condition name="criteria_RunningStopTest" delay="0" conditionEdge="rising">
<ByValueCondition>
<ParameterCondition parameterRef="" value="" rule="lessThan"/>
</ByValueCondition>
</Condition>
<Condition name="criteria_RunningRedLightTest" delay="0" conditionEdge="rising">
<ByValueCondition>
<ParameterCondition parameterRef="" value="" rule="lessThan"/>
</ByValueCondition>
</Condition>
<Condition name="criteria_WrongLaneTest" delay="0" conditionEdge="rising">
<ByValueCondition>
<ParameterCondition parameterRef="" value="" rule="lessThan"/>
</ByValueCondition>
</Condition>
<Condition name="criteria_OnSidewalkTest" delay="0" conditionEdge="rising">
<ByValueCondition>
<ParameterCondition parameterRef="" value="" rule="lessThan"/>
</ByValueCondition>
</Condition>
<Condition name="criteria_KeepLaneTest" delay="0" conditionEdge="rising">
<ByValueCondition>
<ParameterCondition parameterRef="" value="" rule="lessThan"/>
</ByValueCondition>
</Condition>
<Condition name="criteria_CollisionTest" delay="0" conditionEdge="rising">
<ByValueCondition>
<ParameterCondition parameterRef="" value="" rule="lessThan"/>
</ByValueCondition>
</Condition>
<Condition name="criteria_DrivenDistanceTest" delay="0" conditionEdge="rising">
<ByValueCondition>
<ParameterCondition parameterRef="distance_success" value="100" rule="lessThan"/>
</ByValueCondition>
</Condition>
</ConditionGroup>
</StopTrigger>
</Storyboard>
</OpenSCENARIO>
``` |
i would like to guide you to add pedestrian close to hero?
```
<?xml version="1.0" ?>
<OpenSCENARIO>
<FileHeader revMajor="1" revMinor="0" date="2020-03-24T12:00:00" description="CARLA:LaneChangeSimple" author=""/>
<ParameterDeclarations/>
<CatalogLocations/>
<RoadNetwork>
<LogicFile filepath="Town04"/>
<SceneGraphFile filepath=""/>
</RoadNetwork>
<Entities>
<ScenarioObject name="hero">
<Vehicle name="vehicle.tesla.model3" vehicleCategory="car">
<ParameterDeclarations/>
<Performance maxSpeed="69.444" maxAcceleration="200" maxDeceleration="10.0"/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2.1" length="4.5" height="1.8"/>
</BoundingBox>
<Axles>
<FrontAxle maxSteering="0.5" wheelDiameter="0.6" trackWidth="1.8" positionX="3.1" positionZ="0.3"/>
<RearAxle maxSteering="0.0" wheelDiameter="0.6" trackWidth="1.8" positionX="0.0" positionZ="0.3"/>
</Axles>
<Properties>
<Property name="type" value="ego_vehicle"/>
</Properties>
</Vehicle>
</ScenarioObject>
<ScenarioObject name="adversary">
<Vehicle name="vehicle.lincoln.mkz_2017" vehicleCategory="car">
<ParameterDeclarations/>
<Performance maxSpeed="69.444" maxAcceleration="200" maxDeceleration="10.0"/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2.1" length="4.5" height="1.8"/>
</BoundingBox>
<Axles>
<FrontAxle maxSteering="0.5" wheelDiameter="0.6" trackWidth="1.8" positionX="3.1" positionZ="0.3"/>
<RearAxle maxSteering="0.0" wheelDiameter="0.6" trackWidth="1.8" positionX="0.0" positionZ="0.3"/>
</Axles>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Vehicle>
</ScenarioObject>
<ScenarioObject name="standing">
<Vehicle name="vehicle.volkswagen.t2" vehicleCategory="car">
<ParameterDeclarations/>
<Performance maxSpeed="69.444" maxAcceleration="200" maxDeceleration="10.0"/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2.1" length="4.5" height="1.8"/>
</BoundingBox>
<Axles>
<FrontAxle maxSteering="0.5" wheelDiameter="0.6" trackWidth="1.8" positionX="3.1" positionZ="0.3"/>
<RearAxle maxSteering="0.0" wheelDiameter="0.6" trackWidth="1.8" positionX="0.0" positionZ="0.3"/>
</Axles>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Vehicle>
</ScenarioObject>
<ScenarioObject name="pedestrian_close_to_adversary_25108">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_w_transform_25109">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_w_transform_25110">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
</Entities>
<Storyboard>
<Init>
<Actions>
<GlobalAction>
<EnvironmentAction>
<Environment name="Environment1">
<TimeOfDay animation="false" dateTime="2019-06-25T12:00:00"/>
<Weather cloudState="free">
<Sun intensity="0.85" azimuth="0" elevation="1.31"/>
<Fog visualRange="100000.0"/>
<Precipitation precipitationType="dry" intensity="0.0"/>
</Weather>
<RoadCondition frictionScaleFactor="1.0"/>
</Environment>
</EnvironmentAction>
</GlobalAction>
<Private entityRef="hero">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-9.4" y="-152.8" z="0.5" h="1.57079632679"/>
</Position>
</TeleportAction>
</PrivateAction>
<PrivateAction>
<ControllerAction>
<AssignControllerAction>
<Controller name="HeroAgent">
<Properties>
<Property name="module" value="external_control"/>
</Properties>
</Controller>
</AssignControllerAction>
<OverrideControllerValueAction>
<Throttle value="0" active="false"/>
<Brake value="0" active="false"/>
<Clutch value="0" active="false"/>
<ParkingBrake value="0" active="false"/>
<SteeringWheel value="0" active="false"/>
<Gear number="0" active="false"/>
</OverrideControllerValueAction>
</ControllerAction>
</PrivateAction>
</Private>
<Private entityRef="adversary">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-9.4" y="-71.0" z="0.5" h="1.57079632679"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="standing">
<PrivateAction>
<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_25108">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-12.806939125061035" y="-69.3804931640625" z="0.03383888304233551"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_w_transform_25109">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-15.175776481628418" y="10.802775382995605" z="0.5"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_w_transform_25110">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="89.17437744140625" y="-6.537236213684082" 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_25108">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_w_transform_25109">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_w_transform_25110">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_close_to_hero_25111">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
</Entities>
<Storyboard>
<Init>
<Actions>
<GlobalAction>
<EnvironmentAction>
<Environment name="Environment1">
<TimeOfDay animation="false" dateTime="2019-06-25T12:00:00"/>
<Weather cloudState="free">
<Sun intensity="0.85" azimuth="0" elevation="1.31"/>
<Fog visualRange="100000.0"/>
<Precipitation precipitationType="dry" intensity="0.0"/>
</Weather>
<RoadCondition frictionScaleFactor="1.0"/>
</Environment>
</EnvironmentAction>
</GlobalAction>
<Private entityRef="hero">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-9.4" y="-152.8" z="0.5" h="1.57079632679"/>
</Position>
</TeleportAction>
</PrivateAction>
<PrivateAction>
<ControllerAction>
<AssignControllerAction>
<Controller name="HeroAgent">
<Properties>
<Property name="module" value="external_control"/>
</Properties>
</Controller>
</AssignControllerAction>
<OverrideControllerValueAction>
<Throttle value="0" active="false"/>
<Brake value="0" active="false"/>
<Clutch value="0" active="false"/>
<ParkingBrake value="0" active="false"/>
<SteeringWheel value="0" active="false"/>
<Gear number="0" active="false"/>
</OverrideControllerValueAction>
</ControllerAction>
</PrivateAction>
</Private>
<Private entityRef="adversary">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-9.4" y="-71.0" z="0.5" h="1.57079632679"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="standing">
<PrivateAction>
<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_25108">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-12.806939125061035" y="-69.3804931640625" z="0.03383888304233551"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_w_transform_25109">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-15.175776481628418" y="10.802775382995605" z="0.5"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_w_transform_25110">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="89.17437744140625" y="-6.537236213684082" z="0.5"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_close_to_hero_25111">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-9.646897315979004" y="-156.16653442382812" z="0.0014652633108198643"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
</Actions>
</Init>
<Story name="MyStory">
<Act name="Behavior">
<ManeuverGroup maximumExecutionCount="1" name="ManeuverSequence">
<Actors selectTriggeringEntities="false">
<EntityRef entityRef="adversary"/>
</Actors>
<Maneuver name="LaneChangeSimpleManeuver">
<Event name="AdversaryAccelerates" priority="overwrite">
<Action name="AdversaryAccelerates">
<PrivateAction>
<LongitudinalAction>
<SpeedAction>
<SpeedActionDynamics dynamicsShape="step" value="50" dynamicsDimension="distance"/>
<SpeedActionTarget>
<AbsoluteTargetSpeed value="5.0"/>
</SpeedActionTarget>
</SpeedAction>
</LongitudinalAction>
</PrivateAction>
</Action>
<StartTrigger>
<ConditionGroup>
<Condition name="StartCondition" delay="0" conditionEdge="rising">
<ByEntityCondition>
<TriggeringEntities triggeringEntitiesRule="any">
<EntityRef entityRef="hero"/>
</TriggeringEntities>
<EntityCondition>
<RelativeDistanceCondition entityRef="adversary" relativeDistanceType="cartesianDistance" value="40.0" freespace="false" rule="lessThan"/>
</EntityCondition>
</ByEntityCondition>
</Condition>
</ConditionGroup>
</StartTrigger>
</Event>
<Event name="AdversaryChangesLane" priority="overwrite">
<Action name="AdversaryChangesLane">
<PrivateAction>
<LateralAction>
<LaneChangeAction>
<LaneChangeActionDynamics dynamicsShape="linear" value="25" dynamicsDimension="distance"/>
<LaneChangeTarget>
<RelativeTargetLane entityRef="adversary" value="-1"/>
</LaneChangeTarget>
</LaneChangeAction>
</LateralAction>
</PrivateAction>
</Action>
<StartTrigger>
<ConditionGroup>
<Condition name="AfterAdversaryAccelerates" delay="0" conditionEdge="rising">
<ByValueCondition>
<StoryboardElementStateCondition storyboardElementType="action" storyboardElementRef="AdversaryAccelerates" state="completeState"/>
</ByValueCondition>
</Condition>
</ConditionGroup>
</StartTrigger>
</Event>
</Maneuver>
</ManeuverGroup>
<StartTrigger>
<ConditionGroup>
<Condition name="OverallStartCondition" delay="0" conditionEdge="rising">
<ByEntityCondition>
<TriggeringEntities triggeringEntitiesRule="any">
<EntityRef entityRef="hero"/>
</TriggeringEntities>
<EntityCondition>
<TraveledDistanceCondition value="1.0"/>
</EntityCondition>
</ByEntityCondition>
</Condition>
<Condition name="StartTime" delay="0" conditionEdge="rising">
<ByValueCondition>
<SimulationTimeCondition value="0" rule="equalTo"/>
</ByValueCondition>
</Condition>
</ConditionGroup>
</StartTrigger>
<StopTrigger>
<ConditionGroup>
<Condition name="EndCondition" delay="0" conditionEdge="rising">
<ByEntityCondition>
<TriggeringEntities triggeringEntitiesRule="any">
<EntityRef entityRef="hero"/>
</TriggeringEntities>
<EntityCondition>
<TraveledDistanceCondition value="200.0"/>
</EntityCondition>
</ByEntityCondition>
</Condition>
</ConditionGroup>
</StopTrigger>
</Act>
</Story>
<StopTrigger>
<ConditionGroup>
<Condition name="criteria_RunningStopTest" delay="0" conditionEdge="rising">
<ByValueCondition>
<ParameterCondition parameterRef="" value="" rule="lessThan"/>
</ByValueCondition>
</Condition>
<Condition name="criteria_RunningRedLightTest" delay="0" conditionEdge="rising">
<ByValueCondition>
<ParameterCondition parameterRef="" value="" rule="lessThan"/>
</ByValueCondition>
</Condition>
<Condition name="criteria_WrongLaneTest" delay="0" conditionEdge="rising">
<ByValueCondition>
<ParameterCondition parameterRef="" value="" rule="lessThan"/>
</ByValueCondition>
</Condition>
<Condition name="criteria_OnSidewalkTest" delay="0" conditionEdge="rising">
<ByValueCondition>
<ParameterCondition parameterRef="" value="" rule="lessThan"/>
</ByValueCondition>
</Condition>
<Condition name="criteria_KeepLaneTest" delay="0" conditionEdge="rising">
<ByValueCondition>
<ParameterCondition parameterRef="" value="" rule="lessThan"/>
</ByValueCondition>
</Condition>
<Condition name="criteria_CollisionTest" delay="0" conditionEdge="rising">
<ByValueCondition>
<ParameterCondition parameterRef="" value="" rule="lessThan"/>
</ByValueCondition>
</Condition>
<Condition name="criteria_DrivenDistanceTest" delay="0" conditionEdge="rising">
<ByValueCondition>
<ParameterCondition parameterRef="distance_success" value="100" rule="lessThan"/>
</ByValueCondition>
</Condition>
</ConditionGroup>
</StopTrigger>
</Storyboard>
</OpenSCENARIO>
``` |
i would like to direct you to add pedestrian 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_26959">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_close_to_hero_26960">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_close_to_standing_26961">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_close_to_hero_26962">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_close_to_adversary_26963">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_close_to_adversary_26964">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_w_transform_26965">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_w_transform_26966">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_close_to_adversary_26967">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_w_transform_26968">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_close_to_standing_26969">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_close_to_adversary_26970">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_w_transform_26971">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_w_transform_26972">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_close_to_hero_26973">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_w_transform_26974">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
</Entities>
<Storyboard>
<Init>
<Actions>
<GlobalAction>
<EnvironmentAction>
<Environment name="Environment1">
<TimeOfDay animation="false" dateTime="2019-06-25T12:00:00"/>
<Weather cloudState="free">
<Sun intensity="0.85" azimuth="0" elevation="1.31"/>
<Fog visualRange="100000.0"/>
<Precipitation precipitationType="dry" intensity="0.0"/>
</Weather>
<RoadCondition frictionScaleFactor="1.0"/>
</Environment>
</EnvironmentAction>
</GlobalAction>
<Private entityRef="hero">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-9.4" y="-152.8" z="0.5" h="1.57079632679"/>
</Position>
</TeleportAction>
</PrivateAction>
<PrivateAction>
<ControllerAction>
<AssignControllerAction>
<Controller name="HeroAgent">
<Properties>
<Property name="module" value="external_control"/>
</Properties>
</Controller>
</AssignControllerAction>
<OverrideControllerValueAction>
<Throttle value="0" active="false"/>
<Brake value="0" active="false"/>
<Clutch value="0" active="false"/>
<ParkingBrake value="0" active="false"/>
<SteeringWheel value="0" active="false"/>
<Gear number="0" active="false"/>
</OverrideControllerValueAction>
</ControllerAction>
</PrivateAction>
</Private>
<Private entityRef="adversary">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-9.4" y="-71.0" z="0.5" h="1.57079632679"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="standing">
<PrivateAction>
<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_26959">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-1.1840325593948364" y="25.387367248535156" z="0.003075027372688055"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_close_to_hero_26960">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="0.8923720121383667" y="-149.21115112304688" z="0.0014652633108198643"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_close_to_standing_26961">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-10.82357120513916" y="27.933752059936523" z="0.0030377197545021772"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_close_to_hero_26962">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="1.3805266618728638" y="-155.20558166503906" z="0.0014652633108198643"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_close_to_adversary_26963">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-9.020233154296875" y="-69.8263168334961" z="0.03384220227599144"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_close_to_adversary_26964">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-5.062108993530273" y="-62.52984619140625" z="0.03381870314478874"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_w_transform_26965">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-72.13556671142578" y="64.57678985595703" z="0.5"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_w_transform_26966">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-82.7613754272461" y="-55.35152816772461" z="0.5"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_close_to_adversary_26967">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-12.066807746887207" y="-70.08830261230469" z="0.033827513456344604"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_w_transform_26968">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-5.028687000274658" y="68.22809600830078" z="0.5"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_close_to_standing_26969">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-6.278334140777588" y="37.014976501464844" z="0.003062934847548604"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_close_to_adversary_26970">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-13.306044578552246" y="-78.84086608886719" z="0.03383437916636467"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_w_transform_26971">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-62.088417053222656" y="-17.10602569580078" z="0.5"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_w_transform_26972">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-80.21107482910156" y="-66.88394927978516" z="0.5"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_close_to_hero_26973">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-14.025392532348633" y="-150.78428649902344" z="0.0014652633108198643"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_w_transform_26974">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="14.51182746887207" y="60.306190490722656" 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_26959">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_close_to_hero_26960">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_close_to_standing_26961">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_close_to_hero_26962">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_close_to_adversary_26963">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_close_to_adversary_26964">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_w_transform_26965">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_w_transform_26966">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_close_to_adversary_26967">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_w_transform_26968">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_close_to_standing_26969">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_close_to_adversary_26970">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_w_transform_26971">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_w_transform_26972">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_close_to_hero_26973">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_w_transform_26974">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_close_to_standing_26975">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
</Entities>
<Storyboard>
<Init>
<Actions>
<GlobalAction>
<EnvironmentAction>
<Environment name="Environment1">
<TimeOfDay animation="false" dateTime="2019-06-25T12:00:00"/>
<Weather cloudState="free">
<Sun intensity="0.85" azimuth="0" elevation="1.31"/>
<Fog visualRange="100000.0"/>
<Precipitation precipitationType="dry" intensity="0.0"/>
</Weather>
<RoadCondition frictionScaleFactor="1.0"/>
</Environment>
</EnvironmentAction>
</GlobalAction>
<Private entityRef="hero">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-9.4" y="-152.8" z="0.5" h="1.57079632679"/>
</Position>
</TeleportAction>
</PrivateAction>
<PrivateAction>
<ControllerAction>
<AssignControllerAction>
<Controller name="HeroAgent">
<Properties>
<Property name="module" value="external_control"/>
</Properties>
</Controller>
</AssignControllerAction>
<OverrideControllerValueAction>
<Throttle value="0" active="false"/>
<Brake value="0" active="false"/>
<Clutch value="0" active="false"/>
<ParkingBrake value="0" active="false"/>
<SteeringWheel value="0" active="false"/>
<Gear number="0" active="false"/>
</OverrideControllerValueAction>
</ControllerAction>
</PrivateAction>
</Private>
<Private entityRef="adversary">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-9.4" y="-71.0" z="0.5" h="1.57079632679"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="standing">
<PrivateAction>
<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_26959">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-1.1840325593948364" y="25.387367248535156" z="0.003075027372688055"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_close_to_hero_26960">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="0.8923720121383667" y="-149.21115112304688" z="0.0014652633108198643"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_close_to_standing_26961">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-10.82357120513916" y="27.933752059936523" z="0.0030377197545021772"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_close_to_hero_26962">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="1.3805266618728638" y="-155.20558166503906" z="0.0014652633108198643"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_close_to_adversary_26963">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-9.020233154296875" y="-69.8263168334961" z="0.03384220227599144"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_close_to_adversary_26964">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-5.062108993530273" y="-62.52984619140625" z="0.03381870314478874"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_w_transform_26965">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-72.13556671142578" y="64.57678985595703" z="0.5"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_w_transform_26966">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-82.7613754272461" y="-55.35152816772461" z="0.5"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_close_to_adversary_26967">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-12.066807746887207" y="-70.08830261230469" z="0.033827513456344604"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_w_transform_26968">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-5.028687000274658" y="68.22809600830078" z="0.5"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_close_to_standing_26969">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-6.278334140777588" y="37.014976501464844" z="0.003062934847548604"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_close_to_adversary_26970">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-13.306044578552246" y="-78.84086608886719" z="0.03383437916636467"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_w_transform_26971">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-62.088417053222656" y="-17.10602569580078" z="0.5"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_w_transform_26972">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-80.21107482910156" y="-66.88394927978516" z="0.5"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_close_to_hero_26973">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-14.025392532348633" y="-150.78428649902344" z="0.0014652633108198643"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_w_transform_26974">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="14.51182746887207" y="60.306190490722656" z="0.5"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_close_to_standing_26975">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="1.7237311601638794" y="25.283466339111328" z="0.0030910109635442495"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
</Actions>
</Init>
<Story name="MyStory">
<Act name="Behavior">
<ManeuverGroup maximumExecutionCount="1" name="ManeuverSequence">
<Actors selectTriggeringEntities="false">
<EntityRef entityRef="adversary"/>
</Actors>
<Maneuver name="LaneChangeSimpleManeuver">
<Event name="AdversaryAccelerates" priority="overwrite">
<Action name="AdversaryAccelerates">
<PrivateAction>
<LongitudinalAction>
<SpeedAction>
<SpeedActionDynamics dynamicsShape="step" value="50" dynamicsDimension="distance"/>
<SpeedActionTarget>
<AbsoluteTargetSpeed value="5.0"/>
</SpeedActionTarget>
</SpeedAction>
</LongitudinalAction>
</PrivateAction>
</Action>
<StartTrigger>
<ConditionGroup>
<Condition name="StartCondition" delay="0" conditionEdge="rising">
<ByEntityCondition>
<TriggeringEntities triggeringEntitiesRule="any">
<EntityRef entityRef="hero"/>
</TriggeringEntities>
<EntityCondition>
<RelativeDistanceCondition entityRef="adversary" relativeDistanceType="cartesianDistance" value="40.0" freespace="false" rule="lessThan"/>
</EntityCondition>
</ByEntityCondition>
</Condition>
</ConditionGroup>
</StartTrigger>
</Event>
<Event name="AdversaryChangesLane" priority="overwrite">
<Action name="AdversaryChangesLane">
<PrivateAction>
<LateralAction>
<LaneChangeAction>
<LaneChangeActionDynamics dynamicsShape="linear" value="25" dynamicsDimension="distance"/>
<LaneChangeTarget>
<RelativeTargetLane entityRef="adversary" value="-1"/>
</LaneChangeTarget>
</LaneChangeAction>
</LateralAction>
</PrivateAction>
</Action>
<StartTrigger>
<ConditionGroup>
<Condition name="AfterAdversaryAccelerates" delay="0" conditionEdge="rising">
<ByValueCondition>
<StoryboardElementStateCondition storyboardElementType="action" storyboardElementRef="AdversaryAccelerates" state="completeState"/>
</ByValueCondition>
</Condition>
</ConditionGroup>
</StartTrigger>
</Event>
</Maneuver>
</ManeuverGroup>
<StartTrigger>
<ConditionGroup>
<Condition name="OverallStartCondition" delay="0" conditionEdge="rising">
<ByEntityCondition>
<TriggeringEntities triggeringEntitiesRule="any">
<EntityRef entityRef="hero"/>
</TriggeringEntities>
<EntityCondition>
<TraveledDistanceCondition value="1.0"/>
</EntityCondition>
</ByEntityCondition>
</Condition>
<Condition name="StartTime" delay="0" conditionEdge="rising">
<ByValueCondition>
<SimulationTimeCondition value="0" rule="equalTo"/>
</ByValueCondition>
</Condition>
</ConditionGroup>
</StartTrigger>
<StopTrigger>
<ConditionGroup>
<Condition name="EndCondition" delay="0" conditionEdge="rising">
<ByEntityCondition>
<TriggeringEntities triggeringEntitiesRule="any">
<EntityRef entityRef="hero"/>
</TriggeringEntities>
<EntityCondition>
<TraveledDistanceCondition value="200.0"/>
</EntityCondition>
</ByEntityCondition>
</Condition>
</ConditionGroup>
</StopTrigger>
</Act>
</Story>
<StopTrigger>
<ConditionGroup>
<Condition name="criteria_RunningStopTest" delay="0" conditionEdge="rising">
<ByValueCondition>
<ParameterCondition parameterRef="" value="" rule="lessThan"/>
</ByValueCondition>
</Condition>
<Condition name="criteria_RunningRedLightTest" delay="0" conditionEdge="rising">
<ByValueCondition>
<ParameterCondition parameterRef="" value="" rule="lessThan"/>
</ByValueCondition>
</Condition>
<Condition name="criteria_WrongLaneTest" delay="0" conditionEdge="rising">
<ByValueCondition>
<ParameterCondition parameterRef="" value="" rule="lessThan"/>
</ByValueCondition>
</Condition>
<Condition name="criteria_OnSidewalkTest" delay="0" conditionEdge="rising">
<ByValueCondition>
<ParameterCondition parameterRef="" value="" rule="lessThan"/>
</ByValueCondition>
</Condition>
<Condition name="criteria_KeepLaneTest" delay="0" conditionEdge="rising">
<ByValueCondition>
<ParameterCondition parameterRef="" value="" rule="lessThan"/>
</ByValueCondition>
</Condition>
<Condition name="criteria_CollisionTest" delay="0" conditionEdge="rising">
<ByValueCondition>
<ParameterCondition parameterRef="" value="" rule="lessThan"/>
</ByValueCondition>
</Condition>
<Condition name="criteria_DrivenDistanceTest" delay="0" conditionEdge="rising">
<ByValueCondition>
<ParameterCondition parameterRef="distance_success" value="100" rule="lessThan"/>
</ByValueCondition>
</Condition>
</ConditionGroup>
</StopTrigger>
</Storyboard>
</OpenSCENARIO>
``` |
i would like to direct you to remove pedestrian close to adversary?
```
<?xml version="1.0" ?>
<OpenSCENARIO>
<FileHeader revMajor="1" revMinor="0" date="2020-03-24T12:00:00" description="CARLA:LaneChangeSimple" author=""/>
<ParameterDeclarations/>
<CatalogLocations/>
<RoadNetwork>
<LogicFile filepath="Town04"/>
<SceneGraphFile filepath=""/>
</RoadNetwork>
<Entities>
<ScenarioObject name="hero">
<Vehicle name="vehicle.tesla.model3" vehicleCategory="car">
<ParameterDeclarations/>
<Performance maxSpeed="69.444" maxAcceleration="200" maxDeceleration="10.0"/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2.1" length="4.5" height="1.8"/>
</BoundingBox>
<Axles>
<FrontAxle maxSteering="0.5" wheelDiameter="0.6" trackWidth="1.8" positionX="3.1" positionZ="0.3"/>
<RearAxle maxSteering="0.0" wheelDiameter="0.6" trackWidth="1.8" positionX="0.0" positionZ="0.3"/>
</Axles>
<Properties>
<Property name="type" value="ego_vehicle"/>
</Properties>
</Vehicle>
</ScenarioObject>
<ScenarioObject name="adversary">
<Vehicle name="vehicle.lincoln.mkz_2017" vehicleCategory="car">
<ParameterDeclarations/>
<Performance maxSpeed="69.444" maxAcceleration="200" maxDeceleration="10.0"/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2.1" length="4.5" height="1.8"/>
</BoundingBox>
<Axles>
<FrontAxle maxSteering="0.5" wheelDiameter="0.6" trackWidth="1.8" positionX="3.1" positionZ="0.3"/>
<RearAxle maxSteering="0.0" wheelDiameter="0.6" trackWidth="1.8" positionX="0.0" positionZ="0.3"/>
</Axles>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Vehicle>
</ScenarioObject>
<ScenarioObject name="standing">
<Vehicle name="vehicle.volkswagen.t2" vehicleCategory="car">
<ParameterDeclarations/>
<Performance maxSpeed="69.444" maxAcceleration="200" maxDeceleration="10.0"/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2.1" length="4.5" height="1.8"/>
</BoundingBox>
<Axles>
<FrontAxle maxSteering="0.5" wheelDiameter="0.6" trackWidth="1.8" positionX="3.1" positionZ="0.3"/>
<RearAxle maxSteering="0.0" wheelDiameter="0.6" trackWidth="1.8" positionX="0.0" positionZ="0.3"/>
</Axles>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Vehicle>
</ScenarioObject>
<ScenarioObject name="pedestrian_close_to_hero_2911">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_close_to_adversary_2913">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_w_transform_2914">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_close_to_adversary_2915">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_w_transform_2918">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_w_transform_2919">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_close_to_hero_2920">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_close_to_adversary_2922">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_w_transform_2923">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_w_transform_2925">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_close_to_adversary_2926">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_close_to_adversary_2927">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_w_transform_2932">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_close_to_hero_2933">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_w_transform_2934">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_close_to_hero_2935">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_w_transform_2937">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
</Entities>
<Storyboard>
<Init>
<Actions>
<GlobalAction>
<EnvironmentAction>
<Environment name="Environment1">
<TimeOfDay animation="false" dateTime="2019-06-25T12:00:00"/>
<Weather cloudState="free">
<Sun intensity="0.85" azimuth="0" elevation="1.31"/>
<Fog visualRange="100000.0"/>
<Precipitation precipitationType="dry" intensity="0.0"/>
</Weather>
<RoadCondition frictionScaleFactor="1.0"/>
</Environment>
</EnvironmentAction>
</GlobalAction>
<Private entityRef="hero">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-9.4" y="-152.8" z="0.5" h="1.57079632679"/>
</Position>
</TeleportAction>
</PrivateAction>
<PrivateAction>
<ControllerAction>
<AssignControllerAction>
<Controller name="HeroAgent">
<Properties>
<Property name="module" value="external_control"/>
</Properties>
</Controller>
</AssignControllerAction>
<OverrideControllerValueAction>
<Throttle value="0" active="false"/>
<Brake value="0" active="false"/>
<Clutch value="0" active="false"/>
<ParkingBrake value="0" active="false"/>
<SteeringWheel value="0" active="false"/>
<Gear number="0" active="false"/>
</OverrideControllerValueAction>
</ControllerAction>
</PrivateAction>
</Private>
<Private entityRef="adversary">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-9.4" y="-71.0" z="0.5" h="1.57079632679"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="standing">
<PrivateAction>
<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_2911">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-14.040336608886719" y="-153.81082153320312" z="0.0016471862327307463"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_close_to_adversary_2913">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-14.053967475891113" y="-72.18142700195312" z="0.03380546346306801"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_w_transform_2914">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="81.65111541748047" y="-80.47337341308594" z="0.5"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_close_to_adversary_2915">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-7.449896335601807" y="-75.72773742675781" z="0.03378696367144585"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_w_transform_2918">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="18.874828338623047" y="-9.095636367797852" z="0.5"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_w_transform_2919">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-27.266691207885742" y="35.64386749267578" z="0.5"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_close_to_hero_2920">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-4.7222771644592285" y="-148.0435028076172" z="0.0016471862327307463"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_close_to_adversary_2922">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-8.560524940490723" y="-64.93170166015625" z="0.03376678377389908"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_w_transform_2923">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-20.329999923706055" y="84.80487060546875" z="0.5"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_w_transform_2925">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="56.28201675415039" y="-50.66221618652344" z="0.5"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_close_to_adversary_2926">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-12.13110065460205" y="-63.52600860595703" z="0.03381366655230522"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_close_to_adversary_2927">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-10.061549186706543" y="-66.60759735107422" z="0.033799055963754654"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_w_transform_2932">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-47.30997848510742" y="97.80015563964844" z="0.5"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_close_to_hero_2933">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-6.651479244232178" y="-148.34976196289062" z="0.0016471862327307463"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_w_transform_2934">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="6.193708419799805" y="27.171239852905273" z="0.5"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_close_to_hero_2935">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-1.9931482076644897" y="-152.7565460205078" z="0.0016471862327307463"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_w_transform_2937">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-35.542118072509766" y="-89.95394134521484" 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_2911">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_close_to_adversary_2913">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_w_transform_2914">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_close_to_adversary_2915">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_w_transform_2918">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_w_transform_2919">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_close_to_hero_2920">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_close_to_adversary_2922">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_w_transform_2923">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_w_transform_2925">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_close_to_adversary_2926">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_w_transform_2932">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_close_to_hero_2933">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_w_transform_2934">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_close_to_hero_2935">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_w_transform_2937">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
</Entities>
<Storyboard>
<Init>
<Actions>
<GlobalAction>
<EnvironmentAction>
<Environment name="Environment1">
<TimeOfDay animation="false" dateTime="2019-06-25T12:00:00"/>
<Weather cloudState="free">
<Sun intensity="0.85" azimuth="0" elevation="1.31"/>
<Fog visualRange="100000.0"/>
<Precipitation precipitationType="dry" intensity="0.0"/>
</Weather>
<RoadCondition frictionScaleFactor="1.0"/>
</Environment>
</EnvironmentAction>
</GlobalAction>
<Private entityRef="hero">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-9.4" y="-152.8" z="0.5" h="1.57079632679"/>
</Position>
</TeleportAction>
</PrivateAction>
<PrivateAction>
<ControllerAction>
<AssignControllerAction>
<Controller name="HeroAgent">
<Properties>
<Property name="module" value="external_control"/>
</Properties>
</Controller>
</AssignControllerAction>
<OverrideControllerValueAction>
<Throttle value="0" active="false"/>
<Brake value="0" active="false"/>
<Clutch value="0" active="false"/>
<ParkingBrake value="0" active="false"/>
<SteeringWheel value="0" active="false"/>
<Gear number="0" active="false"/>
</OverrideControllerValueAction>
</ControllerAction>
</PrivateAction>
</Private>
<Private entityRef="adversary">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-9.4" y="-71.0" z="0.5" h="1.57079632679"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="standing">
<PrivateAction>
<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_2911">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-14.040336608886719" y="-153.81082153320312" z="0.0016471862327307463"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_close_to_adversary_2913">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-14.053967475891113" y="-72.18142700195312" z="0.03380546346306801"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_w_transform_2914">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="81.65111541748047" y="-80.47337341308594" z="0.5"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_close_to_adversary_2915">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-7.449896335601807" y="-75.72773742675781" z="0.03378696367144585"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_w_transform_2918">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="18.874828338623047" y="-9.095636367797852" z="0.5"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_w_transform_2919">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-27.266691207885742" y="35.64386749267578" z="0.5"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_close_to_hero_2920">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-4.7222771644592285" y="-148.0435028076172" z="0.0016471862327307463"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_close_to_adversary_2922">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-8.560524940490723" y="-64.93170166015625" z="0.03376678377389908"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_w_transform_2923">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-20.329999923706055" y="84.80487060546875" z="0.5"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_w_transform_2925">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="56.28201675415039" y="-50.66221618652344" z="0.5"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_close_to_adversary_2926">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-12.13110065460205" y="-63.52600860595703" z="0.03381366655230522"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_w_transform_2932">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-47.30997848510742" y="97.80015563964844" z="0.5"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_close_to_hero_2933">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-6.651479244232178" y="-148.34976196289062" z="0.0016471862327307463"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_w_transform_2934">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="6.193708419799805" y="27.171239852905273" z="0.5"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_close_to_hero_2935">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-1.9931482076644897" y="-152.7565460205078" z="0.0016471862327307463"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_w_transform_2937">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-35.542118072509766" y="-89.95394134521484" z="0.5"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
</Actions>
</Init>
<Story name="MyStory">
<Act name="Behavior">
<ManeuverGroup maximumExecutionCount="1" name="ManeuverSequence">
<Actors selectTriggeringEntities="false">
<EntityRef entityRef="adversary"/>
</Actors>
<Maneuver name="LaneChangeSimpleManeuver">
<Event name="AdversaryAccelerates" priority="overwrite">
<Action name="AdversaryAccelerates">
<PrivateAction>
<LongitudinalAction>
<SpeedAction>
<SpeedActionDynamics dynamicsShape="step" value="50" dynamicsDimension="distance"/>
<SpeedActionTarget>
<AbsoluteTargetSpeed value="5.0"/>
</SpeedActionTarget>
</SpeedAction>
</LongitudinalAction>
</PrivateAction>
</Action>
<StartTrigger>
<ConditionGroup>
<Condition name="StartCondition" delay="0" conditionEdge="rising">
<ByEntityCondition>
<TriggeringEntities triggeringEntitiesRule="any">
<EntityRef entityRef="hero"/>
</TriggeringEntities>
<EntityCondition>
<RelativeDistanceCondition entityRef="adversary" relativeDistanceType="cartesianDistance" value="40.0" freespace="false" rule="lessThan"/>
</EntityCondition>
</ByEntityCondition>
</Condition>
</ConditionGroup>
</StartTrigger>
</Event>
<Event name="AdversaryChangesLane" priority="overwrite">
<Action name="AdversaryChangesLane">
<PrivateAction>
<LateralAction>
<LaneChangeAction>
<LaneChangeActionDynamics dynamicsShape="linear" value="25" dynamicsDimension="distance"/>
<LaneChangeTarget>
<RelativeTargetLane entityRef="adversary" value="-1"/>
</LaneChangeTarget>
</LaneChangeAction>
</LateralAction>
</PrivateAction>
</Action>
<StartTrigger>
<ConditionGroup>
<Condition name="AfterAdversaryAccelerates" delay="0" conditionEdge="rising">
<ByValueCondition>
<StoryboardElementStateCondition storyboardElementType="action" storyboardElementRef="AdversaryAccelerates" state="completeState"/>
</ByValueCondition>
</Condition>
</ConditionGroup>
</StartTrigger>
</Event>
</Maneuver>
</ManeuverGroup>
<StartTrigger>
<ConditionGroup>
<Condition name="OverallStartCondition" delay="0" conditionEdge="rising">
<ByEntityCondition>
<TriggeringEntities triggeringEntitiesRule="any">
<EntityRef entityRef="hero"/>
</TriggeringEntities>
<EntityCondition>
<TraveledDistanceCondition value="1.0"/>
</EntityCondition>
</ByEntityCondition>
</Condition>
<Condition name="StartTime" delay="0" conditionEdge="rising">
<ByValueCondition>
<SimulationTimeCondition value="0" rule="equalTo"/>
</ByValueCondition>
</Condition>
</ConditionGroup>
</StartTrigger>
<StopTrigger>
<ConditionGroup>
<Condition name="EndCondition" delay="0" conditionEdge="rising">
<ByEntityCondition>
<TriggeringEntities triggeringEntitiesRule="any">
<EntityRef entityRef="hero"/>
</TriggeringEntities>
<EntityCondition>
<TraveledDistanceCondition value="200.0"/>
</EntityCondition>
</ByEntityCondition>
</Condition>
</ConditionGroup>
</StopTrigger>
</Act>
</Story>
<StopTrigger>
<ConditionGroup>
<Condition name="criteria_RunningStopTest" delay="0" conditionEdge="rising">
<ByValueCondition>
<ParameterCondition parameterRef="" value="" rule="lessThan"/>
</ByValueCondition>
</Condition>
<Condition name="criteria_RunningRedLightTest" delay="0" conditionEdge="rising">
<ByValueCondition>
<ParameterCondition parameterRef="" value="" rule="lessThan"/>
</ByValueCondition>
</Condition>
<Condition name="criteria_WrongLaneTest" delay="0" conditionEdge="rising">
<ByValueCondition>
<ParameterCondition parameterRef="" value="" rule="lessThan"/>
</ByValueCondition>
</Condition>
<Condition name="criteria_OnSidewalkTest" delay="0" conditionEdge="rising">
<ByValueCondition>
<ParameterCondition parameterRef="" value="" rule="lessThan"/>
</ByValueCondition>
</Condition>
<Condition name="criteria_KeepLaneTest" delay="0" conditionEdge="rising">
<ByValueCondition>
<ParameterCondition parameterRef="" value="" rule="lessThan"/>
</ByValueCondition>
</Condition>
<Condition name="criteria_CollisionTest" delay="0" conditionEdge="rising">
<ByValueCondition>
<ParameterCondition parameterRef="" value="" rule="lessThan"/>
</ByValueCondition>
</Condition>
<Condition name="criteria_DrivenDistanceTest" delay="0" conditionEdge="rising">
<ByValueCondition>
<ParameterCondition parameterRef="distance_success" value="100" rule="lessThan"/>
</ByValueCondition>
</Condition>
</ConditionGroup>
</StopTrigger>
</Storyboard>
</OpenSCENARIO>
``` |
i would like to guide you to add pedestrian at location (-31.19, 55.39, 0.5)?
```
<?xml version="1.0" ?>
<OpenSCENARIO>
<FileHeader revMajor="1" revMinor="0" date="2020-03-24T12:00:00" description="CARLA:LaneChangeSimple" author=""/>
<ParameterDeclarations/>
<CatalogLocations/>
<RoadNetwork>
<LogicFile filepath="Town04"/>
<SceneGraphFile filepath=""/>
</RoadNetwork>
<Entities>
<ScenarioObject name="hero">
<Vehicle name="vehicle.tesla.model3" vehicleCategory="car">
<ParameterDeclarations/>
<Performance maxSpeed="69.444" maxAcceleration="200" maxDeceleration="10.0"/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2.1" length="4.5" height="1.8"/>
</BoundingBox>
<Axles>
<FrontAxle maxSteering="0.5" wheelDiameter="0.6" trackWidth="1.8" positionX="3.1" positionZ="0.3"/>
<RearAxle maxSteering="0.0" wheelDiameter="0.6" trackWidth="1.8" positionX="0.0" positionZ="0.3"/>
</Axles>
<Properties>
<Property name="type" value="ego_vehicle"/>
</Properties>
</Vehicle>
</ScenarioObject>
<ScenarioObject name="adversary">
<Vehicle name="vehicle.lincoln.mkz_2017" vehicleCategory="car">
<ParameterDeclarations/>
<Performance maxSpeed="69.444" maxAcceleration="200" maxDeceleration="10.0"/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2.1" length="4.5" height="1.8"/>
</BoundingBox>
<Axles>
<FrontAxle maxSteering="0.5" wheelDiameter="0.6" trackWidth="1.8" positionX="3.1" positionZ="0.3"/>
<RearAxle maxSteering="0.0" wheelDiameter="0.6" trackWidth="1.8" positionX="0.0" positionZ="0.3"/>
</Axles>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Vehicle>
</ScenarioObject>
<ScenarioObject name="standing">
<Vehicle name="vehicle.volkswagen.t2" vehicleCategory="car">
<ParameterDeclarations/>
<Performance maxSpeed="69.444" maxAcceleration="200" maxDeceleration="10.0"/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2.1" length="4.5" height="1.8"/>
</BoundingBox>
<Axles>
<FrontAxle maxSteering="0.5" wheelDiameter="0.6" trackWidth="1.8" positionX="3.1" positionZ="0.3"/>
<RearAxle maxSteering="0.0" wheelDiameter="0.6" trackWidth="1.8" positionX="0.0" positionZ="0.3"/>
</Axles>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Vehicle>
</ScenarioObject>
<ScenarioObject name="pedestrian_close_to_standing_31645">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_close_to_adversary_31646">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_close_to_standing_31647">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_close_to_standing_31648">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_close_to_hero_31650">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_w_transform_31651">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_close_to_standing_31652">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_w_transform_31653">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_close_to_hero_31654">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_w_transform_31655">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_close_to_adversary_31656">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_close_to_standing_31657">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_close_to_adversary_31658">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_w_transform_31659">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_w_transform_31660">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_close_to_hero_31661">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_w_transform_31662">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_close_to_adversary_31663">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
</Entities>
<Storyboard>
<Init>
<Actions>
<GlobalAction>
<EnvironmentAction>
<Environment name="Environment1">
<TimeOfDay animation="false" dateTime="2019-06-25T12:00:00"/>
<Weather cloudState="free">
<Sun intensity="0.85" azimuth="0" elevation="1.31"/>
<Fog visualRange="100000.0"/>
<Precipitation precipitationType="dry" intensity="0.0"/>
</Weather>
<RoadCondition frictionScaleFactor="1.0"/>
</Environment>
</EnvironmentAction>
</GlobalAction>
<Private entityRef="hero">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-9.4" y="-152.8" z="0.5" h="1.57079632679"/>
</Position>
</TeleportAction>
</PrivateAction>
<PrivateAction>
<ControllerAction>
<AssignControllerAction>
<Controller name="HeroAgent">
<Properties>
<Property name="module" value="external_control"/>
</Properties>
</Controller>
</AssignControllerAction>
<OverrideControllerValueAction>
<Throttle value="0" active="false"/>
<Brake value="0" active="false"/>
<Clutch value="0" active="false"/>
<ParkingBrake value="0" active="false"/>
<SteeringWheel value="0" active="false"/>
<Gear number="0" active="false"/>
</OverrideControllerValueAction>
</ControllerAction>
</PrivateAction>
</Private>
<Private entityRef="adversary">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-9.4" y="-71.0" z="0.5" h="1.57079632679"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="standing">
<PrivateAction>
<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_31645">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-15.210602760314941" y="22.083213806152344" z="0.0030541610904037952"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_close_to_adversary_31646">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-9.729256629943848" y="-75.90263366699219" z="0.033792342990636826"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_close_to_standing_31647">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="1.4451946020126343" y="24.316173553466797" z="0.0030681609641760588"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_close_to_standing_31648">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-11.902832984924316" y="32.59181594848633" z="0.0030403898563236"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_close_to_hero_31650">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-10.739943504333496" y="-158.0618896484375" z="0.001423797570168972"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_w_transform_31651">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="45.793392181396484" y="-99.34284210205078" z="0.5"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_close_to_standing_31652">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-3.4906907081604004" y="36.37141799926758" z="0.003041610587388277"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_w_transform_31653">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="19.618404388427734" y="-5.20704984664917" z="0.5"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_close_to_hero_31654">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="1.6030118465423584" y="-142.02651977539062" z="0.001423797570168972"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_w_transform_31655">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-70.49629974365234" y="39.2145881652832" z="0.5"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_close_to_adversary_31656">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-1.2627613544464111" y="-64.14070129394531" z="0.03378940373659134"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_close_to_standing_31657">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-16.60271644592285" y="30.65724754333496" z="0.003069114638492465"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_close_to_adversary_31658">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-5.819882392883301" y="-65.19999694824219" z="0.03380386158823967"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_w_transform_31659">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="39.125274658203125" y="79.892578125" z="0.5"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_w_transform_31660">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="62.62297439575195" y="86.63395690917969" z="0.5"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_close_to_hero_31661">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-2.0180649757385254" y="-160.08966064453125" z="0.001423797570168972"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_w_transform_31662">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="95.79364776611328" y="-52.0598030090332" z="0.5"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_close_to_adversary_31663">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-2.8518571853637695" y="-71.39720153808594" z="0.033810731023550034"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
</Actions>
</Init>
<Story name="MyStory">
<Act name="Behavior">
<ManeuverGroup maximumExecutionCount="1" name="ManeuverSequence">
<Actors selectTriggeringEntities="false">
<EntityRef entityRef="adversary"/>
</Actors>
<Maneuver name="LaneChangeSimpleManeuver">
<Event name="AdversaryAccelerates" priority="overwrite">
<Action name="AdversaryAccelerates">
<PrivateAction>
<LongitudinalAction>
<SpeedAction>
<SpeedActionDynamics dynamicsShape="step" value="50" dynamicsDimension="distance"/>
<SpeedActionTarget>
<AbsoluteTargetSpeed value="5.0"/>
</SpeedActionTarget>
</SpeedAction>
</LongitudinalAction>
</PrivateAction>
</Action>
<StartTrigger>
<ConditionGroup>
<Condition name="StartCondition" delay="0" conditionEdge="rising">
<ByEntityCondition>
<TriggeringEntities triggeringEntitiesRule="any">
<EntityRef entityRef="hero"/>
</TriggeringEntities>
<EntityCondition>
<RelativeDistanceCondition entityRef="adversary" relativeDistanceType="cartesianDistance" value="40.0" freespace="false" rule="lessThan"/>
</EntityCondition>
</ByEntityCondition>
</Condition>
</ConditionGroup>
</StartTrigger>
</Event>
<Event name="AdversaryChangesLane" priority="overwrite">
<Action name="AdversaryChangesLane">
<PrivateAction>
<LateralAction>
<LaneChangeAction>
<LaneChangeActionDynamics dynamicsShape="linear" value="25" dynamicsDimension="distance"/>
<LaneChangeTarget>
<RelativeTargetLane entityRef="adversary" value="-1"/>
</LaneChangeTarget>
</LaneChangeAction>
</LateralAction>
</PrivateAction>
</Action>
<StartTrigger>
<ConditionGroup>
<Condition name="AfterAdversaryAccelerates" delay="0" conditionEdge="rising">
<ByValueCondition>
<StoryboardElementStateCondition storyboardElementType="action" storyboardElementRef="AdversaryAccelerates" state="completeState"/>
</ByValueCondition>
</Condition>
</ConditionGroup>
</StartTrigger>
</Event>
</Maneuver>
</ManeuverGroup>
<StartTrigger>
<ConditionGroup>
<Condition name="OverallStartCondition" delay="0" conditionEdge="rising">
<ByEntityCondition>
<TriggeringEntities triggeringEntitiesRule="any">
<EntityRef entityRef="hero"/>
</TriggeringEntities>
<EntityCondition>
<TraveledDistanceCondition value="1.0"/>
</EntityCondition>
</ByEntityCondition>
</Condition>
<Condition name="StartTime" delay="0" conditionEdge="rising">
<ByValueCondition>
<SimulationTimeCondition value="0" rule="equalTo"/>
</ByValueCondition>
</Condition>
</ConditionGroup>
</StartTrigger>
<StopTrigger>
<ConditionGroup>
<Condition name="EndCondition" delay="0" conditionEdge="rising">
<ByEntityCondition>
<TriggeringEntities triggeringEntitiesRule="any">
<EntityRef entityRef="hero"/>
</TriggeringEntities>
<EntityCondition>
<TraveledDistanceCondition value="200.0"/>
</EntityCondition>
</ByEntityCondition>
</Condition>
</ConditionGroup>
</StopTrigger>
</Act>
</Story>
<StopTrigger>
<ConditionGroup>
<Condition name="criteria_RunningStopTest" delay="0" conditionEdge="rising">
<ByValueCondition>
<ParameterCondition parameterRef="" value="" rule="lessThan"/>
</ByValueCondition>
</Condition>
<Condition name="criteria_RunningRedLightTest" delay="0" conditionEdge="rising">
<ByValueCondition>
<ParameterCondition parameterRef="" value="" rule="lessThan"/>
</ByValueCondition>
</Condition>
<Condition name="criteria_WrongLaneTest" delay="0" conditionEdge="rising">
<ByValueCondition>
<ParameterCondition parameterRef="" value="" rule="lessThan"/>
</ByValueCondition>
</Condition>
<Condition name="criteria_OnSidewalkTest" delay="0" conditionEdge="rising">
<ByValueCondition>
<ParameterCondition parameterRef="" value="" rule="lessThan"/>
</ByValueCondition>
</Condition>
<Condition name="criteria_KeepLaneTest" delay="0" conditionEdge="rising">
<ByValueCondition>
<ParameterCondition parameterRef="" value="" rule="lessThan"/>
</ByValueCondition>
</Condition>
<Condition name="criteria_CollisionTest" delay="0" conditionEdge="rising">
<ByValueCondition>
<ParameterCondition parameterRef="" value="" rule="lessThan"/>
</ByValueCondition>
</Condition>
<Condition name="criteria_DrivenDistanceTest" delay="0" conditionEdge="rising">
<ByValueCondition>
<ParameterCondition parameterRef="distance_success" value="100" rule="lessThan"/>
</ByValueCondition>
</Condition>
</ConditionGroup>
</StopTrigger>
</Storyboard>
</OpenSCENARIO>
``` | Here is the result:
```
<?xml version="1.0" ?>
<OpenSCENARIO>
<FileHeader revMajor="1" revMinor="0" date="2020-03-24T12:00:00" description="CARLA:LaneChangeSimple" author=""/>
<ParameterDeclarations/>
<CatalogLocations/>
<RoadNetwork>
<LogicFile filepath="Town04"/>
<SceneGraphFile filepath=""/>
</RoadNetwork>
<Entities>
<ScenarioObject name="hero">
<Vehicle name="vehicle.tesla.model3" vehicleCategory="car">
<ParameterDeclarations/>
<Performance maxSpeed="69.444" maxAcceleration="200" maxDeceleration="10.0"/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2.1" length="4.5" height="1.8"/>
</BoundingBox>
<Axles>
<FrontAxle maxSteering="0.5" wheelDiameter="0.6" trackWidth="1.8" positionX="3.1" positionZ="0.3"/>
<RearAxle maxSteering="0.0" wheelDiameter="0.6" trackWidth="1.8" positionX="0.0" positionZ="0.3"/>
</Axles>
<Properties>
<Property name="type" value="ego_vehicle"/>
</Properties>
</Vehicle>
</ScenarioObject>
<ScenarioObject name="adversary">
<Vehicle name="vehicle.lincoln.mkz_2017" vehicleCategory="car">
<ParameterDeclarations/>
<Performance maxSpeed="69.444" maxAcceleration="200" maxDeceleration="10.0"/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2.1" length="4.5" height="1.8"/>
</BoundingBox>
<Axles>
<FrontAxle maxSteering="0.5" wheelDiameter="0.6" trackWidth="1.8" positionX="3.1" positionZ="0.3"/>
<RearAxle maxSteering="0.0" wheelDiameter="0.6" trackWidth="1.8" positionX="0.0" positionZ="0.3"/>
</Axles>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Vehicle>
</ScenarioObject>
<ScenarioObject name="standing">
<Vehicle name="vehicle.volkswagen.t2" vehicleCategory="car">
<ParameterDeclarations/>
<Performance maxSpeed="69.444" maxAcceleration="200" maxDeceleration="10.0"/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2.1" length="4.5" height="1.8"/>
</BoundingBox>
<Axles>
<FrontAxle maxSteering="0.5" wheelDiameter="0.6" trackWidth="1.8" positionX="3.1" positionZ="0.3"/>
<RearAxle maxSteering="0.0" wheelDiameter="0.6" 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_31645">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_close_to_adversary_31646">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_close_to_standing_31647">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_close_to_standing_31648">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_close_to_hero_31650">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_w_transform_31651">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_close_to_standing_31652">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_w_transform_31653">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_close_to_hero_31654">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_w_transform_31655">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_close_to_adversary_31656">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_close_to_standing_31657">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_close_to_adversary_31658">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_w_transform_31659">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_w_transform_31660">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_close_to_hero_31661">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_w_transform_31662">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_close_to_adversary_31663">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_w_transform_31665">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
</Entities>
<Storyboard>
<Init>
<Actions>
<GlobalAction>
<EnvironmentAction>
<Environment name="Environment1">
<TimeOfDay animation="false" dateTime="2019-06-25T12:00:00"/>
<Weather cloudState="free">
<Sun intensity="0.85" azimuth="0" elevation="1.31"/>
<Fog visualRange="100000.0"/>
<Precipitation precipitationType="dry" intensity="0.0"/>
</Weather>
<RoadCondition frictionScaleFactor="1.0"/>
</Environment>
</EnvironmentAction>
</GlobalAction>
<Private entityRef="hero">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-9.4" y="-152.8" z="0.5" h="1.57079632679"/>
</Position>
</TeleportAction>
</PrivateAction>
<PrivateAction>
<ControllerAction>
<AssignControllerAction>
<Controller name="HeroAgent">
<Properties>
<Property name="module" value="external_control"/>
</Properties>
</Controller>
</AssignControllerAction>
<OverrideControllerValueAction>
<Throttle value="0" active="false"/>
<Brake value="0" active="false"/>
<Clutch value="0" active="false"/>
<ParkingBrake value="0" active="false"/>
<SteeringWheel value="0" active="false"/>
<Gear number="0" active="false"/>
</OverrideControllerValueAction>
</ControllerAction>
</PrivateAction>
</Private>
<Private entityRef="adversary">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-9.4" y="-71.0" z="0.5" h="1.57079632679"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="standing">
<PrivateAction>
<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_31645">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-15.210602760314941" y="22.083213806152344" z="0.0030541610904037952"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_close_to_adversary_31646">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-9.729256629943848" y="-75.90263366699219" z="0.033792342990636826"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_close_to_standing_31647">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="1.4451946020126343" y="24.316173553466797" z="0.0030681609641760588"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_close_to_standing_31648">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-11.902832984924316" y="32.59181594848633" z="0.0030403898563236"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_close_to_hero_31650">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-10.739943504333496" y="-158.0618896484375" z="0.001423797570168972"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_w_transform_31651">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="45.793392181396484" y="-99.34284210205078" z="0.5"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_close_to_standing_31652">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-3.4906907081604004" y="36.37141799926758" z="0.003041610587388277"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_w_transform_31653">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="19.618404388427734" y="-5.20704984664917" z="0.5"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_close_to_hero_31654">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="1.6030118465423584" y="-142.02651977539062" z="0.001423797570168972"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_w_transform_31655">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-70.49629974365234" y="39.2145881652832" z="0.5"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_close_to_adversary_31656">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-1.2627613544464111" y="-64.14070129394531" z="0.03378940373659134"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_close_to_standing_31657">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-16.60271644592285" y="30.65724754333496" z="0.003069114638492465"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_close_to_adversary_31658">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-5.819882392883301" y="-65.19999694824219" z="0.03380386158823967"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_w_transform_31659">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="39.125274658203125" y="79.892578125" z="0.5"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_w_transform_31660">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="62.62297439575195" y="86.63395690917969" z="0.5"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_close_to_hero_31661">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-2.0180649757385254" y="-160.08966064453125" z="0.001423797570168972"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_w_transform_31662">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="95.79364776611328" y="-52.0598030090332" z="0.5"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_close_to_adversary_31663">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-2.8518571853637695" y="-71.39720153808594" z="0.033810731023550034"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_w_transform_31665">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-31.194175720214844" y="55.392669677734375" 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 (-36.32, -1.02, 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_22269">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
</Entities>
<Storyboard>
<Init>
<Actions>
<GlobalAction>
<EnvironmentAction>
<Environment name="Environment1">
<TimeOfDay animation="false" dateTime="2019-06-25T12:00:00"/>
<Weather cloudState="free">
<Sun intensity="0.85" azimuth="0" elevation="1.31"/>
<Fog visualRange="100000.0"/>
<Precipitation precipitationType="dry" intensity="0.0"/>
</Weather>
<RoadCondition frictionScaleFactor="1.0"/>
</Environment>
</EnvironmentAction>
</GlobalAction>
<Private entityRef="hero">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-9.4" y="-152.8" z="0.5" h="1.57079632679"/>
</Position>
</TeleportAction>
</PrivateAction>
<PrivateAction>
<ControllerAction>
<AssignControllerAction>
<Controller name="HeroAgent">
<Properties>
<Property name="module" value="external_control"/>
</Properties>
</Controller>
</AssignControllerAction>
<OverrideControllerValueAction>
<Throttle value="0" active="false"/>
<Brake value="0" active="false"/>
<Clutch value="0" active="false"/>
<ParkingBrake value="0" active="false"/>
<SteeringWheel value="0" active="false"/>
<Gear number="0" active="false"/>
</OverrideControllerValueAction>
</ControllerAction>
</PrivateAction>
</Private>
<Private entityRef="adversary">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-9.4" y="-71.0" z="0.5" h="1.57079632679"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="standing">
<PrivateAction>
<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_22269">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-9.484612464904785" y="-73.90550994873047" z="0.033875275403261185"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
</Actions>
</Init>
<Story name="MyStory">
<Act name="Behavior">
<ManeuverGroup maximumExecutionCount="1" name="ManeuverSequence">
<Actors selectTriggeringEntities="false">
<EntityRef entityRef="adversary"/>
</Actors>
<Maneuver name="LaneChangeSimpleManeuver">
<Event name="AdversaryAccelerates" priority="overwrite">
<Action name="AdversaryAccelerates">
<PrivateAction>
<LongitudinalAction>
<SpeedAction>
<SpeedActionDynamics dynamicsShape="step" value="50" dynamicsDimension="distance"/>
<SpeedActionTarget>
<AbsoluteTargetSpeed value="5.0"/>
</SpeedActionTarget>
</SpeedAction>
</LongitudinalAction>
</PrivateAction>
</Action>
<StartTrigger>
<ConditionGroup>
<Condition name="StartCondition" delay="0" conditionEdge="rising">
<ByEntityCondition>
<TriggeringEntities triggeringEntitiesRule="any">
<EntityRef entityRef="hero"/>
</TriggeringEntities>
<EntityCondition>
<RelativeDistanceCondition entityRef="adversary" relativeDistanceType="cartesianDistance" value="40.0" freespace="false" rule="lessThan"/>
</EntityCondition>
</ByEntityCondition>
</Condition>
</ConditionGroup>
</StartTrigger>
</Event>
<Event name="AdversaryChangesLane" priority="overwrite">
<Action name="AdversaryChangesLane">
<PrivateAction>
<LateralAction>
<LaneChangeAction>
<LaneChangeActionDynamics dynamicsShape="linear" value="25" dynamicsDimension="distance"/>
<LaneChangeTarget>
<RelativeTargetLane entityRef="adversary" value="-1"/>
</LaneChangeTarget>
</LaneChangeAction>
</LateralAction>
</PrivateAction>
</Action>
<StartTrigger>
<ConditionGroup>
<Condition name="AfterAdversaryAccelerates" delay="0" conditionEdge="rising">
<ByValueCondition>
<StoryboardElementStateCondition storyboardElementType="action" storyboardElementRef="AdversaryAccelerates" state="completeState"/>
</ByValueCondition>
</Condition>
</ConditionGroup>
</StartTrigger>
</Event>
</Maneuver>
</ManeuverGroup>
<StartTrigger>
<ConditionGroup>
<Condition name="OverallStartCondition" delay="0" conditionEdge="rising">
<ByEntityCondition>
<TriggeringEntities triggeringEntitiesRule="any">
<EntityRef entityRef="hero"/>
</TriggeringEntities>
<EntityCondition>
<TraveledDistanceCondition value="1.0"/>
</EntityCondition>
</ByEntityCondition>
</Condition>
<Condition name="StartTime" delay="0" conditionEdge="rising">
<ByValueCondition>
<SimulationTimeCondition value="0" rule="equalTo"/>
</ByValueCondition>
</Condition>
</ConditionGroup>
</StartTrigger>
<StopTrigger>
<ConditionGroup>
<Condition name="EndCondition" delay="0" conditionEdge="rising">
<ByEntityCondition>
<TriggeringEntities triggeringEntitiesRule="any">
<EntityRef entityRef="hero"/>
</TriggeringEntities>
<EntityCondition>
<TraveledDistanceCondition value="200.0"/>
</EntityCondition>
</ByEntityCondition>
</Condition>
</ConditionGroup>
</StopTrigger>
</Act>
</Story>
<StopTrigger>
<ConditionGroup>
<Condition name="criteria_RunningStopTest" delay="0" conditionEdge="rising">
<ByValueCondition>
<ParameterCondition parameterRef="" value="" rule="lessThan"/>
</ByValueCondition>
</Condition>
<Condition name="criteria_RunningRedLightTest" delay="0" conditionEdge="rising">
<ByValueCondition>
<ParameterCondition parameterRef="" value="" rule="lessThan"/>
</ByValueCondition>
</Condition>
<Condition name="criteria_WrongLaneTest" delay="0" conditionEdge="rising">
<ByValueCondition>
<ParameterCondition parameterRef="" value="" rule="lessThan"/>
</ByValueCondition>
</Condition>
<Condition name="criteria_OnSidewalkTest" delay="0" conditionEdge="rising">
<ByValueCondition>
<ParameterCondition parameterRef="" value="" rule="lessThan"/>
</ByValueCondition>
</Condition>
<Condition name="criteria_KeepLaneTest" delay="0" conditionEdge="rising">
<ByValueCondition>
<ParameterCondition parameterRef="" value="" rule="lessThan"/>
</ByValueCondition>
</Condition>
<Condition name="criteria_CollisionTest" delay="0" conditionEdge="rising">
<ByValueCondition>
<ParameterCondition parameterRef="" value="" rule="lessThan"/>
</ByValueCondition>
</Condition>
<Condition name="criteria_DrivenDistanceTest" delay="0" conditionEdge="rising">
<ByValueCondition>
<ParameterCondition parameterRef="distance_success" value="100" rule="lessThan"/>
</ByValueCondition>
</Condition>
</ConditionGroup>
</StopTrigger>
</Storyboard>
</OpenSCENARIO>
``` | Here is the result:
```
<?xml version="1.0" ?>
<OpenSCENARIO>
<FileHeader revMajor="1" revMinor="0" date="2020-03-24T12:00:00" description="CARLA:LaneChangeSimple" author=""/>
<ParameterDeclarations/>
<CatalogLocations/>
<RoadNetwork>
<LogicFile filepath="Town04"/>
<SceneGraphFile filepath=""/>
</RoadNetwork>
<Entities>
<ScenarioObject name="hero">
<Vehicle name="vehicle.tesla.model3" vehicleCategory="car">
<ParameterDeclarations/>
<Performance maxSpeed="69.444" maxAcceleration="200" maxDeceleration="10.0"/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2.1" length="4.5" height="1.8"/>
</BoundingBox>
<Axles>
<FrontAxle maxSteering="0.5" wheelDiameter="0.6" trackWidth="1.8" positionX="3.1" positionZ="0.3"/>
<RearAxle maxSteering="0.0" wheelDiameter="0.6" trackWidth="1.8" positionX="0.0" positionZ="0.3"/>
</Axles>
<Properties>
<Property name="type" value="ego_vehicle"/>
</Properties>
</Vehicle>
</ScenarioObject>
<ScenarioObject name="adversary">
<Vehicle name="vehicle.lincoln.mkz_2017" vehicleCategory="car">
<ParameterDeclarations/>
<Performance maxSpeed="69.444" maxAcceleration="200" maxDeceleration="10.0"/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2.1" length="4.5" height="1.8"/>
</BoundingBox>
<Axles>
<FrontAxle maxSteering="0.5" wheelDiameter="0.6" trackWidth="1.8" positionX="3.1" positionZ="0.3"/>
<RearAxle maxSteering="0.0" wheelDiameter="0.6" trackWidth="1.8" positionX="0.0" positionZ="0.3"/>
</Axles>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Vehicle>
</ScenarioObject>
<ScenarioObject name="standing">
<Vehicle name="vehicle.volkswagen.t2" vehicleCategory="car">
<ParameterDeclarations/>
<Performance maxSpeed="69.444" maxAcceleration="200" maxDeceleration="10.0"/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2.1" length="4.5" height="1.8"/>
</BoundingBox>
<Axles>
<FrontAxle maxSteering="0.5" wheelDiameter="0.6" trackWidth="1.8" positionX="3.1" positionZ="0.3"/>
<RearAxle maxSteering="0.0" wheelDiameter="0.6" 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_22269">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_w_transform_22270">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
</Entities>
<Storyboard>
<Init>
<Actions>
<GlobalAction>
<EnvironmentAction>
<Environment name="Environment1">
<TimeOfDay animation="false" dateTime="2019-06-25T12:00:00"/>
<Weather cloudState="free">
<Sun intensity="0.85" azimuth="0" elevation="1.31"/>
<Fog visualRange="100000.0"/>
<Precipitation precipitationType="dry" intensity="0.0"/>
</Weather>
<RoadCondition frictionScaleFactor="1.0"/>
</Environment>
</EnvironmentAction>
</GlobalAction>
<Private entityRef="hero">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-9.4" y="-152.8" z="0.5" h="1.57079632679"/>
</Position>
</TeleportAction>
</PrivateAction>
<PrivateAction>
<ControllerAction>
<AssignControllerAction>
<Controller name="HeroAgent">
<Properties>
<Property name="module" value="external_control"/>
</Properties>
</Controller>
</AssignControllerAction>
<OverrideControllerValueAction>
<Throttle value="0" active="false"/>
<Brake value="0" active="false"/>
<Clutch value="0" active="false"/>
<ParkingBrake value="0" active="false"/>
<SteeringWheel value="0" active="false"/>
<Gear number="0" active="false"/>
</OverrideControllerValueAction>
</ControllerAction>
</PrivateAction>
</Private>
<Private entityRef="adversary">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-9.4" y="-71.0" z="0.5" h="1.57079632679"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="standing">
<PrivateAction>
<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_22269">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-9.484612464904785" y="-73.90550994873047" z="0.033875275403261185"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_w_transform_22270">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-36.32179260253906" y="-1.0203027725219727" 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 (70.34, 79.18, 0.5)?
```
<?xml version="1.0" ?>
<OpenSCENARIO>
<FileHeader revMajor="1" revMinor="0" date="2020-03-24T12:00:00" description="CARLA:LaneChangeSimple" author=""/>
<ParameterDeclarations/>
<CatalogLocations/>
<RoadNetwork>
<LogicFile filepath="Town04"/>
<SceneGraphFile filepath=""/>
</RoadNetwork>
<Entities>
<ScenarioObject name="hero">
<Vehicle name="vehicle.tesla.model3" vehicleCategory="car">
<ParameterDeclarations/>
<Performance maxSpeed="69.444" maxAcceleration="200" maxDeceleration="10.0"/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2.1" length="4.5" height="1.8"/>
</BoundingBox>
<Axles>
<FrontAxle maxSteering="0.5" wheelDiameter="0.6" trackWidth="1.8" positionX="3.1" positionZ="0.3"/>
<RearAxle maxSteering="0.0" wheelDiameter="0.6" trackWidth="1.8" positionX="0.0" positionZ="0.3"/>
</Axles>
<Properties>
<Property name="type" value="ego_vehicle"/>
</Properties>
</Vehicle>
</ScenarioObject>
<ScenarioObject name="adversary">
<Vehicle name="vehicle.lincoln.mkz_2017" vehicleCategory="car">
<ParameterDeclarations/>
<Performance maxSpeed="69.444" maxAcceleration="200" maxDeceleration="10.0"/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2.1" length="4.5" height="1.8"/>
</BoundingBox>
<Axles>
<FrontAxle maxSteering="0.5" wheelDiameter="0.6" trackWidth="1.8" positionX="3.1" positionZ="0.3"/>
<RearAxle maxSteering="0.0" wheelDiameter="0.6" trackWidth="1.8" positionX="0.0" positionZ="0.3"/>
</Axles>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Vehicle>
</ScenarioObject>
<ScenarioObject name="standing">
<Vehicle name="vehicle.volkswagen.t2" vehicleCategory="car">
<ParameterDeclarations/>
<Performance maxSpeed="69.444" maxAcceleration="200" maxDeceleration="10.0"/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2.1" length="4.5" height="1.8"/>
</BoundingBox>
<Axles>
<FrontAxle maxSteering="0.5" wheelDiameter="0.6" trackWidth="1.8" positionX="3.1" positionZ="0.3"/>
<RearAxle maxSteering="0.0" wheelDiameter="0.6" trackWidth="1.8" positionX="0.0" positionZ="0.3"/>
</Axles>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Vehicle>
</ScenarioObject>
<ScenarioObject name="pedestrian_close_to_hero_1099">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_close_to_hero_1100">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_close_to_adversary_1101">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_close_to_hero_1102">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_close_to_hero_1103">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_w_transform_1104">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_w_transform_1105">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_close_to_adversary_1106">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_close_to_standing_1107">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_w_transform_1108">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_close_to_standing_1110">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
</Entities>
<Storyboard>
<Init>
<Actions>
<GlobalAction>
<EnvironmentAction>
<Environment name="Environment1">
<TimeOfDay animation="false" dateTime="2019-06-25T12:00:00"/>
<Weather cloudState="free">
<Sun intensity="0.85" azimuth="0" elevation="1.31"/>
<Fog visualRange="100000.0"/>
<Precipitation precipitationType="dry" intensity="0.0"/>
</Weather>
<RoadCondition frictionScaleFactor="1.0"/>
</Environment>
</EnvironmentAction>
</GlobalAction>
<Private entityRef="hero">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-9.4" y="-152.8" z="0.5" h="1.57079632679"/>
</Position>
</TeleportAction>
</PrivateAction>
<PrivateAction>
<ControllerAction>
<AssignControllerAction>
<Controller name="HeroAgent">
<Properties>
<Property name="module" value="external_control"/>
</Properties>
</Controller>
</AssignControllerAction>
<OverrideControllerValueAction>
<Throttle value="0" active="false"/>
<Brake value="0" active="false"/>
<Clutch value="0" active="false"/>
<ParkingBrake value="0" active="false"/>
<SteeringWheel value="0" active="false"/>
<Gear number="0" active="false"/>
</OverrideControllerValueAction>
</ControllerAction>
</PrivateAction>
</Private>
<Private entityRef="adversary">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-9.4" y="-71.0" z="0.5" h="1.57079632679"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="standing">
<PrivateAction>
<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_1099">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-16.995250701904297" y="-156.29855346679688" z="0.0014652633108198643"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_close_to_hero_1100">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-14.70672607421875" y="-148.90841674804688" z="0.0014652633108198643"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_close_to_adversary_1101">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-23.341684341430664" y="-67.68559265136719" z="0.03378978744149208"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_close_to_hero_1102">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-13.416583061218262" y="-157.64822387695312" z="0.0014652633108198643"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_close_to_hero_1103">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-3.2691006660461426" y="-160.05722045898438" z="0.0014652633108198643"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_w_transform_1104">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="71.83628845214844" y="-76.13589477539062" z="0.5"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_w_transform_1105">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="25.004541397094727" y="-66.18948364257812" z="0.5"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_close_to_adversary_1106">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-18.17847442626953" y="-68.51190948486328" z="0.03385410085320473"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_close_to_standing_1107">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-16.404455184936523" y="35.327640533447266" z="0.003046340774744749"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_w_transform_1108">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="64.0888671875" y="-97.00348663330078" z="0.5"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_close_to_standing_1110">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-2.1139473915100098" y="32.314544677734375" z="0.0030099486466497183"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
</Actions>
</Init>
<Story name="MyStory">
<Act name="Behavior">
<ManeuverGroup maximumExecutionCount="1" name="ManeuverSequence">
<Actors selectTriggeringEntities="false">
<EntityRef entityRef="adversary"/>
</Actors>
<Maneuver name="LaneChangeSimpleManeuver">
<Event name="AdversaryAccelerates" priority="overwrite">
<Action name="AdversaryAccelerates">
<PrivateAction>
<LongitudinalAction>
<SpeedAction>
<SpeedActionDynamics dynamicsShape="step" value="50" dynamicsDimension="distance"/>
<SpeedActionTarget>
<AbsoluteTargetSpeed value="5.0"/>
</SpeedActionTarget>
</SpeedAction>
</LongitudinalAction>
</PrivateAction>
</Action>
<StartTrigger>
<ConditionGroup>
<Condition name="StartCondition" delay="0" conditionEdge="rising">
<ByEntityCondition>
<TriggeringEntities triggeringEntitiesRule="any">
<EntityRef entityRef="hero"/>
</TriggeringEntities>
<EntityCondition>
<RelativeDistanceCondition entityRef="adversary" relativeDistanceType="cartesianDistance" value="40.0" freespace="false" rule="lessThan"/>
</EntityCondition>
</ByEntityCondition>
</Condition>
</ConditionGroup>
</StartTrigger>
</Event>
<Event name="AdversaryChangesLane" priority="overwrite">
<Action name="AdversaryChangesLane">
<PrivateAction>
<LateralAction>
<LaneChangeAction>
<LaneChangeActionDynamics dynamicsShape="linear" value="25" dynamicsDimension="distance"/>
<LaneChangeTarget>
<RelativeTargetLane entityRef="adversary" value="-1"/>
</LaneChangeTarget>
</LaneChangeAction>
</LateralAction>
</PrivateAction>
</Action>
<StartTrigger>
<ConditionGroup>
<Condition name="AfterAdversaryAccelerates" delay="0" conditionEdge="rising">
<ByValueCondition>
<StoryboardElementStateCondition storyboardElementType="action" storyboardElementRef="AdversaryAccelerates" state="completeState"/>
</ByValueCondition>
</Condition>
</ConditionGroup>
</StartTrigger>
</Event>
</Maneuver>
</ManeuverGroup>
<StartTrigger>
<ConditionGroup>
<Condition name="OverallStartCondition" delay="0" conditionEdge="rising">
<ByEntityCondition>
<TriggeringEntities triggeringEntitiesRule="any">
<EntityRef entityRef="hero"/>
</TriggeringEntities>
<EntityCondition>
<TraveledDistanceCondition value="1.0"/>
</EntityCondition>
</ByEntityCondition>
</Condition>
<Condition name="StartTime" delay="0" conditionEdge="rising">
<ByValueCondition>
<SimulationTimeCondition value="0" rule="equalTo"/>
</ByValueCondition>
</Condition>
</ConditionGroup>
</StartTrigger>
<StopTrigger>
<ConditionGroup>
<Condition name="EndCondition" delay="0" conditionEdge="rising">
<ByEntityCondition>
<TriggeringEntities triggeringEntitiesRule="any">
<EntityRef entityRef="hero"/>
</TriggeringEntities>
<EntityCondition>
<TraveledDistanceCondition value="200.0"/>
</EntityCondition>
</ByEntityCondition>
</Condition>
</ConditionGroup>
</StopTrigger>
</Act>
</Story>
<StopTrigger>
<ConditionGroup>
<Condition name="criteria_RunningStopTest" delay="0" conditionEdge="rising">
<ByValueCondition>
<ParameterCondition parameterRef="" value="" rule="lessThan"/>
</ByValueCondition>
</Condition>
<Condition name="criteria_RunningRedLightTest" delay="0" conditionEdge="rising">
<ByValueCondition>
<ParameterCondition parameterRef="" value="" rule="lessThan"/>
</ByValueCondition>
</Condition>
<Condition name="criteria_WrongLaneTest" delay="0" conditionEdge="rising">
<ByValueCondition>
<ParameterCondition parameterRef="" value="" rule="lessThan"/>
</ByValueCondition>
</Condition>
<Condition name="criteria_OnSidewalkTest" delay="0" conditionEdge="rising">
<ByValueCondition>
<ParameterCondition parameterRef="" value="" rule="lessThan"/>
</ByValueCondition>
</Condition>
<Condition name="criteria_KeepLaneTest" delay="0" conditionEdge="rising">
<ByValueCondition>
<ParameterCondition parameterRef="" value="" rule="lessThan"/>
</ByValueCondition>
</Condition>
<Condition name="criteria_CollisionTest" delay="0" conditionEdge="rising">
<ByValueCondition>
<ParameterCondition parameterRef="" value="" rule="lessThan"/>
</ByValueCondition>
</Condition>
<Condition name="criteria_DrivenDistanceTest" delay="0" conditionEdge="rising">
<ByValueCondition>
<ParameterCondition parameterRef="distance_success" value="100" rule="lessThan"/>
</ByValueCondition>
</Condition>
</ConditionGroup>
</StopTrigger>
</Storyboard>
</OpenSCENARIO>
``` | Here is the result:
```
<?xml version="1.0" ?>
<OpenSCENARIO>
<FileHeader revMajor="1" revMinor="0" date="2020-03-24T12:00:00" description="CARLA:LaneChangeSimple" author=""/>
<ParameterDeclarations/>
<CatalogLocations/>
<RoadNetwork>
<LogicFile filepath="Town04"/>
<SceneGraphFile filepath=""/>
</RoadNetwork>
<Entities>
<ScenarioObject name="hero">
<Vehicle name="vehicle.tesla.model3" vehicleCategory="car">
<ParameterDeclarations/>
<Performance maxSpeed="69.444" maxAcceleration="200" maxDeceleration="10.0"/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2.1" length="4.5" height="1.8"/>
</BoundingBox>
<Axles>
<FrontAxle maxSteering="0.5" wheelDiameter="0.6" trackWidth="1.8" positionX="3.1" positionZ="0.3"/>
<RearAxle maxSteering="0.0" wheelDiameter="0.6" trackWidth="1.8" positionX="0.0" positionZ="0.3"/>
</Axles>
<Properties>
<Property name="type" value="ego_vehicle"/>
</Properties>
</Vehicle>
</ScenarioObject>
<ScenarioObject name="adversary">
<Vehicle name="vehicle.lincoln.mkz_2017" vehicleCategory="car">
<ParameterDeclarations/>
<Performance maxSpeed="69.444" maxAcceleration="200" maxDeceleration="10.0"/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2.1" length="4.5" height="1.8"/>
</BoundingBox>
<Axles>
<FrontAxle maxSteering="0.5" wheelDiameter="0.6" trackWidth="1.8" positionX="3.1" positionZ="0.3"/>
<RearAxle maxSteering="0.0" wheelDiameter="0.6" trackWidth="1.8" positionX="0.0" positionZ="0.3"/>
</Axles>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Vehicle>
</ScenarioObject>
<ScenarioObject name="standing">
<Vehicle name="vehicle.volkswagen.t2" vehicleCategory="car">
<ParameterDeclarations/>
<Performance maxSpeed="69.444" maxAcceleration="200" maxDeceleration="10.0"/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2.1" length="4.5" height="1.8"/>
</BoundingBox>
<Axles>
<FrontAxle maxSteering="0.5" wheelDiameter="0.6" trackWidth="1.8" positionX="3.1" positionZ="0.3"/>
<RearAxle maxSteering="0.0" wheelDiameter="0.6" 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_1099">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_close_to_hero_1100">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_close_to_adversary_1101">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_close_to_hero_1102">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_close_to_hero_1103">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_w_transform_1104">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_w_transform_1105">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_close_to_adversary_1106">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_close_to_standing_1107">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_w_transform_1108">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_close_to_standing_1110">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_w_transform_1111">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
</Entities>
<Storyboard>
<Init>
<Actions>
<GlobalAction>
<EnvironmentAction>
<Environment name="Environment1">
<TimeOfDay animation="false" dateTime="2019-06-25T12:00:00"/>
<Weather cloudState="free">
<Sun intensity="0.85" azimuth="0" elevation="1.31"/>
<Fog visualRange="100000.0"/>
<Precipitation precipitationType="dry" intensity="0.0"/>
</Weather>
<RoadCondition frictionScaleFactor="1.0"/>
</Environment>
</EnvironmentAction>
</GlobalAction>
<Private entityRef="hero">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-9.4" y="-152.8" z="0.5" h="1.57079632679"/>
</Position>
</TeleportAction>
</PrivateAction>
<PrivateAction>
<ControllerAction>
<AssignControllerAction>
<Controller name="HeroAgent">
<Properties>
<Property name="module" value="external_control"/>
</Properties>
</Controller>
</AssignControllerAction>
<OverrideControllerValueAction>
<Throttle value="0" active="false"/>
<Brake value="0" active="false"/>
<Clutch value="0" active="false"/>
<ParkingBrake value="0" active="false"/>
<SteeringWheel value="0" active="false"/>
<Gear number="0" active="false"/>
</OverrideControllerValueAction>
</ControllerAction>
</PrivateAction>
</Private>
<Private entityRef="adversary">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-9.4" y="-71.0" z="0.5" h="1.57079632679"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="standing">
<PrivateAction>
<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_1099">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-16.995250701904297" y="-156.29855346679688" z="0.0014652633108198643"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_close_to_hero_1100">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-14.70672607421875" y="-148.90841674804688" z="0.0014652633108198643"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_close_to_adversary_1101">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-23.341684341430664" y="-67.68559265136719" z="0.03378978744149208"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_close_to_hero_1102">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-13.416583061218262" y="-157.64822387695312" z="0.0014652633108198643"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_close_to_hero_1103">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-3.2691006660461426" y="-160.05722045898438" z="0.0014652633108198643"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_w_transform_1104">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="71.83628845214844" y="-76.13589477539062" z="0.5"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_w_transform_1105">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="25.004541397094727" y="-66.18948364257812" z="0.5"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_close_to_adversary_1106">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-18.17847442626953" y="-68.51190948486328" z="0.03385410085320473"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_close_to_standing_1107">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-16.404455184936523" y="35.327640533447266" z="0.003046340774744749"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_w_transform_1108">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="64.0888671875" y="-97.00348663330078" z="0.5"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_close_to_standing_1110">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-2.1139473915100098" y="32.314544677734375" z="0.0030099486466497183"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_w_transform_1111">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="70.3442153930664" y="79.17823791503906" 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 (33.59, -78.52, 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_32291">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_close_to_adversary_32292">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_close_to_standing_32293">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_close_to_hero_32294">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_close_to_standing_32295">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_close_to_standing_32296">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
</Entities>
<Storyboard>
<Init>
<Actions>
<GlobalAction>
<EnvironmentAction>
<Environment name="Environment1">
<TimeOfDay animation="false" dateTime="2019-06-25T12:00:00"/>
<Weather cloudState="free">
<Sun intensity="0.85" azimuth="0" elevation="1.31"/>
<Fog visualRange="100000.0"/>
<Precipitation precipitationType="dry" intensity="0.0"/>
</Weather>
<RoadCondition frictionScaleFactor="1.0"/>
</Environment>
</EnvironmentAction>
</GlobalAction>
<Private entityRef="hero">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-9.4" y="-152.8" z="0.5" h="1.57079632679"/>
</Position>
</TeleportAction>
</PrivateAction>
<PrivateAction>
<ControllerAction>
<AssignControllerAction>
<Controller name="HeroAgent">
<Properties>
<Property name="module" value="external_control"/>
</Properties>
</Controller>
</AssignControllerAction>
<OverrideControllerValueAction>
<Throttle value="0" active="false"/>
<Brake value="0" active="false"/>
<Clutch value="0" active="false"/>
<ParkingBrake value="0" active="false"/>
<SteeringWheel value="0" active="false"/>
<Gear number="0" active="false"/>
</OverrideControllerValueAction>
</ControllerAction>
</PrivateAction>
</Private>
<Private entityRef="adversary">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-9.4" y="-71.0" z="0.5" h="1.57079632679"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="standing">
<PrivateAction>
<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_32291">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-9.66307258605957" y="29.245521545410156" z="0.003083839314058423"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_close_to_adversary_32292">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-11.640359878540039" y="-70.52561950683594" z="0.03384334594011307"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_close_to_standing_32293">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-5.620533466339111" y="31.41122817993164" z="0.003093986539170146"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_close_to_hero_32294">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-9.322200775146484" y="-146.1190643310547" z="0.0017747879028320312"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_close_to_standing_32295">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-13.060768127441406" y="25.146276473999023" z="0.0030650710687041283"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_close_to_standing_32296">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-16.590259552001953" y="22.627805709838867" z="0.003038597060367465"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
</Actions>
</Init>
<Story name="MyStory">
<Act name="Behavior">
<ManeuverGroup maximumExecutionCount="1" name="ManeuverSequence">
<Actors selectTriggeringEntities="false">
<EntityRef entityRef="adversary"/>
</Actors>
<Maneuver name="LaneChangeSimpleManeuver">
<Event name="AdversaryAccelerates" priority="overwrite">
<Action name="AdversaryAccelerates">
<PrivateAction>
<LongitudinalAction>
<SpeedAction>
<SpeedActionDynamics dynamicsShape="step" value="50" dynamicsDimension="distance"/>
<SpeedActionTarget>
<AbsoluteTargetSpeed value="5.0"/>
</SpeedActionTarget>
</SpeedAction>
</LongitudinalAction>
</PrivateAction>
</Action>
<StartTrigger>
<ConditionGroup>
<Condition name="StartCondition" delay="0" conditionEdge="rising">
<ByEntityCondition>
<TriggeringEntities triggeringEntitiesRule="any">
<EntityRef entityRef="hero"/>
</TriggeringEntities>
<EntityCondition>
<RelativeDistanceCondition entityRef="adversary" relativeDistanceType="cartesianDistance" value="40.0" freespace="false" rule="lessThan"/>
</EntityCondition>
</ByEntityCondition>
</Condition>
</ConditionGroup>
</StartTrigger>
</Event>
<Event name="AdversaryChangesLane" priority="overwrite">
<Action name="AdversaryChangesLane">
<PrivateAction>
<LateralAction>
<LaneChangeAction>
<LaneChangeActionDynamics dynamicsShape="linear" value="25" dynamicsDimension="distance"/>
<LaneChangeTarget>
<RelativeTargetLane entityRef="adversary" value="-1"/>
</LaneChangeTarget>
</LaneChangeAction>
</LateralAction>
</PrivateAction>
</Action>
<StartTrigger>
<ConditionGroup>
<Condition name="AfterAdversaryAccelerates" delay="0" conditionEdge="rising">
<ByValueCondition>
<StoryboardElementStateCondition storyboardElementType="action" storyboardElementRef="AdversaryAccelerates" state="completeState"/>
</ByValueCondition>
</Condition>
</ConditionGroup>
</StartTrigger>
</Event>
</Maneuver>
</ManeuverGroup>
<StartTrigger>
<ConditionGroup>
<Condition name="OverallStartCondition" delay="0" conditionEdge="rising">
<ByEntityCondition>
<TriggeringEntities triggeringEntitiesRule="any">
<EntityRef entityRef="hero"/>
</TriggeringEntities>
<EntityCondition>
<TraveledDistanceCondition value="1.0"/>
</EntityCondition>
</ByEntityCondition>
</Condition>
<Condition name="StartTime" delay="0" conditionEdge="rising">
<ByValueCondition>
<SimulationTimeCondition value="0" rule="equalTo"/>
</ByValueCondition>
</Condition>
</ConditionGroup>
</StartTrigger>
<StopTrigger>
<ConditionGroup>
<Condition name="EndCondition" delay="0" conditionEdge="rising">
<ByEntityCondition>
<TriggeringEntities triggeringEntitiesRule="any">
<EntityRef entityRef="hero"/>
</TriggeringEntities>
<EntityCondition>
<TraveledDistanceCondition value="200.0"/>
</EntityCondition>
</ByEntityCondition>
</Condition>
</ConditionGroup>
</StopTrigger>
</Act>
</Story>
<StopTrigger>
<ConditionGroup>
<Condition name="criteria_RunningStopTest" delay="0" conditionEdge="rising">
<ByValueCondition>
<ParameterCondition parameterRef="" value="" rule="lessThan"/>
</ByValueCondition>
</Condition>
<Condition name="criteria_RunningRedLightTest" delay="0" conditionEdge="rising">
<ByValueCondition>
<ParameterCondition parameterRef="" value="" rule="lessThan"/>
</ByValueCondition>
</Condition>
<Condition name="criteria_WrongLaneTest" delay="0" conditionEdge="rising">
<ByValueCondition>
<ParameterCondition parameterRef="" value="" rule="lessThan"/>
</ByValueCondition>
</Condition>
<Condition name="criteria_OnSidewalkTest" delay="0" conditionEdge="rising">
<ByValueCondition>
<ParameterCondition parameterRef="" value="" rule="lessThan"/>
</ByValueCondition>
</Condition>
<Condition name="criteria_KeepLaneTest" delay="0" conditionEdge="rising">
<ByValueCondition>
<ParameterCondition parameterRef="" value="" rule="lessThan"/>
</ByValueCondition>
</Condition>
<Condition name="criteria_CollisionTest" delay="0" conditionEdge="rising">
<ByValueCondition>
<ParameterCondition parameterRef="" value="" rule="lessThan"/>
</ByValueCondition>
</Condition>
<Condition name="criteria_DrivenDistanceTest" delay="0" conditionEdge="rising">
<ByValueCondition>
<ParameterCondition parameterRef="distance_success" value="100" rule="lessThan"/>
</ByValueCondition>
</Condition>
</ConditionGroup>
</StopTrigger>
</Storyboard>
</OpenSCENARIO>
``` | Here is the result:
```
<?xml version="1.0" ?>
<OpenSCENARIO>
<FileHeader revMajor="1" revMinor="0" date="2020-03-24T12:00:00" description="CARLA:LaneChangeSimple" author=""/>
<ParameterDeclarations/>
<CatalogLocations/>
<RoadNetwork>
<LogicFile filepath="Town04"/>
<SceneGraphFile filepath=""/>
</RoadNetwork>
<Entities>
<ScenarioObject name="hero">
<Vehicle name="vehicle.tesla.model3" vehicleCategory="car">
<ParameterDeclarations/>
<Performance maxSpeed="69.444" maxAcceleration="200" maxDeceleration="10.0"/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2.1" length="4.5" height="1.8"/>
</BoundingBox>
<Axles>
<FrontAxle maxSteering="0.5" wheelDiameter="0.6" trackWidth="1.8" positionX="3.1" positionZ="0.3"/>
<RearAxle maxSteering="0.0" wheelDiameter="0.6" trackWidth="1.8" positionX="0.0" positionZ="0.3"/>
</Axles>
<Properties>
<Property name="type" value="ego_vehicle"/>
</Properties>
</Vehicle>
</ScenarioObject>
<ScenarioObject name="adversary">
<Vehicle name="vehicle.lincoln.mkz_2017" vehicleCategory="car">
<ParameterDeclarations/>
<Performance maxSpeed="69.444" maxAcceleration="200" maxDeceleration="10.0"/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2.1" length="4.5" height="1.8"/>
</BoundingBox>
<Axles>
<FrontAxle maxSteering="0.5" wheelDiameter="0.6" trackWidth="1.8" positionX="3.1" positionZ="0.3"/>
<RearAxle maxSteering="0.0" wheelDiameter="0.6" trackWidth="1.8" positionX="0.0" positionZ="0.3"/>
</Axles>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Vehicle>
</ScenarioObject>
<ScenarioObject name="standing">
<Vehicle name="vehicle.volkswagen.t2" vehicleCategory="car">
<ParameterDeclarations/>
<Performance maxSpeed="69.444" maxAcceleration="200" maxDeceleration="10.0"/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2.1" length="4.5" height="1.8"/>
</BoundingBox>
<Axles>
<FrontAxle maxSteering="0.5" wheelDiameter="0.6" trackWidth="1.8" positionX="3.1" positionZ="0.3"/>
<RearAxle maxSteering="0.0" wheelDiameter="0.6" 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_32291">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_close_to_adversary_32292">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_close_to_standing_32293">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_close_to_hero_32294">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_close_to_standing_32295">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_close_to_standing_32296">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_w_transform_32297">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
</Entities>
<Storyboard>
<Init>
<Actions>
<GlobalAction>
<EnvironmentAction>
<Environment name="Environment1">
<TimeOfDay animation="false" dateTime="2019-06-25T12:00:00"/>
<Weather cloudState="free">
<Sun intensity="0.85" azimuth="0" elevation="1.31"/>
<Fog visualRange="100000.0"/>
<Precipitation precipitationType="dry" intensity="0.0"/>
</Weather>
<RoadCondition frictionScaleFactor="1.0"/>
</Environment>
</EnvironmentAction>
</GlobalAction>
<Private entityRef="hero">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-9.4" y="-152.8" z="0.5" h="1.57079632679"/>
</Position>
</TeleportAction>
</PrivateAction>
<PrivateAction>
<ControllerAction>
<AssignControllerAction>
<Controller name="HeroAgent">
<Properties>
<Property name="module" value="external_control"/>
</Properties>
</Controller>
</AssignControllerAction>
<OverrideControllerValueAction>
<Throttle value="0" active="false"/>
<Brake value="0" active="false"/>
<Clutch value="0" active="false"/>
<ParkingBrake value="0" active="false"/>
<SteeringWheel value="0" active="false"/>
<Gear number="0" active="false"/>
</OverrideControllerValueAction>
</ControllerAction>
</PrivateAction>
</Private>
<Private entityRef="adversary">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-9.4" y="-71.0" z="0.5" h="1.57079632679"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="standing">
<PrivateAction>
<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_32291">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-9.66307258605957" y="29.245521545410156" z="0.003083839314058423"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_close_to_adversary_32292">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-11.640359878540039" y="-70.52561950683594" z="0.03384334594011307"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_close_to_standing_32293">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-5.620533466339111" y="31.41122817993164" z="0.003093986539170146"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_close_to_hero_32294">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-9.322200775146484" y="-146.1190643310547" z="0.0017747879028320312"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_close_to_standing_32295">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-13.060768127441406" y="25.146276473999023" z="0.0030650710687041283"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_close_to_standing_32296">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-16.590259552001953" y="22.627805709838867" z="0.003038597060367465"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_w_transform_32297">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="33.59056091308594" y="-78.51651000976562" z="0.5"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
</Actions>
</Init>
<Story name="MyStory">
<Act name="Behavior">
<ManeuverGroup maximumExecutionCount="1" name="ManeuverSequence">
<Actors selectTriggeringEntities="false">
<EntityRef entityRef="adversary"/>
</Actors>
<Maneuver name="LaneChangeSimpleManeuver">
<Event name="AdversaryAccelerates" priority="overwrite">
<Action name="AdversaryAccelerates">
<PrivateAction>
<LongitudinalAction>
<SpeedAction>
<SpeedActionDynamics dynamicsShape="step" value="50" dynamicsDimension="distance"/>
<SpeedActionTarget>
<AbsoluteTargetSpeed value="5.0"/>
</SpeedActionTarget>
</SpeedAction>
</LongitudinalAction>
</PrivateAction>
</Action>
<StartTrigger>
<ConditionGroup>
<Condition name="StartCondition" delay="0" conditionEdge="rising">
<ByEntityCondition>
<TriggeringEntities triggeringEntitiesRule="any">
<EntityRef entityRef="hero"/>
</TriggeringEntities>
<EntityCondition>
<RelativeDistanceCondition entityRef="adversary" relativeDistanceType="cartesianDistance" value="40.0" freespace="false" rule="lessThan"/>
</EntityCondition>
</ByEntityCondition>
</Condition>
</ConditionGroup>
</StartTrigger>
</Event>
<Event name="AdversaryChangesLane" priority="overwrite">
<Action name="AdversaryChangesLane">
<PrivateAction>
<LateralAction>
<LaneChangeAction>
<LaneChangeActionDynamics dynamicsShape="linear" value="25" dynamicsDimension="distance"/>
<LaneChangeTarget>
<RelativeTargetLane entityRef="adversary" value="-1"/>
</LaneChangeTarget>
</LaneChangeAction>
</LateralAction>
</PrivateAction>
</Action>
<StartTrigger>
<ConditionGroup>
<Condition name="AfterAdversaryAccelerates" delay="0" conditionEdge="rising">
<ByValueCondition>
<StoryboardElementStateCondition storyboardElementType="action" storyboardElementRef="AdversaryAccelerates" state="completeState"/>
</ByValueCondition>
</Condition>
</ConditionGroup>
</StartTrigger>
</Event>
</Maneuver>
</ManeuverGroup>
<StartTrigger>
<ConditionGroup>
<Condition name="OverallStartCondition" delay="0" conditionEdge="rising">
<ByEntityCondition>
<TriggeringEntities triggeringEntitiesRule="any">
<EntityRef entityRef="hero"/>
</TriggeringEntities>
<EntityCondition>
<TraveledDistanceCondition value="1.0"/>
</EntityCondition>
</ByEntityCondition>
</Condition>
<Condition name="StartTime" delay="0" conditionEdge="rising">
<ByValueCondition>
<SimulationTimeCondition value="0" rule="equalTo"/>
</ByValueCondition>
</Condition>
</ConditionGroup>
</StartTrigger>
<StopTrigger>
<ConditionGroup>
<Condition name="EndCondition" delay="0" conditionEdge="rising">
<ByEntityCondition>
<TriggeringEntities triggeringEntitiesRule="any">
<EntityRef entityRef="hero"/>
</TriggeringEntities>
<EntityCondition>
<TraveledDistanceCondition value="200.0"/>
</EntityCondition>
</ByEntityCondition>
</Condition>
</ConditionGroup>
</StopTrigger>
</Act>
</Story>
<StopTrigger>
<ConditionGroup>
<Condition name="criteria_RunningStopTest" delay="0" conditionEdge="rising">
<ByValueCondition>
<ParameterCondition parameterRef="" value="" rule="lessThan"/>
</ByValueCondition>
</Condition>
<Condition name="criteria_RunningRedLightTest" delay="0" conditionEdge="rising">
<ByValueCondition>
<ParameterCondition parameterRef="" value="" rule="lessThan"/>
</ByValueCondition>
</Condition>
<Condition name="criteria_WrongLaneTest" delay="0" conditionEdge="rising">
<ByValueCondition>
<ParameterCondition parameterRef="" value="" rule="lessThan"/>
</ByValueCondition>
</Condition>
<Condition name="criteria_OnSidewalkTest" delay="0" conditionEdge="rising">
<ByValueCondition>
<ParameterCondition parameterRef="" value="" rule="lessThan"/>
</ByValueCondition>
</Condition>
<Condition name="criteria_KeepLaneTest" delay="0" conditionEdge="rising">
<ByValueCondition>
<ParameterCondition parameterRef="" value="" rule="lessThan"/>
</ByValueCondition>
</Condition>
<Condition name="criteria_CollisionTest" delay="0" conditionEdge="rising">
<ByValueCondition>
<ParameterCondition parameterRef="" value="" rule="lessThan"/>
</ByValueCondition>
</Condition>
<Condition name="criteria_DrivenDistanceTest" delay="0" conditionEdge="rising">
<ByValueCondition>
<ParameterCondition parameterRef="distance_success" value="100" rule="lessThan"/>
</ByValueCondition>
</Condition>
</ConditionGroup>
</StopTrigger>
</Storyboard>
</OpenSCENARIO>
``` |
i would like to ask you to add pedestrian at location (63.32, -33.86, 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_2666">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_w_transform_2668">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_close_to_adversary_2669">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_close_to_hero_2670">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_close_to_hero_2671">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_w_transform_2672">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_w_transform_2673">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_w_transform_2674">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_close_to_hero_2675">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_close_to_adversary_2676">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_close_to_hero_2677">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_w_transform_2678">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_close_to_adversary_2679">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_w_transform_2680">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
</Entities>
<Storyboard>
<Init>
<Actions>
<GlobalAction>
<EnvironmentAction>
<Environment name="Environment1">
<TimeOfDay animation="false" dateTime="2019-06-25T12:00:00"/>
<Weather cloudState="free">
<Sun intensity="0.85" azimuth="0" elevation="1.31"/>
<Fog visualRange="100000.0"/>
<Precipitation precipitationType="dry" intensity="0.0"/>
</Weather>
<RoadCondition frictionScaleFactor="1.0"/>
</Environment>
</EnvironmentAction>
</GlobalAction>
<Private entityRef="hero">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-9.4" y="-152.8" z="0.5" h="1.57079632679"/>
</Position>
</TeleportAction>
</PrivateAction>
<PrivateAction>
<ControllerAction>
<AssignControllerAction>
<Controller name="HeroAgent">
<Properties>
<Property name="module" value="external_control"/>
</Properties>
</Controller>
</AssignControllerAction>
<OverrideControllerValueAction>
<Throttle value="0" active="false"/>
<Brake value="0" active="false"/>
<Clutch value="0" active="false"/>
<ParkingBrake value="0" active="false"/>
<SteeringWheel value="0" active="false"/>
<Gear number="0" active="false"/>
</OverrideControllerValueAction>
</ControllerAction>
</PrivateAction>
</Private>
<Private entityRef="adversary">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-9.4" y="-71.0" z="0.5" h="1.57079632679"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="standing">
<PrivateAction>
<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_2666">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-8.548726081848145" y="-67.08390808105469" z="0.03375568240880966"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_w_transform_2668">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="26.389408111572266" y="24.24123191833496" z="0.5"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_close_to_adversary_2669">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-18.651321411132812" y="-78.6576156616211" z="0.03383655473589897"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_close_to_hero_2670">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-18.400537490844727" y="-161.12847900390625" z="0.001423797570168972"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_close_to_hero_2671">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-13.820158958435059" y="-157.73341369628906" z="0.001423797570168972"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_w_transform_2672">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-92.07530975341797" y="-70.60186004638672" z="0.5"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_w_transform_2673">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="94.00115966796875" y="85.37325286865234" z="0.5"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_w_transform_2674">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="79.30960845947266" y="15.049960136413574" z="0.5"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_close_to_hero_2675">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-14.962950706481934" y="-144.24461364746094" z="0.001423797570168972"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_close_to_adversary_2676">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-8.888466835021973" y="-73.36157989501953" z="0.033848609775304794"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_close_to_hero_2677">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-5.6022138595581055" y="-156.07376098632812" z="0.001423797570168972"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_w_transform_2678">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-77.49577331542969" y="10.407926559448242" z="0.5"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_close_to_adversary_2679">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-7.222518444061279" y="-63.78245544433594" z="0.033773764967918396"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_w_transform_2680">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="96.22657775878906" y="62.65320587158203" 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_2666">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_w_transform_2668">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_close_to_adversary_2669">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_close_to_hero_2670">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_close_to_hero_2671">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_w_transform_2672">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_w_transform_2673">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_w_transform_2674">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_close_to_hero_2675">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_close_to_adversary_2676">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_close_to_hero_2677">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_w_transform_2678">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_close_to_adversary_2679">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_w_transform_2680">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_w_transform_2681">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
</Entities>
<Storyboard>
<Init>
<Actions>
<GlobalAction>
<EnvironmentAction>
<Environment name="Environment1">
<TimeOfDay animation="false" dateTime="2019-06-25T12:00:00"/>
<Weather cloudState="free">
<Sun intensity="0.85" azimuth="0" elevation="1.31"/>
<Fog visualRange="100000.0"/>
<Precipitation precipitationType="dry" intensity="0.0"/>
</Weather>
<RoadCondition frictionScaleFactor="1.0"/>
</Environment>
</EnvironmentAction>
</GlobalAction>
<Private entityRef="hero">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-9.4" y="-152.8" z="0.5" h="1.57079632679"/>
</Position>
</TeleportAction>
</PrivateAction>
<PrivateAction>
<ControllerAction>
<AssignControllerAction>
<Controller name="HeroAgent">
<Properties>
<Property name="module" value="external_control"/>
</Properties>
</Controller>
</AssignControllerAction>
<OverrideControllerValueAction>
<Throttle value="0" active="false"/>
<Brake value="0" active="false"/>
<Clutch value="0" active="false"/>
<ParkingBrake value="0" active="false"/>
<SteeringWheel value="0" active="false"/>
<Gear number="0" active="false"/>
</OverrideControllerValueAction>
</ControllerAction>
</PrivateAction>
</Private>
<Private entityRef="adversary">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-9.4" y="-71.0" z="0.5" h="1.57079632679"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="standing">
<PrivateAction>
<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_2666">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-8.548726081848145" y="-67.08390808105469" z="0.03375568240880966"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_w_transform_2668">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="26.389408111572266" y="24.24123191833496" z="0.5"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_close_to_adversary_2669">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-18.651321411132812" y="-78.6576156616211" z="0.03383655473589897"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_close_to_hero_2670">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-18.400537490844727" y="-161.12847900390625" z="0.001423797570168972"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_close_to_hero_2671">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-13.820158958435059" y="-157.73341369628906" z="0.001423797570168972"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_w_transform_2672">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-92.07530975341797" y="-70.60186004638672" z="0.5"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_w_transform_2673">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="94.00115966796875" y="85.37325286865234" z="0.5"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_w_transform_2674">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="79.30960845947266" y="15.049960136413574" z="0.5"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_close_to_hero_2675">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-14.962950706481934" y="-144.24461364746094" z="0.001423797570168972"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_close_to_adversary_2676">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-8.888466835021973" y="-73.36157989501953" z="0.033848609775304794"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_close_to_hero_2677">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-5.6022138595581055" y="-156.07376098632812" z="0.001423797570168972"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_w_transform_2678">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-77.49577331542969" y="10.407926559448242" z="0.5"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_close_to_adversary_2679">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-7.222518444061279" y="-63.78245544433594" z="0.033773764967918396"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_w_transform_2680">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="96.22657775878906" y="62.65320587158203" z="0.5"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_w_transform_2681">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="63.31783676147461" y="-33.85778045654297" z="0.5"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
</Actions>
</Init>
<Story name="MyStory">
<Act name="Behavior">
<ManeuverGroup maximumExecutionCount="1" name="ManeuverSequence">
<Actors selectTriggeringEntities="false">
<EntityRef entityRef="adversary"/>
</Actors>
<Maneuver name="LaneChangeSimpleManeuver">
<Event name="AdversaryAccelerates" priority="overwrite">
<Action name="AdversaryAccelerates">
<PrivateAction>
<LongitudinalAction>
<SpeedAction>
<SpeedActionDynamics dynamicsShape="step" value="50" dynamicsDimension="distance"/>
<SpeedActionTarget>
<AbsoluteTargetSpeed value="5.0"/>
</SpeedActionTarget>
</SpeedAction>
</LongitudinalAction>
</PrivateAction>
</Action>
<StartTrigger>
<ConditionGroup>
<Condition name="StartCondition" delay="0" conditionEdge="rising">
<ByEntityCondition>
<TriggeringEntities triggeringEntitiesRule="any">
<EntityRef entityRef="hero"/>
</TriggeringEntities>
<EntityCondition>
<RelativeDistanceCondition entityRef="adversary" relativeDistanceType="cartesianDistance" value="40.0" freespace="false" rule="lessThan"/>
</EntityCondition>
</ByEntityCondition>
</Condition>
</ConditionGroup>
</StartTrigger>
</Event>
<Event name="AdversaryChangesLane" priority="overwrite">
<Action name="AdversaryChangesLane">
<PrivateAction>
<LateralAction>
<LaneChangeAction>
<LaneChangeActionDynamics dynamicsShape="linear" value="25" dynamicsDimension="distance"/>
<LaneChangeTarget>
<RelativeTargetLane entityRef="adversary" value="-1"/>
</LaneChangeTarget>
</LaneChangeAction>
</LateralAction>
</PrivateAction>
</Action>
<StartTrigger>
<ConditionGroup>
<Condition name="AfterAdversaryAccelerates" delay="0" conditionEdge="rising">
<ByValueCondition>
<StoryboardElementStateCondition storyboardElementType="action" storyboardElementRef="AdversaryAccelerates" state="completeState"/>
</ByValueCondition>
</Condition>
</ConditionGroup>
</StartTrigger>
</Event>
</Maneuver>
</ManeuverGroup>
<StartTrigger>
<ConditionGroup>
<Condition name="OverallStartCondition" delay="0" conditionEdge="rising">
<ByEntityCondition>
<TriggeringEntities triggeringEntitiesRule="any">
<EntityRef entityRef="hero"/>
</TriggeringEntities>
<EntityCondition>
<TraveledDistanceCondition value="1.0"/>
</EntityCondition>
</ByEntityCondition>
</Condition>
<Condition name="StartTime" delay="0" conditionEdge="rising">
<ByValueCondition>
<SimulationTimeCondition value="0" rule="equalTo"/>
</ByValueCondition>
</Condition>
</ConditionGroup>
</StartTrigger>
<StopTrigger>
<ConditionGroup>
<Condition name="EndCondition" delay="0" conditionEdge="rising">
<ByEntityCondition>
<TriggeringEntities triggeringEntitiesRule="any">
<EntityRef entityRef="hero"/>
</TriggeringEntities>
<EntityCondition>
<TraveledDistanceCondition value="200.0"/>
</EntityCondition>
</ByEntityCondition>
</Condition>
</ConditionGroup>
</StopTrigger>
</Act>
</Story>
<StopTrigger>
<ConditionGroup>
<Condition name="criteria_RunningStopTest" delay="0" conditionEdge="rising">
<ByValueCondition>
<ParameterCondition parameterRef="" value="" rule="lessThan"/>
</ByValueCondition>
</Condition>
<Condition name="criteria_RunningRedLightTest" delay="0" conditionEdge="rising">
<ByValueCondition>
<ParameterCondition parameterRef="" value="" rule="lessThan"/>
</ByValueCondition>
</Condition>
<Condition name="criteria_WrongLaneTest" delay="0" conditionEdge="rising">
<ByValueCondition>
<ParameterCondition parameterRef="" value="" rule="lessThan"/>
</ByValueCondition>
</Condition>
<Condition name="criteria_OnSidewalkTest" delay="0" conditionEdge="rising">
<ByValueCondition>
<ParameterCondition parameterRef="" value="" rule="lessThan"/>
</ByValueCondition>
</Condition>
<Condition name="criteria_KeepLaneTest" delay="0" conditionEdge="rising">
<ByValueCondition>
<ParameterCondition parameterRef="" value="" rule="lessThan"/>
</ByValueCondition>
</Condition>
<Condition name="criteria_CollisionTest" delay="0" conditionEdge="rising">
<ByValueCondition>
<ParameterCondition parameterRef="" value="" rule="lessThan"/>
</ByValueCondition>
</Condition>
<Condition name="criteria_DrivenDistanceTest" delay="0" conditionEdge="rising">
<ByValueCondition>
<ParameterCondition parameterRef="distance_success" value="100" rule="lessThan"/>
</ByValueCondition>
</Condition>
</ConditionGroup>
</StopTrigger>
</Storyboard>
</OpenSCENARIO>
``` |
i would like to direct you to add pedestrian close to 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_7856">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_w_transform_7857">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_close_to_adversary_7858">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_w_transform_7859">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_close_to_adversary_7860">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
</Entities>
<Storyboard>
<Init>
<Actions>
<GlobalAction>
<EnvironmentAction>
<Environment name="Environment1">
<TimeOfDay animation="false" dateTime="2019-06-25T12:00:00"/>
<Weather cloudState="free">
<Sun intensity="0.85" azimuth="0" elevation="1.31"/>
<Fog visualRange="100000.0"/>
<Precipitation precipitationType="dry" intensity="0.0"/>
</Weather>
<RoadCondition frictionScaleFactor="1.0"/>
</Environment>
</EnvironmentAction>
</GlobalAction>
<Private entityRef="hero">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-9.4" y="-152.8" z="0.5" h="1.57079632679"/>
</Position>
</TeleportAction>
</PrivateAction>
<PrivateAction>
<ControllerAction>
<AssignControllerAction>
<Controller name="HeroAgent">
<Properties>
<Property name="module" value="external_control"/>
</Properties>
</Controller>
</AssignControllerAction>
<OverrideControllerValueAction>
<Throttle value="0" active="false"/>
<Brake value="0" active="false"/>
<Clutch value="0" active="false"/>
<ParkingBrake value="0" active="false"/>
<SteeringWheel value="0" active="false"/>
<Gear number="0" active="false"/>
</OverrideControllerValueAction>
</ControllerAction>
</PrivateAction>
</Private>
<Private entityRef="adversary">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-9.4" y="-71.0" z="0.5" h="1.57079632679"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="standing">
<PrivateAction>
<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_7856">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-12.042798042297363" y="19.25865364074707" z="0.00309238419868052"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_w_transform_7857">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-64.52110290527344" y="-7.784206867218018" z="0.5"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_close_to_adversary_7858">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-7.702383518218994" y="-66.91108703613281" z="0.03378463536500931"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_w_transform_7859">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-55.5179443359375" y="72.42443084716797" z="0.5"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_close_to_adversary_7860">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-8.369987487792969" y="-70.86487579345703" z="0.03382221236824989"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
</Actions>
</Init>
<Story name="MyStory">
<Act name="Behavior">
<ManeuverGroup maximumExecutionCount="1" name="ManeuverSequence">
<Actors selectTriggeringEntities="false">
<EntityRef entityRef="adversary"/>
</Actors>
<Maneuver name="LaneChangeSimpleManeuver">
<Event name="AdversaryAccelerates" priority="overwrite">
<Action name="AdversaryAccelerates">
<PrivateAction>
<LongitudinalAction>
<SpeedAction>
<SpeedActionDynamics dynamicsShape="step" value="50" dynamicsDimension="distance"/>
<SpeedActionTarget>
<AbsoluteTargetSpeed value="5.0"/>
</SpeedActionTarget>
</SpeedAction>
</LongitudinalAction>
</PrivateAction>
</Action>
<StartTrigger>
<ConditionGroup>
<Condition name="StartCondition" delay="0" conditionEdge="rising">
<ByEntityCondition>
<TriggeringEntities triggeringEntitiesRule="any">
<EntityRef entityRef="hero"/>
</TriggeringEntities>
<EntityCondition>
<RelativeDistanceCondition entityRef="adversary" relativeDistanceType="cartesianDistance" value="40.0" freespace="false" rule="lessThan"/>
</EntityCondition>
</ByEntityCondition>
</Condition>
</ConditionGroup>
</StartTrigger>
</Event>
<Event name="AdversaryChangesLane" priority="overwrite">
<Action name="AdversaryChangesLane">
<PrivateAction>
<LateralAction>
<LaneChangeAction>
<LaneChangeActionDynamics dynamicsShape="linear" value="25" dynamicsDimension="distance"/>
<LaneChangeTarget>
<RelativeTargetLane entityRef="adversary" value="-1"/>
</LaneChangeTarget>
</LaneChangeAction>
</LateralAction>
</PrivateAction>
</Action>
<StartTrigger>
<ConditionGroup>
<Condition name="AfterAdversaryAccelerates" delay="0" conditionEdge="rising">
<ByValueCondition>
<StoryboardElementStateCondition storyboardElementType="action" storyboardElementRef="AdversaryAccelerates" state="completeState"/>
</ByValueCondition>
</Condition>
</ConditionGroup>
</StartTrigger>
</Event>
</Maneuver>
</ManeuverGroup>
<StartTrigger>
<ConditionGroup>
<Condition name="OverallStartCondition" delay="0" conditionEdge="rising">
<ByEntityCondition>
<TriggeringEntities triggeringEntitiesRule="any">
<EntityRef entityRef="hero"/>
</TriggeringEntities>
<EntityCondition>
<TraveledDistanceCondition value="1.0"/>
</EntityCondition>
</ByEntityCondition>
</Condition>
<Condition name="StartTime" delay="0" conditionEdge="rising">
<ByValueCondition>
<SimulationTimeCondition value="0" rule="equalTo"/>
</ByValueCondition>
</Condition>
</ConditionGroup>
</StartTrigger>
<StopTrigger>
<ConditionGroup>
<Condition name="EndCondition" delay="0" conditionEdge="rising">
<ByEntityCondition>
<TriggeringEntities triggeringEntitiesRule="any">
<EntityRef entityRef="hero"/>
</TriggeringEntities>
<EntityCondition>
<TraveledDistanceCondition value="200.0"/>
</EntityCondition>
</ByEntityCondition>
</Condition>
</ConditionGroup>
</StopTrigger>
</Act>
</Story>
<StopTrigger>
<ConditionGroup>
<Condition name="criteria_RunningStopTest" delay="0" conditionEdge="rising">
<ByValueCondition>
<ParameterCondition parameterRef="" value="" rule="lessThan"/>
</ByValueCondition>
</Condition>
<Condition name="criteria_RunningRedLightTest" delay="0" conditionEdge="rising">
<ByValueCondition>
<ParameterCondition parameterRef="" value="" rule="lessThan"/>
</ByValueCondition>
</Condition>
<Condition name="criteria_WrongLaneTest" delay="0" conditionEdge="rising">
<ByValueCondition>
<ParameterCondition parameterRef="" value="" rule="lessThan"/>
</ByValueCondition>
</Condition>
<Condition name="criteria_OnSidewalkTest" delay="0" conditionEdge="rising">
<ByValueCondition>
<ParameterCondition parameterRef="" value="" rule="lessThan"/>
</ByValueCondition>
</Condition>
<Condition name="criteria_KeepLaneTest" delay="0" conditionEdge="rising">
<ByValueCondition>
<ParameterCondition parameterRef="" value="" rule="lessThan"/>
</ByValueCondition>
</Condition>
<Condition name="criteria_CollisionTest" delay="0" conditionEdge="rising">
<ByValueCondition>
<ParameterCondition parameterRef="" value="" rule="lessThan"/>
</ByValueCondition>
</Condition>
<Condition name="criteria_DrivenDistanceTest" delay="0" conditionEdge="rising">
<ByValueCondition>
<ParameterCondition parameterRef="distance_success" value="100" rule="lessThan"/>
</ByValueCondition>
</Condition>
</ConditionGroup>
</StopTrigger>
</Storyboard>
</OpenSCENARIO>
``` | Here is the result:
```
<?xml version="1.0" ?>
<OpenSCENARIO>
<FileHeader revMajor="1" revMinor="0" date="2020-03-24T12:00:00" description="CARLA:LaneChangeSimple" author=""/>
<ParameterDeclarations/>
<CatalogLocations/>
<RoadNetwork>
<LogicFile filepath="Town04"/>
<SceneGraphFile filepath=""/>
</RoadNetwork>
<Entities>
<ScenarioObject name="hero">
<Vehicle name="vehicle.tesla.model3" vehicleCategory="car">
<ParameterDeclarations/>
<Performance maxSpeed="69.444" maxAcceleration="200" maxDeceleration="10.0"/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2.1" length="4.5" height="1.8"/>
</BoundingBox>
<Axles>
<FrontAxle maxSteering="0.5" wheelDiameter="0.6" trackWidth="1.8" positionX="3.1" positionZ="0.3"/>
<RearAxle maxSteering="0.0" wheelDiameter="0.6" trackWidth="1.8" positionX="0.0" positionZ="0.3"/>
</Axles>
<Properties>
<Property name="type" value="ego_vehicle"/>
</Properties>
</Vehicle>
</ScenarioObject>
<ScenarioObject name="adversary">
<Vehicle name="vehicle.lincoln.mkz_2017" vehicleCategory="car">
<ParameterDeclarations/>
<Performance maxSpeed="69.444" maxAcceleration="200" maxDeceleration="10.0"/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2.1" length="4.5" height="1.8"/>
</BoundingBox>
<Axles>
<FrontAxle maxSteering="0.5" wheelDiameter="0.6" trackWidth="1.8" positionX="3.1" positionZ="0.3"/>
<RearAxle maxSteering="0.0" wheelDiameter="0.6" trackWidth="1.8" positionX="0.0" positionZ="0.3"/>
</Axles>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Vehicle>
</ScenarioObject>
<ScenarioObject name="standing">
<Vehicle name="vehicle.volkswagen.t2" vehicleCategory="car">
<ParameterDeclarations/>
<Performance maxSpeed="69.444" maxAcceleration="200" maxDeceleration="10.0"/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2.1" length="4.5" height="1.8"/>
</BoundingBox>
<Axles>
<FrontAxle maxSteering="0.5" wheelDiameter="0.6" trackWidth="1.8" positionX="3.1" positionZ="0.3"/>
<RearAxle maxSteering="0.0" wheelDiameter="0.6" 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_7856">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_w_transform_7857">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_close_to_adversary_7858">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_w_transform_7859">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_close_to_adversary_7860">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_close_to_adversary_7861">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
</Entities>
<Storyboard>
<Init>
<Actions>
<GlobalAction>
<EnvironmentAction>
<Environment name="Environment1">
<TimeOfDay animation="false" dateTime="2019-06-25T12:00:00"/>
<Weather cloudState="free">
<Sun intensity="0.85" azimuth="0" elevation="1.31"/>
<Fog visualRange="100000.0"/>
<Precipitation precipitationType="dry" intensity="0.0"/>
</Weather>
<RoadCondition frictionScaleFactor="1.0"/>
</Environment>
</EnvironmentAction>
</GlobalAction>
<Private entityRef="hero">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-9.4" y="-152.8" z="0.5" h="1.57079632679"/>
</Position>
</TeleportAction>
</PrivateAction>
<PrivateAction>
<ControllerAction>
<AssignControllerAction>
<Controller name="HeroAgent">
<Properties>
<Property name="module" value="external_control"/>
</Properties>
</Controller>
</AssignControllerAction>
<OverrideControllerValueAction>
<Throttle value="0" active="false"/>
<Brake value="0" active="false"/>
<Clutch value="0" active="false"/>
<ParkingBrake value="0" active="false"/>
<SteeringWheel value="0" active="false"/>
<Gear number="0" active="false"/>
</OverrideControllerValueAction>
</ControllerAction>
</PrivateAction>
</Private>
<Private entityRef="adversary">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-9.4" y="-71.0" z="0.5" h="1.57079632679"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="standing">
<PrivateAction>
<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_7856">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-12.042798042297363" y="19.25865364074707" z="0.00309238419868052"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_w_transform_7857">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-64.52110290527344" y="-7.784206867218018" z="0.5"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_close_to_adversary_7858">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-7.702383518218994" y="-66.91108703613281" z="0.03378463536500931"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_w_transform_7859">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-55.5179443359375" y="72.42443084716797" z="0.5"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_close_to_adversary_7860">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-8.369987487792969" y="-70.86487579345703" z="0.03382221236824989"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_close_to_adversary_7861">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-18.147750854492188" y="-78.57506561279297" z="0.03382587432861328"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
</Actions>
</Init>
<Story name="MyStory">
<Act name="Behavior">
<ManeuverGroup maximumExecutionCount="1" name="ManeuverSequence">
<Actors selectTriggeringEntities="false">
<EntityRef entityRef="adversary"/>
</Actors>
<Maneuver name="LaneChangeSimpleManeuver">
<Event name="AdversaryAccelerates" priority="overwrite">
<Action name="AdversaryAccelerates">
<PrivateAction>
<LongitudinalAction>
<SpeedAction>
<SpeedActionDynamics dynamicsShape="step" value="50" dynamicsDimension="distance"/>
<SpeedActionTarget>
<AbsoluteTargetSpeed value="5.0"/>
</SpeedActionTarget>
</SpeedAction>
</LongitudinalAction>
</PrivateAction>
</Action>
<StartTrigger>
<ConditionGroup>
<Condition name="StartCondition" delay="0" conditionEdge="rising">
<ByEntityCondition>
<TriggeringEntities triggeringEntitiesRule="any">
<EntityRef entityRef="hero"/>
</TriggeringEntities>
<EntityCondition>
<RelativeDistanceCondition entityRef="adversary" relativeDistanceType="cartesianDistance" value="40.0" freespace="false" rule="lessThan"/>
</EntityCondition>
</ByEntityCondition>
</Condition>
</ConditionGroup>
</StartTrigger>
</Event>
<Event name="AdversaryChangesLane" priority="overwrite">
<Action name="AdversaryChangesLane">
<PrivateAction>
<LateralAction>
<LaneChangeAction>
<LaneChangeActionDynamics dynamicsShape="linear" value="25" dynamicsDimension="distance"/>
<LaneChangeTarget>
<RelativeTargetLane entityRef="adversary" value="-1"/>
</LaneChangeTarget>
</LaneChangeAction>
</LateralAction>
</PrivateAction>
</Action>
<StartTrigger>
<ConditionGroup>
<Condition name="AfterAdversaryAccelerates" delay="0" conditionEdge="rising">
<ByValueCondition>
<StoryboardElementStateCondition storyboardElementType="action" storyboardElementRef="AdversaryAccelerates" state="completeState"/>
</ByValueCondition>
</Condition>
</ConditionGroup>
</StartTrigger>
</Event>
</Maneuver>
</ManeuverGroup>
<StartTrigger>
<ConditionGroup>
<Condition name="OverallStartCondition" delay="0" conditionEdge="rising">
<ByEntityCondition>
<TriggeringEntities triggeringEntitiesRule="any">
<EntityRef entityRef="hero"/>
</TriggeringEntities>
<EntityCondition>
<TraveledDistanceCondition value="1.0"/>
</EntityCondition>
</ByEntityCondition>
</Condition>
<Condition name="StartTime" delay="0" conditionEdge="rising">
<ByValueCondition>
<SimulationTimeCondition value="0" rule="equalTo"/>
</ByValueCondition>
</Condition>
</ConditionGroup>
</StartTrigger>
<StopTrigger>
<ConditionGroup>
<Condition name="EndCondition" delay="0" conditionEdge="rising">
<ByEntityCondition>
<TriggeringEntities triggeringEntitiesRule="any">
<EntityRef entityRef="hero"/>
</TriggeringEntities>
<EntityCondition>
<TraveledDistanceCondition value="200.0"/>
</EntityCondition>
</ByEntityCondition>
</Condition>
</ConditionGroup>
</StopTrigger>
</Act>
</Story>
<StopTrigger>
<ConditionGroup>
<Condition name="criteria_RunningStopTest" delay="0" conditionEdge="rising">
<ByValueCondition>
<ParameterCondition parameterRef="" value="" rule="lessThan"/>
</ByValueCondition>
</Condition>
<Condition name="criteria_RunningRedLightTest" delay="0" conditionEdge="rising">
<ByValueCondition>
<ParameterCondition parameterRef="" value="" rule="lessThan"/>
</ByValueCondition>
</Condition>
<Condition name="criteria_WrongLaneTest" delay="0" conditionEdge="rising">
<ByValueCondition>
<ParameterCondition parameterRef="" value="" rule="lessThan"/>
</ByValueCondition>
</Condition>
<Condition name="criteria_OnSidewalkTest" delay="0" conditionEdge="rising">
<ByValueCondition>
<ParameterCondition parameterRef="" value="" rule="lessThan"/>
</ByValueCondition>
</Condition>
<Condition name="criteria_KeepLaneTest" delay="0" conditionEdge="rising">
<ByValueCondition>
<ParameterCondition parameterRef="" value="" rule="lessThan"/>
</ByValueCondition>
</Condition>
<Condition name="criteria_CollisionTest" delay="0" conditionEdge="rising">
<ByValueCondition>
<ParameterCondition parameterRef="" value="" rule="lessThan"/>
</ByValueCondition>
</Condition>
<Condition name="criteria_DrivenDistanceTest" delay="0" conditionEdge="rising">
<ByValueCondition>
<ParameterCondition parameterRef="distance_success" value="100" rule="lessThan"/>
</ByValueCondition>
</Condition>
</ConditionGroup>
</StopTrigger>
</Storyboard>
</OpenSCENARIO>
``` |
i would like to instruct you to add pedestrian at location (2.31, -72.8, 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_hero_11226">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_w_transform_11227">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_w_transform_11228">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_w_transform_11230">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
</Entities>
<Storyboard>
<Init>
<Actions>
<GlobalAction>
<EnvironmentAction>
<Environment name="Environment1">
<TimeOfDay animation="false" dateTime="2019-06-25T12:00:00"/>
<Weather cloudState="free">
<Sun intensity="0.85" azimuth="0" elevation="1.31"/>
<Fog visualRange="100000.0"/>
<Precipitation precipitationType="dry" intensity="0.0"/>
</Weather>
<RoadCondition frictionScaleFactor="1.0"/>
</Environment>
</EnvironmentAction>
</GlobalAction>
<Private entityRef="hero">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-9.4" y="-152.8" z="0.5" h="1.57079632679"/>
</Position>
</TeleportAction>
</PrivateAction>
<PrivateAction>
<ControllerAction>
<AssignControllerAction>
<Controller name="HeroAgent">
<Properties>
<Property name="module" value="external_control"/>
</Properties>
</Controller>
</AssignControllerAction>
<OverrideControllerValueAction>
<Throttle value="0" active="false"/>
<Brake value="0" active="false"/>
<Clutch value="0" active="false"/>
<ParkingBrake value="0" active="false"/>
<SteeringWheel value="0" active="false"/>
<Gear number="0" active="false"/>
</OverrideControllerValueAction>
</ControllerAction>
</PrivateAction>
</Private>
<Private entityRef="adversary">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-9.4" y="-71.0" z="0.5" h="1.57079632679"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="standing">
<PrivateAction>
<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_11226">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-7.922987461090088" y="-149.5792999267578" z="0.0020974730141460896"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_w_transform_11227">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-17.13519287109375" y="-59.677520751953125" z="0.5"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_w_transform_11228">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="29.057096481323242" y="30.283138275146484" z="0.5"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_w_transform_11230">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="67.32566833496094" y="-37.64208984375" 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_11226">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_w_transform_11227">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_w_transform_11228">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_w_transform_11230">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_w_transform_11231">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
</Entities>
<Storyboard>
<Init>
<Actions>
<GlobalAction>
<EnvironmentAction>
<Environment name="Environment1">
<TimeOfDay animation="false" dateTime="2019-06-25T12:00:00"/>
<Weather cloudState="free">
<Sun intensity="0.85" azimuth="0" elevation="1.31"/>
<Fog visualRange="100000.0"/>
<Precipitation precipitationType="dry" intensity="0.0"/>
</Weather>
<RoadCondition frictionScaleFactor="1.0"/>
</Environment>
</EnvironmentAction>
</GlobalAction>
<Private entityRef="hero">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-9.4" y="-152.8" z="0.5" h="1.57079632679"/>
</Position>
</TeleportAction>
</PrivateAction>
<PrivateAction>
<ControllerAction>
<AssignControllerAction>
<Controller name="HeroAgent">
<Properties>
<Property name="module" value="external_control"/>
</Properties>
</Controller>
</AssignControllerAction>
<OverrideControllerValueAction>
<Throttle value="0" active="false"/>
<Brake value="0" active="false"/>
<Clutch value="0" active="false"/>
<ParkingBrake value="0" active="false"/>
<SteeringWheel value="0" active="false"/>
<Gear number="0" active="false"/>
</OverrideControllerValueAction>
</ControllerAction>
</PrivateAction>
</Private>
<Private entityRef="adversary">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-9.4" y="-71.0" z="0.5" h="1.57079632679"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="standing">
<PrivateAction>
<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_11226">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-7.922987461090088" y="-149.5792999267578" z="0.0020974730141460896"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_w_transform_11227">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-17.13519287109375" y="-59.677520751953125" z="0.5"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_w_transform_11228">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="29.057096481323242" y="30.283138275146484" z="0.5"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_w_transform_11230">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="67.32566833496094" y="-37.64208984375" z="0.5"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_w_transform_11231">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="2.31320858001709" y="-72.79882049560547" 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 (-72.0, -58.42, 0.5)?
```
<?xml version="1.0" ?>
<OpenSCENARIO>
<FileHeader revMajor="1" revMinor="0" date="2020-03-24T12:00:00" description="CARLA:LaneChangeSimple" author=""/>
<ParameterDeclarations/>
<CatalogLocations/>
<RoadNetwork>
<LogicFile filepath="Town04"/>
<SceneGraphFile filepath=""/>
</RoadNetwork>
<Entities>
<ScenarioObject name="hero">
<Vehicle name="vehicle.tesla.model3" vehicleCategory="car">
<ParameterDeclarations/>
<Performance maxSpeed="69.444" maxAcceleration="200" maxDeceleration="10.0"/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2.1" length="4.5" height="1.8"/>
</BoundingBox>
<Axles>
<FrontAxle maxSteering="0.5" wheelDiameter="0.6" trackWidth="1.8" positionX="3.1" positionZ="0.3"/>
<RearAxle maxSteering="0.0" wheelDiameter="0.6" trackWidth="1.8" positionX="0.0" positionZ="0.3"/>
</Axles>
<Properties>
<Property name="type" value="ego_vehicle"/>
</Properties>
</Vehicle>
</ScenarioObject>
<ScenarioObject name="adversary">
<Vehicle name="vehicle.lincoln.mkz_2017" vehicleCategory="car">
<ParameterDeclarations/>
<Performance maxSpeed="69.444" maxAcceleration="200" maxDeceleration="10.0"/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2.1" length="4.5" height="1.8"/>
</BoundingBox>
<Axles>
<FrontAxle maxSteering="0.5" wheelDiameter="0.6" trackWidth="1.8" positionX="3.1" positionZ="0.3"/>
<RearAxle maxSteering="0.0" wheelDiameter="0.6" trackWidth="1.8" positionX="0.0" positionZ="0.3"/>
</Axles>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Vehicle>
</ScenarioObject>
<ScenarioObject name="standing">
<Vehicle name="vehicle.volkswagen.t2" vehicleCategory="car">
<ParameterDeclarations/>
<Performance maxSpeed="69.444" maxAcceleration="200" maxDeceleration="10.0"/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2.1" length="4.5" height="1.8"/>
</BoundingBox>
<Axles>
<FrontAxle maxSteering="0.5" wheelDiameter="0.6" trackWidth="1.8" positionX="3.1" positionZ="0.3"/>
<RearAxle maxSteering="0.0" wheelDiameter="0.6" trackWidth="1.8" positionX="0.0" positionZ="0.3"/>
</Axles>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Vehicle>
</ScenarioObject>
<ScenarioObject name="pedestrian_close_to_hero_26987">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_w_transform_26988">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
</Entities>
<Storyboard>
<Init>
<Actions>
<GlobalAction>
<EnvironmentAction>
<Environment name="Environment1">
<TimeOfDay animation="false" dateTime="2019-06-25T12:00:00"/>
<Weather cloudState="free">
<Sun intensity="0.85" azimuth="0" elevation="1.31"/>
<Fog visualRange="100000.0"/>
<Precipitation precipitationType="dry" intensity="0.0"/>
</Weather>
<RoadCondition frictionScaleFactor="1.0"/>
</Environment>
</EnvironmentAction>
</GlobalAction>
<Private entityRef="hero">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-9.4" y="-152.8" z="0.5" h="1.57079632679"/>
</Position>
</TeleportAction>
</PrivateAction>
<PrivateAction>
<ControllerAction>
<AssignControllerAction>
<Controller name="HeroAgent">
<Properties>
<Property name="module" value="external_control"/>
</Properties>
</Controller>
</AssignControllerAction>
<OverrideControllerValueAction>
<Throttle value="0" active="false"/>
<Brake value="0" active="false"/>
<Clutch value="0" active="false"/>
<ParkingBrake value="0" active="false"/>
<SteeringWheel value="0" active="false"/>
<Gear number="0" active="false"/>
</OverrideControllerValueAction>
</ControllerAction>
</PrivateAction>
</Private>
<Private entityRef="adversary">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-9.4" y="-71.0" z="0.5" h="1.57079632679"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="standing">
<PrivateAction>
<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_26987">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-6.280301094055176" y="-155.15554809570312" z="0.0020974730141460896"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_w_transform_26988">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="95.82982635498047" y="48.03606414794922" 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_26987">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_w_transform_26988">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_w_transform_26989">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
</Entities>
<Storyboard>
<Init>
<Actions>
<GlobalAction>
<EnvironmentAction>
<Environment name="Environment1">
<TimeOfDay animation="false" dateTime="2019-06-25T12:00:00"/>
<Weather cloudState="free">
<Sun intensity="0.85" azimuth="0" elevation="1.31"/>
<Fog visualRange="100000.0"/>
<Precipitation precipitationType="dry" intensity="0.0"/>
</Weather>
<RoadCondition frictionScaleFactor="1.0"/>
</Environment>
</EnvironmentAction>
</GlobalAction>
<Private entityRef="hero">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-9.4" y="-152.8" z="0.5" h="1.57079632679"/>
</Position>
</TeleportAction>
</PrivateAction>
<PrivateAction>
<ControllerAction>
<AssignControllerAction>
<Controller name="HeroAgent">
<Properties>
<Property name="module" value="external_control"/>
</Properties>
</Controller>
</AssignControllerAction>
<OverrideControllerValueAction>
<Throttle value="0" active="false"/>
<Brake value="0" active="false"/>
<Clutch value="0" active="false"/>
<ParkingBrake value="0" active="false"/>
<SteeringWheel value="0" active="false"/>
<Gear number="0" active="false"/>
</OverrideControllerValueAction>
</ControllerAction>
</PrivateAction>
</Private>
<Private entityRef="adversary">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-9.4" y="-71.0" z="0.5" h="1.57079632679"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="standing">
<PrivateAction>
<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_26987">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-6.280301094055176" y="-155.15554809570312" z="0.0020974730141460896"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_w_transform_26988">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="95.82982635498047" y="48.03606414794922" z="0.5"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_w_transform_26989">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-72.00418853759766" y="-58.41581726074219" 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_adversary_7439">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_w_transform_7440">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
</Entities>
<Storyboard>
<Init>
<Actions>
<GlobalAction>
<EnvironmentAction>
<Environment name="Environment1">
<TimeOfDay animation="false" dateTime="2019-06-25T12:00:00"/>
<Weather cloudState="free">
<Sun intensity="0.85" azimuth="0" elevation="1.31"/>
<Fog visualRange="100000.0"/>
<Precipitation precipitationType="dry" intensity="0.0"/>
</Weather>
<RoadCondition frictionScaleFactor="1.0"/>
</Environment>
</EnvironmentAction>
</GlobalAction>
<Private entityRef="hero">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-9.4" y="-152.8" z="0.5" h="1.57079632679"/>
</Position>
</TeleportAction>
</PrivateAction>
<PrivateAction>
<ControllerAction>
<AssignControllerAction>
<Controller name="HeroAgent">
<Properties>
<Property name="module" value="external_control"/>
</Properties>
</Controller>
</AssignControllerAction>
<OverrideControllerValueAction>
<Throttle value="0" active="false"/>
<Brake value="0" active="false"/>
<Clutch value="0" active="false"/>
<ParkingBrake value="0" active="false"/>
<SteeringWheel value="0" active="false"/>
<Gear number="0" active="false"/>
</OverrideControllerValueAction>
</ControllerAction>
</PrivateAction>
</Private>
<Private entityRef="adversary">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-9.4" y="-71.0" z="0.5" h="1.57079632679"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="standing">
<PrivateAction>
<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_7439">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-4.918386936187744" y="-65.56419372558594" z="0.03377826511859894"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_w_transform_7440">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="39.22060012817383" y="7.44074821472168" 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_7439">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_w_transform_7440">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_close_to_standing_7441">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
</Entities>
<Storyboard>
<Init>
<Actions>
<GlobalAction>
<EnvironmentAction>
<Environment name="Environment1">
<TimeOfDay animation="false" dateTime="2019-06-25T12:00:00"/>
<Weather cloudState="free">
<Sun intensity="0.85" azimuth="0" elevation="1.31"/>
<Fog visualRange="100000.0"/>
<Precipitation precipitationType="dry" intensity="0.0"/>
</Weather>
<RoadCondition frictionScaleFactor="1.0"/>
</Environment>
</EnvironmentAction>
</GlobalAction>
<Private entityRef="hero">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-9.4" y="-152.8" z="0.5" h="1.57079632679"/>
</Position>
</TeleportAction>
</PrivateAction>
<PrivateAction>
<ControllerAction>
<AssignControllerAction>
<Controller name="HeroAgent">
<Properties>
<Property name="module" value="external_control"/>
</Properties>
</Controller>
</AssignControllerAction>
<OverrideControllerValueAction>
<Throttle value="0" active="false"/>
<Brake value="0" active="false"/>
<Clutch value="0" active="false"/>
<ParkingBrake value="0" active="false"/>
<SteeringWheel value="0" active="false"/>
<Gear number="0" active="false"/>
</OverrideControllerValueAction>
</ControllerAction>
</PrivateAction>
</Private>
<Private entityRef="adversary">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-9.4" y="-71.0" z="0.5" h="1.57079632679"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="standing">
<PrivateAction>
<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_7439">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-4.918386936187744" y="-65.56419372558594" z="0.03377826511859894"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_w_transform_7440">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="39.22060012817383" y="7.44074821472168" z="0.5"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_close_to_standing_7441">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-8.512642860412598" y="39.157466888427734" z="0.0030357360374182463"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
</Actions>
</Init>
<Story name="MyStory">
<Act name="Behavior">
<ManeuverGroup maximumExecutionCount="1" name="ManeuverSequence">
<Actors selectTriggeringEntities="false">
<EntityRef entityRef="adversary"/>
</Actors>
<Maneuver name="LaneChangeSimpleManeuver">
<Event name="AdversaryAccelerates" priority="overwrite">
<Action name="AdversaryAccelerates">
<PrivateAction>
<LongitudinalAction>
<SpeedAction>
<SpeedActionDynamics dynamicsShape="step" value="50" dynamicsDimension="distance"/>
<SpeedActionTarget>
<AbsoluteTargetSpeed value="5.0"/>
</SpeedActionTarget>
</SpeedAction>
</LongitudinalAction>
</PrivateAction>
</Action>
<StartTrigger>
<ConditionGroup>
<Condition name="StartCondition" delay="0" conditionEdge="rising">
<ByEntityCondition>
<TriggeringEntities triggeringEntitiesRule="any">
<EntityRef entityRef="hero"/>
</TriggeringEntities>
<EntityCondition>
<RelativeDistanceCondition entityRef="adversary" relativeDistanceType="cartesianDistance" value="40.0" freespace="false" rule="lessThan"/>
</EntityCondition>
</ByEntityCondition>
</Condition>
</ConditionGroup>
</StartTrigger>
</Event>
<Event name="AdversaryChangesLane" priority="overwrite">
<Action name="AdversaryChangesLane">
<PrivateAction>
<LateralAction>
<LaneChangeAction>
<LaneChangeActionDynamics dynamicsShape="linear" value="25" dynamicsDimension="distance"/>
<LaneChangeTarget>
<RelativeTargetLane entityRef="adversary" value="-1"/>
</LaneChangeTarget>
</LaneChangeAction>
</LateralAction>
</PrivateAction>
</Action>
<StartTrigger>
<ConditionGroup>
<Condition name="AfterAdversaryAccelerates" delay="0" conditionEdge="rising">
<ByValueCondition>
<StoryboardElementStateCondition storyboardElementType="action" storyboardElementRef="AdversaryAccelerates" state="completeState"/>
</ByValueCondition>
</Condition>
</ConditionGroup>
</StartTrigger>
</Event>
</Maneuver>
</ManeuverGroup>
<StartTrigger>
<ConditionGroup>
<Condition name="OverallStartCondition" delay="0" conditionEdge="rising">
<ByEntityCondition>
<TriggeringEntities triggeringEntitiesRule="any">
<EntityRef entityRef="hero"/>
</TriggeringEntities>
<EntityCondition>
<TraveledDistanceCondition value="1.0"/>
</EntityCondition>
</ByEntityCondition>
</Condition>
<Condition name="StartTime" delay="0" conditionEdge="rising">
<ByValueCondition>
<SimulationTimeCondition value="0" rule="equalTo"/>
</ByValueCondition>
</Condition>
</ConditionGroup>
</StartTrigger>
<StopTrigger>
<ConditionGroup>
<Condition name="EndCondition" delay="0" conditionEdge="rising">
<ByEntityCondition>
<TriggeringEntities triggeringEntitiesRule="any">
<EntityRef entityRef="hero"/>
</TriggeringEntities>
<EntityCondition>
<TraveledDistanceCondition value="200.0"/>
</EntityCondition>
</ByEntityCondition>
</Condition>
</ConditionGroup>
</StopTrigger>
</Act>
</Story>
<StopTrigger>
<ConditionGroup>
<Condition name="criteria_RunningStopTest" delay="0" conditionEdge="rising">
<ByValueCondition>
<ParameterCondition parameterRef="" value="" rule="lessThan"/>
</ByValueCondition>
</Condition>
<Condition name="criteria_RunningRedLightTest" delay="0" conditionEdge="rising">
<ByValueCondition>
<ParameterCondition parameterRef="" value="" rule="lessThan"/>
</ByValueCondition>
</Condition>
<Condition name="criteria_WrongLaneTest" delay="0" conditionEdge="rising">
<ByValueCondition>
<ParameterCondition parameterRef="" value="" rule="lessThan"/>
</ByValueCondition>
</Condition>
<Condition name="criteria_OnSidewalkTest" delay="0" conditionEdge="rising">
<ByValueCondition>
<ParameterCondition parameterRef="" value="" rule="lessThan"/>
</ByValueCondition>
</Condition>
<Condition name="criteria_KeepLaneTest" delay="0" conditionEdge="rising">
<ByValueCondition>
<ParameterCondition parameterRef="" value="" rule="lessThan"/>
</ByValueCondition>
</Condition>
<Condition name="criteria_CollisionTest" delay="0" conditionEdge="rising">
<ByValueCondition>
<ParameterCondition parameterRef="" value="" rule="lessThan"/>
</ByValueCondition>
</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 (24.17, 8.07, 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_10042">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
</Entities>
<Storyboard>
<Init>
<Actions>
<GlobalAction>
<EnvironmentAction>
<Environment name="Environment1">
<TimeOfDay animation="false" dateTime="2019-06-25T12:00:00"/>
<Weather cloudState="free">
<Sun intensity="0.85" azimuth="0" elevation="1.31"/>
<Fog visualRange="100000.0"/>
<Precipitation precipitationType="dry" intensity="0.0"/>
</Weather>
<RoadCondition frictionScaleFactor="1.0"/>
</Environment>
</EnvironmentAction>
</GlobalAction>
<Private entityRef="hero">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-9.4" y="-152.8" z="0.5" h="1.57079632679"/>
</Position>
</TeleportAction>
</PrivateAction>
<PrivateAction>
<ControllerAction>
<AssignControllerAction>
<Controller name="HeroAgent">
<Properties>
<Property name="module" value="external_control"/>
</Properties>
</Controller>
</AssignControllerAction>
<OverrideControllerValueAction>
<Throttle value="0" active="false"/>
<Brake value="0" active="false"/>
<Clutch value="0" active="false"/>
<ParkingBrake value="0" active="false"/>
<SteeringWheel value="0" active="false"/>
<Gear number="0" active="false"/>
</OverrideControllerValueAction>
</ControllerAction>
</PrivateAction>
</Private>
<Private entityRef="adversary">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-9.4" y="-71.0" z="0.5" h="1.57079632679"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="standing">
<PrivateAction>
<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_10042">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-16.89320945739746" y="-71.52574920654297" z="0.033803023397922516"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
</Actions>
</Init>
<Story name="MyStory">
<Act name="Behavior">
<ManeuverGroup maximumExecutionCount="1" name="ManeuverSequence">
<Actors selectTriggeringEntities="false">
<EntityRef entityRef="adversary"/>
</Actors>
<Maneuver name="LaneChangeSimpleManeuver">
<Event name="AdversaryAccelerates" priority="overwrite">
<Action name="AdversaryAccelerates">
<PrivateAction>
<LongitudinalAction>
<SpeedAction>
<SpeedActionDynamics dynamicsShape="step" value="50" dynamicsDimension="distance"/>
<SpeedActionTarget>
<AbsoluteTargetSpeed value="5.0"/>
</SpeedActionTarget>
</SpeedAction>
</LongitudinalAction>
</PrivateAction>
</Action>
<StartTrigger>
<ConditionGroup>
<Condition name="StartCondition" delay="0" conditionEdge="rising">
<ByEntityCondition>
<TriggeringEntities triggeringEntitiesRule="any">
<EntityRef entityRef="hero"/>
</TriggeringEntities>
<EntityCondition>
<RelativeDistanceCondition entityRef="adversary" relativeDistanceType="cartesianDistance" value="40.0" freespace="false" rule="lessThan"/>
</EntityCondition>
</ByEntityCondition>
</Condition>
</ConditionGroup>
</StartTrigger>
</Event>
<Event name="AdversaryChangesLane" priority="overwrite">
<Action name="AdversaryChangesLane">
<PrivateAction>
<LateralAction>
<LaneChangeAction>
<LaneChangeActionDynamics dynamicsShape="linear" value="25" dynamicsDimension="distance"/>
<LaneChangeTarget>
<RelativeTargetLane entityRef="adversary" value="-1"/>
</LaneChangeTarget>
</LaneChangeAction>
</LateralAction>
</PrivateAction>
</Action>
<StartTrigger>
<ConditionGroup>
<Condition name="AfterAdversaryAccelerates" delay="0" conditionEdge="rising">
<ByValueCondition>
<StoryboardElementStateCondition storyboardElementType="action" storyboardElementRef="AdversaryAccelerates" state="completeState"/>
</ByValueCondition>
</Condition>
</ConditionGroup>
</StartTrigger>
</Event>
</Maneuver>
</ManeuverGroup>
<StartTrigger>
<ConditionGroup>
<Condition name="OverallStartCondition" delay="0" conditionEdge="rising">
<ByEntityCondition>
<TriggeringEntities triggeringEntitiesRule="any">
<EntityRef entityRef="hero"/>
</TriggeringEntities>
<EntityCondition>
<TraveledDistanceCondition value="1.0"/>
</EntityCondition>
</ByEntityCondition>
</Condition>
<Condition name="StartTime" delay="0" conditionEdge="rising">
<ByValueCondition>
<SimulationTimeCondition value="0" rule="equalTo"/>
</ByValueCondition>
</Condition>
</ConditionGroup>
</StartTrigger>
<StopTrigger>
<ConditionGroup>
<Condition name="EndCondition" delay="0" conditionEdge="rising">
<ByEntityCondition>
<TriggeringEntities triggeringEntitiesRule="any">
<EntityRef entityRef="hero"/>
</TriggeringEntities>
<EntityCondition>
<TraveledDistanceCondition value="200.0"/>
</EntityCondition>
</ByEntityCondition>
</Condition>
</ConditionGroup>
</StopTrigger>
</Act>
</Story>
<StopTrigger>
<ConditionGroup>
<Condition name="criteria_RunningStopTest" delay="0" conditionEdge="rising">
<ByValueCondition>
<ParameterCondition parameterRef="" value="" rule="lessThan"/>
</ByValueCondition>
</Condition>
<Condition name="criteria_RunningRedLightTest" delay="0" conditionEdge="rising">
<ByValueCondition>
<ParameterCondition parameterRef="" value="" rule="lessThan"/>
</ByValueCondition>
</Condition>
<Condition name="criteria_WrongLaneTest" delay="0" conditionEdge="rising">
<ByValueCondition>
<ParameterCondition parameterRef="" value="" rule="lessThan"/>
</ByValueCondition>
</Condition>
<Condition name="criteria_OnSidewalkTest" delay="0" conditionEdge="rising">
<ByValueCondition>
<ParameterCondition parameterRef="" value="" rule="lessThan"/>
</ByValueCondition>
</Condition>
<Condition name="criteria_KeepLaneTest" delay="0" conditionEdge="rising">
<ByValueCondition>
<ParameterCondition parameterRef="" value="" rule="lessThan"/>
</ByValueCondition>
</Condition>
<Condition name="criteria_CollisionTest" delay="0" conditionEdge="rising">
<ByValueCondition>
<ParameterCondition parameterRef="" value="" rule="lessThan"/>
</ByValueCondition>
</Condition>
<Condition name="criteria_DrivenDistanceTest" delay="0" conditionEdge="rising">
<ByValueCondition>
<ParameterCondition parameterRef="distance_success" value="100" rule="lessThan"/>
</ByValueCondition>
</Condition>
</ConditionGroup>
</StopTrigger>
</Storyboard>
</OpenSCENARIO>
``` | Here is the result:
```
<?xml version="1.0" ?>
<OpenSCENARIO>
<FileHeader revMajor="1" revMinor="0" date="2020-03-24T12:00:00" description="CARLA:LaneChangeSimple" author=""/>
<ParameterDeclarations/>
<CatalogLocations/>
<RoadNetwork>
<LogicFile filepath="Town04"/>
<SceneGraphFile filepath=""/>
</RoadNetwork>
<Entities>
<ScenarioObject name="hero">
<Vehicle name="vehicle.tesla.model3" vehicleCategory="car">
<ParameterDeclarations/>
<Performance maxSpeed="69.444" maxAcceleration="200" maxDeceleration="10.0"/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2.1" length="4.5" height="1.8"/>
</BoundingBox>
<Axles>
<FrontAxle maxSteering="0.5" wheelDiameter="0.6" trackWidth="1.8" positionX="3.1" positionZ="0.3"/>
<RearAxle maxSteering="0.0" wheelDiameter="0.6" trackWidth="1.8" positionX="0.0" positionZ="0.3"/>
</Axles>
<Properties>
<Property name="type" value="ego_vehicle"/>
</Properties>
</Vehicle>
</ScenarioObject>
<ScenarioObject name="adversary">
<Vehicle name="vehicle.lincoln.mkz_2017" vehicleCategory="car">
<ParameterDeclarations/>
<Performance maxSpeed="69.444" maxAcceleration="200" maxDeceleration="10.0"/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2.1" length="4.5" height="1.8"/>
</BoundingBox>
<Axles>
<FrontAxle maxSteering="0.5" wheelDiameter="0.6" trackWidth="1.8" positionX="3.1" positionZ="0.3"/>
<RearAxle maxSteering="0.0" wheelDiameter="0.6" trackWidth="1.8" positionX="0.0" positionZ="0.3"/>
</Axles>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Vehicle>
</ScenarioObject>
<ScenarioObject name="standing">
<Vehicle name="vehicle.volkswagen.t2" vehicleCategory="car">
<ParameterDeclarations/>
<Performance maxSpeed="69.444" maxAcceleration="200" maxDeceleration="10.0"/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2.1" length="4.5" height="1.8"/>
</BoundingBox>
<Axles>
<FrontAxle maxSteering="0.5" wheelDiameter="0.6" trackWidth="1.8" positionX="3.1" positionZ="0.3"/>
<RearAxle maxSteering="0.0" wheelDiameter="0.6" 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_10042">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_w_transform_10044">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
</Entities>
<Storyboard>
<Init>
<Actions>
<GlobalAction>
<EnvironmentAction>
<Environment name="Environment1">
<TimeOfDay animation="false" dateTime="2019-06-25T12:00:00"/>
<Weather cloudState="free">
<Sun intensity="0.85" azimuth="0" elevation="1.31"/>
<Fog visualRange="100000.0"/>
<Precipitation precipitationType="dry" intensity="0.0"/>
</Weather>
<RoadCondition frictionScaleFactor="1.0"/>
</Environment>
</EnvironmentAction>
</GlobalAction>
<Private entityRef="hero">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-9.4" y="-152.8" z="0.5" h="1.57079632679"/>
</Position>
</TeleportAction>
</PrivateAction>
<PrivateAction>
<ControllerAction>
<AssignControllerAction>
<Controller name="HeroAgent">
<Properties>
<Property name="module" value="external_control"/>
</Properties>
</Controller>
</AssignControllerAction>
<OverrideControllerValueAction>
<Throttle value="0" active="false"/>
<Brake value="0" active="false"/>
<Clutch value="0" active="false"/>
<ParkingBrake value="0" active="false"/>
<SteeringWheel value="0" active="false"/>
<Gear number="0" active="false"/>
</OverrideControllerValueAction>
</ControllerAction>
</PrivateAction>
</Private>
<Private entityRef="adversary">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-9.4" y="-71.0" z="0.5" h="1.57079632679"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="standing">
<PrivateAction>
<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_10042">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-16.89320945739746" y="-71.52574920654297" z="0.033803023397922516"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_w_transform_10044">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="24.174158096313477" y="8.070403099060059" z="0.5"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
</Actions>
</Init>
<Story name="MyStory">
<Act name="Behavior">
<ManeuverGroup maximumExecutionCount="1" name="ManeuverSequence">
<Actors selectTriggeringEntities="false">
<EntityRef entityRef="adversary"/>
</Actors>
<Maneuver name="LaneChangeSimpleManeuver">
<Event name="AdversaryAccelerates" priority="overwrite">
<Action name="AdversaryAccelerates">
<PrivateAction>
<LongitudinalAction>
<SpeedAction>
<SpeedActionDynamics dynamicsShape="step" value="50" dynamicsDimension="distance"/>
<SpeedActionTarget>
<AbsoluteTargetSpeed value="5.0"/>
</SpeedActionTarget>
</SpeedAction>
</LongitudinalAction>
</PrivateAction>
</Action>
<StartTrigger>
<ConditionGroup>
<Condition name="StartCondition" delay="0" conditionEdge="rising">
<ByEntityCondition>
<TriggeringEntities triggeringEntitiesRule="any">
<EntityRef entityRef="hero"/>
</TriggeringEntities>
<EntityCondition>
<RelativeDistanceCondition entityRef="adversary" relativeDistanceType="cartesianDistance" value="40.0" freespace="false" rule="lessThan"/>
</EntityCondition>
</ByEntityCondition>
</Condition>
</ConditionGroup>
</StartTrigger>
</Event>
<Event name="AdversaryChangesLane" priority="overwrite">
<Action name="AdversaryChangesLane">
<PrivateAction>
<LateralAction>
<LaneChangeAction>
<LaneChangeActionDynamics dynamicsShape="linear" value="25" dynamicsDimension="distance"/>
<LaneChangeTarget>
<RelativeTargetLane entityRef="adversary" value="-1"/>
</LaneChangeTarget>
</LaneChangeAction>
</LateralAction>
</PrivateAction>
</Action>
<StartTrigger>
<ConditionGroup>
<Condition name="AfterAdversaryAccelerates" delay="0" conditionEdge="rising">
<ByValueCondition>
<StoryboardElementStateCondition storyboardElementType="action" storyboardElementRef="AdversaryAccelerates" state="completeState"/>
</ByValueCondition>
</Condition>
</ConditionGroup>
</StartTrigger>
</Event>
</Maneuver>
</ManeuverGroup>
<StartTrigger>
<ConditionGroup>
<Condition name="OverallStartCondition" delay="0" conditionEdge="rising">
<ByEntityCondition>
<TriggeringEntities triggeringEntitiesRule="any">
<EntityRef entityRef="hero"/>
</TriggeringEntities>
<EntityCondition>
<TraveledDistanceCondition value="1.0"/>
</EntityCondition>
</ByEntityCondition>
</Condition>
<Condition name="StartTime" delay="0" conditionEdge="rising">
<ByValueCondition>
<SimulationTimeCondition value="0" rule="equalTo"/>
</ByValueCondition>
</Condition>
</ConditionGroup>
</StartTrigger>
<StopTrigger>
<ConditionGroup>
<Condition name="EndCondition" delay="0" conditionEdge="rising">
<ByEntityCondition>
<TriggeringEntities triggeringEntitiesRule="any">
<EntityRef entityRef="hero"/>
</TriggeringEntities>
<EntityCondition>
<TraveledDistanceCondition value="200.0"/>
</EntityCondition>
</ByEntityCondition>
</Condition>
</ConditionGroup>
</StopTrigger>
</Act>
</Story>
<StopTrigger>
<ConditionGroup>
<Condition name="criteria_RunningStopTest" delay="0" conditionEdge="rising">
<ByValueCondition>
<ParameterCondition parameterRef="" value="" rule="lessThan"/>
</ByValueCondition>
</Condition>
<Condition name="criteria_RunningRedLightTest" delay="0" conditionEdge="rising">
<ByValueCondition>
<ParameterCondition parameterRef="" value="" rule="lessThan"/>
</ByValueCondition>
</Condition>
<Condition name="criteria_WrongLaneTest" delay="0" conditionEdge="rising">
<ByValueCondition>
<ParameterCondition parameterRef="" value="" rule="lessThan"/>
</ByValueCondition>
</Condition>
<Condition name="criteria_OnSidewalkTest" delay="0" conditionEdge="rising">
<ByValueCondition>
<ParameterCondition parameterRef="" value="" rule="lessThan"/>
</ByValueCondition>
</Condition>
<Condition name="criteria_KeepLaneTest" delay="0" conditionEdge="rising">
<ByValueCondition>
<ParameterCondition parameterRef="" value="" rule="lessThan"/>
</ByValueCondition>
</Condition>
<Condition name="criteria_CollisionTest" delay="0" conditionEdge="rising">
<ByValueCondition>
<ParameterCondition parameterRef="" value="" rule="lessThan"/>
</ByValueCondition>
</Condition>
<Condition name="criteria_DrivenDistanceTest" delay="0" conditionEdge="rising">
<ByValueCondition>
<ParameterCondition parameterRef="distance_success" value="100" rule="lessThan"/>
</ByValueCondition>
</Condition>
</ConditionGroup>
</StopTrigger>
</Storyboard>
</OpenSCENARIO>
``` |
i would like to command you to add pedestrian close to 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_27730">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_close_to_standing_27731">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
</Entities>
<Storyboard>
<Init>
<Actions>
<GlobalAction>
<EnvironmentAction>
<Environment name="Environment1">
<TimeOfDay animation="false" dateTime="2019-06-25T12:00:00"/>
<Weather cloudState="free">
<Sun intensity="0.85" azimuth="0" elevation="1.31"/>
<Fog visualRange="100000.0"/>
<Precipitation precipitationType="dry" intensity="0.0"/>
</Weather>
<RoadCondition frictionScaleFactor="1.0"/>
</Environment>
</EnvironmentAction>
</GlobalAction>
<Private entityRef="hero">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-9.4" y="-152.8" z="0.5" h="1.57079632679"/>
</Position>
</TeleportAction>
</PrivateAction>
<PrivateAction>
<ControllerAction>
<AssignControllerAction>
<Controller name="HeroAgent">
<Properties>
<Property name="module" value="external_control"/>
</Properties>
</Controller>
</AssignControllerAction>
<OverrideControllerValueAction>
<Throttle value="0" active="false"/>
<Brake value="0" active="false"/>
<Clutch value="0" active="false"/>
<ParkingBrake value="0" active="false"/>
<SteeringWheel value="0" active="false"/>
<Gear number="0" active="false"/>
</OverrideControllerValueAction>
</ControllerAction>
</PrivateAction>
</Private>
<Private entityRef="adversary">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-9.4" y="-71.0" z="0.5" h="1.57079632679"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="standing">
<PrivateAction>
<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_27730">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-12.347278594970703" y="29.130882263183594" z="0.0030607986263930798"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_close_to_standing_27731">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-11.544686317443848" y="38.93434143066406" z="0.0030349730513989925"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
</Actions>
</Init>
<Story name="MyStory">
<Act name="Behavior">
<ManeuverGroup maximumExecutionCount="1" name="ManeuverSequence">
<Actors selectTriggeringEntities="false">
<EntityRef entityRef="adversary"/>
</Actors>
<Maneuver name="LaneChangeSimpleManeuver">
<Event name="AdversaryAccelerates" priority="overwrite">
<Action name="AdversaryAccelerates">
<PrivateAction>
<LongitudinalAction>
<SpeedAction>
<SpeedActionDynamics dynamicsShape="step" value="50" dynamicsDimension="distance"/>
<SpeedActionTarget>
<AbsoluteTargetSpeed value="5.0"/>
</SpeedActionTarget>
</SpeedAction>
</LongitudinalAction>
</PrivateAction>
</Action>
<StartTrigger>
<ConditionGroup>
<Condition name="StartCondition" delay="0" conditionEdge="rising">
<ByEntityCondition>
<TriggeringEntities triggeringEntitiesRule="any">
<EntityRef entityRef="hero"/>
</TriggeringEntities>
<EntityCondition>
<RelativeDistanceCondition entityRef="adversary" relativeDistanceType="cartesianDistance" value="40.0" freespace="false" rule="lessThan"/>
</EntityCondition>
</ByEntityCondition>
</Condition>
</ConditionGroup>
</StartTrigger>
</Event>
<Event name="AdversaryChangesLane" priority="overwrite">
<Action name="AdversaryChangesLane">
<PrivateAction>
<LateralAction>
<LaneChangeAction>
<LaneChangeActionDynamics dynamicsShape="linear" value="25" dynamicsDimension="distance"/>
<LaneChangeTarget>
<RelativeTargetLane entityRef="adversary" value="-1"/>
</LaneChangeTarget>
</LaneChangeAction>
</LateralAction>
</PrivateAction>
</Action>
<StartTrigger>
<ConditionGroup>
<Condition name="AfterAdversaryAccelerates" delay="0" conditionEdge="rising">
<ByValueCondition>
<StoryboardElementStateCondition storyboardElementType="action" storyboardElementRef="AdversaryAccelerates" state="completeState"/>
</ByValueCondition>
</Condition>
</ConditionGroup>
</StartTrigger>
</Event>
</Maneuver>
</ManeuverGroup>
<StartTrigger>
<ConditionGroup>
<Condition name="OverallStartCondition" delay="0" conditionEdge="rising">
<ByEntityCondition>
<TriggeringEntities triggeringEntitiesRule="any">
<EntityRef entityRef="hero"/>
</TriggeringEntities>
<EntityCondition>
<TraveledDistanceCondition value="1.0"/>
</EntityCondition>
</ByEntityCondition>
</Condition>
<Condition name="StartTime" delay="0" conditionEdge="rising">
<ByValueCondition>
<SimulationTimeCondition value="0" rule="equalTo"/>
</ByValueCondition>
</Condition>
</ConditionGroup>
</StartTrigger>
<StopTrigger>
<ConditionGroup>
<Condition name="EndCondition" delay="0" conditionEdge="rising">
<ByEntityCondition>
<TriggeringEntities triggeringEntitiesRule="any">
<EntityRef entityRef="hero"/>
</TriggeringEntities>
<EntityCondition>
<TraveledDistanceCondition value="200.0"/>
</EntityCondition>
</ByEntityCondition>
</Condition>
</ConditionGroup>
</StopTrigger>
</Act>
</Story>
<StopTrigger>
<ConditionGroup>
<Condition name="criteria_RunningStopTest" delay="0" conditionEdge="rising">
<ByValueCondition>
<ParameterCondition parameterRef="" value="" rule="lessThan"/>
</ByValueCondition>
</Condition>
<Condition name="criteria_RunningRedLightTest" delay="0" conditionEdge="rising">
<ByValueCondition>
<ParameterCondition parameterRef="" value="" rule="lessThan"/>
</ByValueCondition>
</Condition>
<Condition name="criteria_WrongLaneTest" delay="0" conditionEdge="rising">
<ByValueCondition>
<ParameterCondition parameterRef="" value="" rule="lessThan"/>
</ByValueCondition>
</Condition>
<Condition name="criteria_OnSidewalkTest" delay="0" conditionEdge="rising">
<ByValueCondition>
<ParameterCondition parameterRef="" value="" rule="lessThan"/>
</ByValueCondition>
</Condition>
<Condition name="criteria_KeepLaneTest" delay="0" conditionEdge="rising">
<ByValueCondition>
<ParameterCondition parameterRef="" value="" rule="lessThan"/>
</ByValueCondition>
</Condition>
<Condition name="criteria_CollisionTest" delay="0" conditionEdge="rising">
<ByValueCondition>
<ParameterCondition parameterRef="" value="" rule="lessThan"/>
</ByValueCondition>
</Condition>
<Condition name="criteria_DrivenDistanceTest" delay="0" conditionEdge="rising">
<ByValueCondition>
<ParameterCondition parameterRef="distance_success" value="100" rule="lessThan"/>
</ByValueCondition>
</Condition>
</ConditionGroup>
</StopTrigger>
</Storyboard>
</OpenSCENARIO>
``` | Here is the result:
```
<?xml version="1.0" ?>
<OpenSCENARIO>
<FileHeader revMajor="1" revMinor="0" date="2020-03-24T12:00:00" description="CARLA:LaneChangeSimple" author=""/>
<ParameterDeclarations/>
<CatalogLocations/>
<RoadNetwork>
<LogicFile filepath="Town04"/>
<SceneGraphFile filepath=""/>
</RoadNetwork>
<Entities>
<ScenarioObject name="hero">
<Vehicle name="vehicle.tesla.model3" vehicleCategory="car">
<ParameterDeclarations/>
<Performance maxSpeed="69.444" maxAcceleration="200" maxDeceleration="10.0"/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2.1" length="4.5" height="1.8"/>
</BoundingBox>
<Axles>
<FrontAxle maxSteering="0.5" wheelDiameter="0.6" trackWidth="1.8" positionX="3.1" positionZ="0.3"/>
<RearAxle maxSteering="0.0" wheelDiameter="0.6" trackWidth="1.8" positionX="0.0" positionZ="0.3"/>
</Axles>
<Properties>
<Property name="type" value="ego_vehicle"/>
</Properties>
</Vehicle>
</ScenarioObject>
<ScenarioObject name="adversary">
<Vehicle name="vehicle.lincoln.mkz_2017" vehicleCategory="car">
<ParameterDeclarations/>
<Performance maxSpeed="69.444" maxAcceleration="200" maxDeceleration="10.0"/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2.1" length="4.5" height="1.8"/>
</BoundingBox>
<Axles>
<FrontAxle maxSteering="0.5" wheelDiameter="0.6" trackWidth="1.8" positionX="3.1" positionZ="0.3"/>
<RearAxle maxSteering="0.0" wheelDiameter="0.6" trackWidth="1.8" positionX="0.0" positionZ="0.3"/>
</Axles>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Vehicle>
</ScenarioObject>
<ScenarioObject name="standing">
<Vehicle name="vehicle.volkswagen.t2" vehicleCategory="car">
<ParameterDeclarations/>
<Performance maxSpeed="69.444" maxAcceleration="200" maxDeceleration="10.0"/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2.1" length="4.5" height="1.8"/>
</BoundingBox>
<Axles>
<FrontAxle maxSteering="0.5" wheelDiameter="0.6" trackWidth="1.8" positionX="3.1" positionZ="0.3"/>
<RearAxle maxSteering="0.0" wheelDiameter="0.6" 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_27730">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_close_to_standing_27731">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_close_to_hero_27732">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
</Entities>
<Storyboard>
<Init>
<Actions>
<GlobalAction>
<EnvironmentAction>
<Environment name="Environment1">
<TimeOfDay animation="false" dateTime="2019-06-25T12:00:00"/>
<Weather cloudState="free">
<Sun intensity="0.85" azimuth="0" elevation="1.31"/>
<Fog visualRange="100000.0"/>
<Precipitation precipitationType="dry" intensity="0.0"/>
</Weather>
<RoadCondition frictionScaleFactor="1.0"/>
</Environment>
</EnvironmentAction>
</GlobalAction>
<Private entityRef="hero">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-9.4" y="-152.8" z="0.5" h="1.57079632679"/>
</Position>
</TeleportAction>
</PrivateAction>
<PrivateAction>
<ControllerAction>
<AssignControllerAction>
<Controller name="HeroAgent">
<Properties>
<Property name="module" value="external_control"/>
</Properties>
</Controller>
</AssignControllerAction>
<OverrideControllerValueAction>
<Throttle value="0" active="false"/>
<Brake value="0" active="false"/>
<Clutch value="0" active="false"/>
<ParkingBrake value="0" active="false"/>
<SteeringWheel value="0" active="false"/>
<Gear number="0" active="false"/>
</OverrideControllerValueAction>
</ControllerAction>
</PrivateAction>
</Private>
<Private entityRef="adversary">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-9.4" y="-71.0" z="0.5" h="1.57079632679"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="standing">
<PrivateAction>
<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_27730">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-12.347278594970703" y="29.130882263183594" z="0.0030607986263930798"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_close_to_standing_27731">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-11.544686317443848" y="38.93434143066406" z="0.0030349730513989925"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_close_to_hero_27732">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-18.388044357299805" y="-152.10618591308594" 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>
``` |
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>
</Entities>
<Storyboard>
<Init>
<Actions>
<GlobalAction>
<EnvironmentAction>
<Environment name="Environment1">
<TimeOfDay animation="false" dateTime="2019-06-25T12:00:00"/>
<Weather cloudState="free">
<Sun intensity="0.85" azimuth="0" elevation="1.31"/>
<Fog visualRange="100000.0"/>
<Precipitation precipitationType="dry" intensity="0.0"/>
</Weather>
<RoadCondition frictionScaleFactor="1.0"/>
</Environment>
</EnvironmentAction>
</GlobalAction>
<Private entityRef="hero">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-9.4" y="-152.8" z="0.5" h="1.57079632679"/>
</Position>
</TeleportAction>
</PrivateAction>
<PrivateAction>
<ControllerAction>
<AssignControllerAction>
<Controller name="HeroAgent">
<Properties>
<Property name="module" value="external_control"/>
</Properties>
</Controller>
</AssignControllerAction>
<OverrideControllerValueAction>
<Throttle value="0" active="false"/>
<Brake value="0" active="false"/>
<Clutch value="0" active="false"/>
<ParkingBrake value="0" active="false"/>
<SteeringWheel value="0" active="false"/>
<Gear number="0" active="false"/>
</OverrideControllerValueAction>
</ControllerAction>
</PrivateAction>
</Private>
<Private entityRef="adversary">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-9.4" y="-71.0" z="0.5" h="1.57079632679"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="standing">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-8.2" y="29.2" z="0.5" h="1.57079632679"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
</Actions>
</Init>
<Story name="MyStory">
<Act name="Behavior">
<ManeuverGroup maximumExecutionCount="1" name="ManeuverSequence">
<Actors selectTriggeringEntities="false">
<EntityRef entityRef="adversary"/>
</Actors>
<Maneuver name="LaneChangeSimpleManeuver">
<Event name="AdversaryAccelerates" priority="overwrite">
<Action name="AdversaryAccelerates">
<PrivateAction>
<LongitudinalAction>
<SpeedAction>
<SpeedActionDynamics dynamicsShape="step" value="50" dynamicsDimension="distance"/>
<SpeedActionTarget>
<AbsoluteTargetSpeed value="5.0"/>
</SpeedActionTarget>
</SpeedAction>
</LongitudinalAction>
</PrivateAction>
</Action>
<StartTrigger>
<ConditionGroup>
<Condition name="StartCondition" delay="0" conditionEdge="rising">
<ByEntityCondition>
<TriggeringEntities triggeringEntitiesRule="any">
<EntityRef entityRef="hero"/>
</TriggeringEntities>
<EntityCondition>
<RelativeDistanceCondition entityRef="adversary" relativeDistanceType="cartesianDistance" value="40.0" freespace="false" rule="lessThan"/>
</EntityCondition>
</ByEntityCondition>
</Condition>
</ConditionGroup>
</StartTrigger>
</Event>
<Event name="AdversaryChangesLane" priority="overwrite">
<Action name="AdversaryChangesLane">
<PrivateAction>
<LateralAction>
<LaneChangeAction>
<LaneChangeActionDynamics dynamicsShape="linear" value="25" dynamicsDimension="distance"/>
<LaneChangeTarget>
<RelativeTargetLane entityRef="adversary" value="-1"/>
</LaneChangeTarget>
</LaneChangeAction>
</LateralAction>
</PrivateAction>
</Action>
<StartTrigger>
<ConditionGroup>
<Condition name="AfterAdversaryAccelerates" delay="0" conditionEdge="rising">
<ByValueCondition>
<StoryboardElementStateCondition storyboardElementType="action" storyboardElementRef="AdversaryAccelerates" state="completeState"/>
</ByValueCondition>
</Condition>
</ConditionGroup>
</StartTrigger>
</Event>
</Maneuver>
</ManeuverGroup>
<StartTrigger>
<ConditionGroup>
<Condition name="OverallStartCondition" delay="0" conditionEdge="rising">
<ByEntityCondition>
<TriggeringEntities triggeringEntitiesRule="any">
<EntityRef entityRef="hero"/>
</TriggeringEntities>
<EntityCondition>
<TraveledDistanceCondition value="1.0"/>
</EntityCondition>
</ByEntityCondition>
</Condition>
<Condition name="StartTime" delay="0" conditionEdge="rising">
<ByValueCondition>
<SimulationTimeCondition value="0" rule="equalTo"/>
</ByValueCondition>
</Condition>
</ConditionGroup>
</StartTrigger>
<StopTrigger>
<ConditionGroup>
<Condition name="EndCondition" delay="0" conditionEdge="rising">
<ByEntityCondition>
<TriggeringEntities triggeringEntitiesRule="any">
<EntityRef entityRef="hero"/>
</TriggeringEntities>
<EntityCondition>
<TraveledDistanceCondition value="200.0"/>
</EntityCondition>
</ByEntityCondition>
</Condition>
</ConditionGroup>
</StopTrigger>
</Act>
</Story>
<StopTrigger>
<ConditionGroup>
<Condition name="criteria_RunningStopTest" delay="0" conditionEdge="rising">
<ByValueCondition>
<ParameterCondition parameterRef="" value="" rule="lessThan"/>
</ByValueCondition>
</Condition>
<Condition name="criteria_RunningRedLightTest" delay="0" conditionEdge="rising">
<ByValueCondition>
<ParameterCondition parameterRef="" value="" rule="lessThan"/>
</ByValueCondition>
</Condition>
<Condition name="criteria_WrongLaneTest" delay="0" conditionEdge="rising">
<ByValueCondition>
<ParameterCondition parameterRef="" value="" rule="lessThan"/>
</ByValueCondition>
</Condition>
<Condition name="criteria_OnSidewalkTest" delay="0" conditionEdge="rising">
<ByValueCondition>
<ParameterCondition parameterRef="" value="" rule="lessThan"/>
</ByValueCondition>
</Condition>
<Condition name="criteria_KeepLaneTest" delay="0" conditionEdge="rising">
<ByValueCondition>
<ParameterCondition parameterRef="" value="" rule="lessThan"/>
</ByValueCondition>
</Condition>
<Condition name="criteria_CollisionTest" delay="0" conditionEdge="rising">
<ByValueCondition>
<ParameterCondition parameterRef="" value="" rule="lessThan"/>
</ByValueCondition>
</Condition>
<Condition name="criteria_DrivenDistanceTest" delay="0" conditionEdge="rising">
<ByValueCondition>
<ParameterCondition parameterRef="distance_success" value="100" rule="lessThan"/>
</ByValueCondition>
</Condition>
</ConditionGroup>
</StopTrigger>
</Storyboard>
</OpenSCENARIO>
``` | Here is the result:
```
<?xml version="1.0" ?>
<OpenSCENARIO>
<FileHeader revMajor="1" revMinor="0" date="2020-03-24T12:00:00" description="CARLA:LaneChangeSimple" author=""/>
<ParameterDeclarations/>
<CatalogLocations/>
<RoadNetwork>
<LogicFile filepath="Town04"/>
<SceneGraphFile filepath=""/>
</RoadNetwork>
<Entities>
<ScenarioObject name="hero">
<Vehicle name="vehicle.tesla.model3" vehicleCategory="car">
<ParameterDeclarations/>
<Performance maxSpeed="69.444" maxAcceleration="200" maxDeceleration="10.0"/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2.1" length="4.5" height="1.8"/>
</BoundingBox>
<Axles>
<FrontAxle maxSteering="0.5" wheelDiameter="0.6" trackWidth="1.8" positionX="3.1" positionZ="0.3"/>
<RearAxle maxSteering="0.0" wheelDiameter="0.6" trackWidth="1.8" positionX="0.0" positionZ="0.3"/>
</Axles>
<Properties>
<Property name="type" value="ego_vehicle"/>
</Properties>
</Vehicle>
</ScenarioObject>
<ScenarioObject name="adversary">
<Vehicle name="vehicle.lincoln.mkz_2017" vehicleCategory="car">
<ParameterDeclarations/>
<Performance maxSpeed="69.444" maxAcceleration="200" maxDeceleration="10.0"/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2.1" length="4.5" height="1.8"/>
</BoundingBox>
<Axles>
<FrontAxle maxSteering="0.5" wheelDiameter="0.6" trackWidth="1.8" positionX="3.1" positionZ="0.3"/>
<RearAxle maxSteering="0.0" wheelDiameter="0.6" trackWidth="1.8" positionX="0.0" positionZ="0.3"/>
</Axles>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Vehicle>
</ScenarioObject>
<ScenarioObject name="standing">
<Vehicle name="vehicle.volkswagen.t2" vehicleCategory="car">
<ParameterDeclarations/>
<Performance maxSpeed="69.444" maxAcceleration="200" maxDeceleration="10.0"/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2.1" length="4.5" height="1.8"/>
</BoundingBox>
<Axles>
<FrontAxle maxSteering="0.5" wheelDiameter="0.6" trackWidth="1.8" positionX="3.1" positionZ="0.3"/>
<RearAxle maxSteering="0.0" wheelDiameter="0.6" trackWidth="1.8" positionX="0.0" positionZ="0.3"/>
</Axles>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Vehicle>
</ScenarioObject>
<ScenarioObject name="pedestrian_close_to_hero_19860">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
</Entities>
<Storyboard>
<Init>
<Actions>
<GlobalAction>
<EnvironmentAction>
<Environment name="Environment1">
<TimeOfDay animation="false" dateTime="2019-06-25T12:00:00"/>
<Weather cloudState="free">
<Sun intensity="0.85" azimuth="0" elevation="1.31"/>
<Fog visualRange="100000.0"/>
<Precipitation precipitationType="dry" intensity="0.0"/>
</Weather>
<RoadCondition frictionScaleFactor="1.0"/>
</Environment>
</EnvironmentAction>
</GlobalAction>
<Private entityRef="hero">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-9.4" y="-152.8" z="0.5" h="1.57079632679"/>
</Position>
</TeleportAction>
</PrivateAction>
<PrivateAction>
<ControllerAction>
<AssignControllerAction>
<Controller name="HeroAgent">
<Properties>
<Property name="module" value="external_control"/>
</Properties>
</Controller>
</AssignControllerAction>
<OverrideControllerValueAction>
<Throttle value="0" active="false"/>
<Brake value="0" active="false"/>
<Clutch value="0" active="false"/>
<ParkingBrake value="0" active="false"/>
<SteeringWheel value="0" active="false"/>
<Gear number="0" active="false"/>
</OverrideControllerValueAction>
</ControllerAction>
</PrivateAction>
</Private>
<Private entityRef="adversary">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-9.4" y="-71.0" z="0.5" h="1.57079632679"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="standing">
<PrivateAction>
<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_19860">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-19.201740264892578" y="-156.55923461914062" z="0.001423797570168972"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
</Actions>
</Init>
<Story name="MyStory">
<Act name="Behavior">
<ManeuverGroup maximumExecutionCount="1" name="ManeuverSequence">
<Actors selectTriggeringEntities="false">
<EntityRef entityRef="adversary"/>
</Actors>
<Maneuver name="LaneChangeSimpleManeuver">
<Event name="AdversaryAccelerates" priority="overwrite">
<Action name="AdversaryAccelerates">
<PrivateAction>
<LongitudinalAction>
<SpeedAction>
<SpeedActionDynamics dynamicsShape="step" value="50" dynamicsDimension="distance"/>
<SpeedActionTarget>
<AbsoluteTargetSpeed value="5.0"/>
</SpeedActionTarget>
</SpeedAction>
</LongitudinalAction>
</PrivateAction>
</Action>
<StartTrigger>
<ConditionGroup>
<Condition name="StartCondition" delay="0" conditionEdge="rising">
<ByEntityCondition>
<TriggeringEntities triggeringEntitiesRule="any">
<EntityRef entityRef="hero"/>
</TriggeringEntities>
<EntityCondition>
<RelativeDistanceCondition entityRef="adversary" relativeDistanceType="cartesianDistance" value="40.0" freespace="false" rule="lessThan"/>
</EntityCondition>
</ByEntityCondition>
</Condition>
</ConditionGroup>
</StartTrigger>
</Event>
<Event name="AdversaryChangesLane" priority="overwrite">
<Action name="AdversaryChangesLane">
<PrivateAction>
<LateralAction>
<LaneChangeAction>
<LaneChangeActionDynamics dynamicsShape="linear" value="25" dynamicsDimension="distance"/>
<LaneChangeTarget>
<RelativeTargetLane entityRef="adversary" value="-1"/>
</LaneChangeTarget>
</LaneChangeAction>
</LateralAction>
</PrivateAction>
</Action>
<StartTrigger>
<ConditionGroup>
<Condition name="AfterAdversaryAccelerates" delay="0" conditionEdge="rising">
<ByValueCondition>
<StoryboardElementStateCondition storyboardElementType="action" storyboardElementRef="AdversaryAccelerates" state="completeState"/>
</ByValueCondition>
</Condition>
</ConditionGroup>
</StartTrigger>
</Event>
</Maneuver>
</ManeuverGroup>
<StartTrigger>
<ConditionGroup>
<Condition name="OverallStartCondition" delay="0" conditionEdge="rising">
<ByEntityCondition>
<TriggeringEntities triggeringEntitiesRule="any">
<EntityRef entityRef="hero"/>
</TriggeringEntities>
<EntityCondition>
<TraveledDistanceCondition value="1.0"/>
</EntityCondition>
</ByEntityCondition>
</Condition>
<Condition name="StartTime" delay="0" conditionEdge="rising">
<ByValueCondition>
<SimulationTimeCondition value="0" rule="equalTo"/>
</ByValueCondition>
</Condition>
</ConditionGroup>
</StartTrigger>
<StopTrigger>
<ConditionGroup>
<Condition name="EndCondition" delay="0" conditionEdge="rising">
<ByEntityCondition>
<TriggeringEntities triggeringEntitiesRule="any">
<EntityRef entityRef="hero"/>
</TriggeringEntities>
<EntityCondition>
<TraveledDistanceCondition value="200.0"/>
</EntityCondition>
</ByEntityCondition>
</Condition>
</ConditionGroup>
</StopTrigger>
</Act>
</Story>
<StopTrigger>
<ConditionGroup>
<Condition name="criteria_RunningStopTest" delay="0" conditionEdge="rising">
<ByValueCondition>
<ParameterCondition parameterRef="" value="" rule="lessThan"/>
</ByValueCondition>
</Condition>
<Condition name="criteria_RunningRedLightTest" delay="0" conditionEdge="rising">
<ByValueCondition>
<ParameterCondition parameterRef="" value="" rule="lessThan"/>
</ByValueCondition>
</Condition>
<Condition name="criteria_WrongLaneTest" delay="0" conditionEdge="rising">
<ByValueCondition>
<ParameterCondition parameterRef="" value="" rule="lessThan"/>
</ByValueCondition>
</Condition>
<Condition name="criteria_OnSidewalkTest" delay="0" conditionEdge="rising">
<ByValueCondition>
<ParameterCondition parameterRef="" value="" rule="lessThan"/>
</ByValueCondition>
</Condition>
<Condition name="criteria_KeepLaneTest" delay="0" conditionEdge="rising">
<ByValueCondition>
<ParameterCondition parameterRef="" value="" rule="lessThan"/>
</ByValueCondition>
</Condition>
<Condition name="criteria_CollisionTest" delay="0" conditionEdge="rising">
<ByValueCondition>
<ParameterCondition parameterRef="" value="" rule="lessThan"/>
</ByValueCondition>
</Condition>
<Condition name="criteria_DrivenDistanceTest" delay="0" conditionEdge="rising">
<ByValueCondition>
<ParameterCondition parameterRef="distance_success" value="100" rule="lessThan"/>
</ByValueCondition>
</Condition>
</ConditionGroup>
</StopTrigger>
</Storyboard>
</OpenSCENARIO>
``` |
i would like to request you to add pedestrian close to standing?
```
<?xml version="1.0" ?>
<OpenSCENARIO>
<FileHeader revMajor="1" revMinor="0" date="2020-03-24T12:00:00" description="CARLA:LaneChangeSimple" author=""/>
<ParameterDeclarations/>
<CatalogLocations/>
<RoadNetwork>
<LogicFile filepath="Town04"/>
<SceneGraphFile filepath=""/>
</RoadNetwork>
<Entities>
<ScenarioObject name="hero">
<Vehicle name="vehicle.tesla.model3" vehicleCategory="car">
<ParameterDeclarations/>
<Performance maxSpeed="69.444" maxAcceleration="200" maxDeceleration="10.0"/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2.1" length="4.5" height="1.8"/>
</BoundingBox>
<Axles>
<FrontAxle maxSteering="0.5" wheelDiameter="0.6" trackWidth="1.8" positionX="3.1" positionZ="0.3"/>
<RearAxle maxSteering="0.0" wheelDiameter="0.6" trackWidth="1.8" positionX="0.0" positionZ="0.3"/>
</Axles>
<Properties>
<Property name="type" value="ego_vehicle"/>
</Properties>
</Vehicle>
</ScenarioObject>
<ScenarioObject name="adversary">
<Vehicle name="vehicle.lincoln.mkz_2017" vehicleCategory="car">
<ParameterDeclarations/>
<Performance maxSpeed="69.444" maxAcceleration="200" maxDeceleration="10.0"/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2.1" length="4.5" height="1.8"/>
</BoundingBox>
<Axles>
<FrontAxle maxSteering="0.5" wheelDiameter="0.6" trackWidth="1.8" positionX="3.1" positionZ="0.3"/>
<RearAxle maxSteering="0.0" wheelDiameter="0.6" trackWidth="1.8" positionX="0.0" positionZ="0.3"/>
</Axles>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Vehicle>
</ScenarioObject>
<ScenarioObject name="standing">
<Vehicle name="vehicle.volkswagen.t2" vehicleCategory="car">
<ParameterDeclarations/>
<Performance maxSpeed="69.444" maxAcceleration="200" maxDeceleration="10.0"/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2.1" length="4.5" height="1.8"/>
</BoundingBox>
<Axles>
<FrontAxle maxSteering="0.5" wheelDiameter="0.6" trackWidth="1.8" positionX="3.1" positionZ="0.3"/>
<RearAxle maxSteering="0.0" wheelDiameter="0.6" trackWidth="1.8" positionX="0.0" positionZ="0.3"/>
</Axles>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Vehicle>
</ScenarioObject>
</Entities>
<Storyboard>
<Init>
<Actions>
<GlobalAction>
<EnvironmentAction>
<Environment name="Environment1">
<TimeOfDay animation="false" dateTime="2019-06-25T12:00:00"/>
<Weather cloudState="free">
<Sun intensity="0.85" azimuth="0" elevation="1.31"/>
<Fog visualRange="100000.0"/>
<Precipitation precipitationType="dry" intensity="0.0"/>
</Weather>
<RoadCondition frictionScaleFactor="1.0"/>
</Environment>
</EnvironmentAction>
</GlobalAction>
<Private entityRef="hero">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-9.4" y="-152.8" z="0.5" h="1.57079632679"/>
</Position>
</TeleportAction>
</PrivateAction>
<PrivateAction>
<ControllerAction>
<AssignControllerAction>
<Controller name="HeroAgent">
<Properties>
<Property name="module" value="external_control"/>
</Properties>
</Controller>
</AssignControllerAction>
<OverrideControllerValueAction>
<Throttle value="0" active="false"/>
<Brake value="0" active="false"/>
<Clutch value="0" active="false"/>
<ParkingBrake value="0" active="false"/>
<SteeringWheel value="0" active="false"/>
<Gear number="0" active="false"/>
</OverrideControllerValueAction>
</ControllerAction>
</PrivateAction>
</Private>
<Private entityRef="adversary">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-9.4" y="-71.0" z="0.5" h="1.57079632679"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="standing">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-8.2" y="29.2" z="0.5" h="1.57079632679"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
</Actions>
</Init>
<Story name="MyStory">
<Act name="Behavior">
<ManeuverGroup maximumExecutionCount="1" name="ManeuverSequence">
<Actors selectTriggeringEntities="false">
<EntityRef entityRef="adversary"/>
</Actors>
<Maneuver name="LaneChangeSimpleManeuver">
<Event name="AdversaryAccelerates" priority="overwrite">
<Action name="AdversaryAccelerates">
<PrivateAction>
<LongitudinalAction>
<SpeedAction>
<SpeedActionDynamics dynamicsShape="step" value="50" dynamicsDimension="distance"/>
<SpeedActionTarget>
<AbsoluteTargetSpeed value="5.0"/>
</SpeedActionTarget>
</SpeedAction>
</LongitudinalAction>
</PrivateAction>
</Action>
<StartTrigger>
<ConditionGroup>
<Condition name="StartCondition" delay="0" conditionEdge="rising">
<ByEntityCondition>
<TriggeringEntities triggeringEntitiesRule="any">
<EntityRef entityRef="hero"/>
</TriggeringEntities>
<EntityCondition>
<RelativeDistanceCondition entityRef="adversary" relativeDistanceType="cartesianDistance" value="40.0" freespace="false" rule="lessThan"/>
</EntityCondition>
</ByEntityCondition>
</Condition>
</ConditionGroup>
</StartTrigger>
</Event>
<Event name="AdversaryChangesLane" priority="overwrite">
<Action name="AdversaryChangesLane">
<PrivateAction>
<LateralAction>
<LaneChangeAction>
<LaneChangeActionDynamics dynamicsShape="linear" value="25" dynamicsDimension="distance"/>
<LaneChangeTarget>
<RelativeTargetLane entityRef="adversary" value="-1"/>
</LaneChangeTarget>
</LaneChangeAction>
</LateralAction>
</PrivateAction>
</Action>
<StartTrigger>
<ConditionGroup>
<Condition name="AfterAdversaryAccelerates" delay="0" conditionEdge="rising">
<ByValueCondition>
<StoryboardElementStateCondition storyboardElementType="action" storyboardElementRef="AdversaryAccelerates" state="completeState"/>
</ByValueCondition>
</Condition>
</ConditionGroup>
</StartTrigger>
</Event>
</Maneuver>
</ManeuverGroup>
<StartTrigger>
<ConditionGroup>
<Condition name="OverallStartCondition" delay="0" conditionEdge="rising">
<ByEntityCondition>
<TriggeringEntities triggeringEntitiesRule="any">
<EntityRef entityRef="hero"/>
</TriggeringEntities>
<EntityCondition>
<TraveledDistanceCondition value="1.0"/>
</EntityCondition>
</ByEntityCondition>
</Condition>
<Condition name="StartTime" delay="0" conditionEdge="rising">
<ByValueCondition>
<SimulationTimeCondition value="0" rule="equalTo"/>
</ByValueCondition>
</Condition>
</ConditionGroup>
</StartTrigger>
<StopTrigger>
<ConditionGroup>
<Condition name="EndCondition" delay="0" conditionEdge="rising">
<ByEntityCondition>
<TriggeringEntities triggeringEntitiesRule="any">
<EntityRef entityRef="hero"/>
</TriggeringEntities>
<EntityCondition>
<TraveledDistanceCondition value="200.0"/>
</EntityCondition>
</ByEntityCondition>
</Condition>
</ConditionGroup>
</StopTrigger>
</Act>
</Story>
<StopTrigger>
<ConditionGroup>
<Condition name="criteria_RunningStopTest" delay="0" conditionEdge="rising">
<ByValueCondition>
<ParameterCondition parameterRef="" value="" rule="lessThan"/>
</ByValueCondition>
</Condition>
<Condition name="criteria_RunningRedLightTest" delay="0" conditionEdge="rising">
<ByValueCondition>
<ParameterCondition parameterRef="" value="" rule="lessThan"/>
</ByValueCondition>
</Condition>
<Condition name="criteria_WrongLaneTest" delay="0" conditionEdge="rising">
<ByValueCondition>
<ParameterCondition parameterRef="" value="" rule="lessThan"/>
</ByValueCondition>
</Condition>
<Condition name="criteria_OnSidewalkTest" delay="0" conditionEdge="rising">
<ByValueCondition>
<ParameterCondition parameterRef="" value="" rule="lessThan"/>
</ByValueCondition>
</Condition>
<Condition name="criteria_KeepLaneTest" delay="0" conditionEdge="rising">
<ByValueCondition>
<ParameterCondition parameterRef="" value="" rule="lessThan"/>
</ByValueCondition>
</Condition>
<Condition name="criteria_CollisionTest" delay="0" conditionEdge="rising">
<ByValueCondition>
<ParameterCondition parameterRef="" value="" rule="lessThan"/>
</ByValueCondition>
</Condition>
<Condition name="criteria_DrivenDistanceTest" delay="0" conditionEdge="rising">
<ByValueCondition>
<ParameterCondition parameterRef="distance_success" value="100" rule="lessThan"/>
</ByValueCondition>
</Condition>
</ConditionGroup>
</StopTrigger>
</Storyboard>
</OpenSCENARIO>
``` | Here is the result:
```
<?xml version="1.0" ?>
<OpenSCENARIO>
<FileHeader revMajor="1" revMinor="0" date="2020-03-24T12:00:00" description="CARLA:LaneChangeSimple" author=""/>
<ParameterDeclarations/>
<CatalogLocations/>
<RoadNetwork>
<LogicFile filepath="Town04"/>
<SceneGraphFile filepath=""/>
</RoadNetwork>
<Entities>
<ScenarioObject name="hero">
<Vehicle name="vehicle.tesla.model3" vehicleCategory="car">
<ParameterDeclarations/>
<Performance maxSpeed="69.444" maxAcceleration="200" maxDeceleration="10.0"/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2.1" length="4.5" height="1.8"/>
</BoundingBox>
<Axles>
<FrontAxle maxSteering="0.5" wheelDiameter="0.6" trackWidth="1.8" positionX="3.1" positionZ="0.3"/>
<RearAxle maxSteering="0.0" wheelDiameter="0.6" trackWidth="1.8" positionX="0.0" positionZ="0.3"/>
</Axles>
<Properties>
<Property name="type" value="ego_vehicle"/>
</Properties>
</Vehicle>
</ScenarioObject>
<ScenarioObject name="adversary">
<Vehicle name="vehicle.lincoln.mkz_2017" vehicleCategory="car">
<ParameterDeclarations/>
<Performance maxSpeed="69.444" maxAcceleration="200" maxDeceleration="10.0"/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2.1" length="4.5" height="1.8"/>
</BoundingBox>
<Axles>
<FrontAxle maxSteering="0.5" wheelDiameter="0.6" trackWidth="1.8" positionX="3.1" positionZ="0.3"/>
<RearAxle maxSteering="0.0" wheelDiameter="0.6" trackWidth="1.8" positionX="0.0" positionZ="0.3"/>
</Axles>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Vehicle>
</ScenarioObject>
<ScenarioObject name="standing">
<Vehicle name="vehicle.volkswagen.t2" vehicleCategory="car">
<ParameterDeclarations/>
<Performance maxSpeed="69.444" maxAcceleration="200" maxDeceleration="10.0"/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2.1" length="4.5" height="1.8"/>
</BoundingBox>
<Axles>
<FrontAxle maxSteering="0.5" wheelDiameter="0.6" trackWidth="1.8" positionX="3.1" positionZ="0.3"/>
<RearAxle maxSteering="0.0" wheelDiameter="0.6" trackWidth="1.8" positionX="0.0" positionZ="0.3"/>
</Axles>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Vehicle>
</ScenarioObject>
<ScenarioObject name="pedestrian_close_to_standing_22347">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
</Entities>
<Storyboard>
<Init>
<Actions>
<GlobalAction>
<EnvironmentAction>
<Environment name="Environment1">
<TimeOfDay animation="false" dateTime="2019-06-25T12:00:00"/>
<Weather cloudState="free">
<Sun intensity="0.85" azimuth="0" elevation="1.31"/>
<Fog visualRange="100000.0"/>
<Precipitation precipitationType="dry" intensity="0.0"/>
</Weather>
<RoadCondition frictionScaleFactor="1.0"/>
</Environment>
</EnvironmentAction>
</GlobalAction>
<Private entityRef="hero">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-9.4" y="-152.8" z="0.5" h="1.57079632679"/>
</Position>
</TeleportAction>
</PrivateAction>
<PrivateAction>
<ControllerAction>
<AssignControllerAction>
<Controller name="HeroAgent">
<Properties>
<Property name="module" value="external_control"/>
</Properties>
</Controller>
</AssignControllerAction>
<OverrideControllerValueAction>
<Throttle value="0" active="false"/>
<Brake value="0" active="false"/>
<Clutch value="0" active="false"/>
<ParkingBrake value="0" active="false"/>
<SteeringWheel value="0" active="false"/>
<Gear number="0" active="false"/>
</OverrideControllerValueAction>
</ControllerAction>
</PrivateAction>
</Private>
<Private entityRef="adversary">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-9.4" y="-71.0" z="0.5" h="1.57079632679"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="standing">
<PrivateAction>
<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_22347">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-2.880500078201294" y="34.45263671875" z="0.0030838774982839823"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
</Actions>
</Init>
<Story name="MyStory">
<Act name="Behavior">
<ManeuverGroup maximumExecutionCount="1" name="ManeuverSequence">
<Actors selectTriggeringEntities="false">
<EntityRef entityRef="adversary"/>
</Actors>
<Maneuver name="LaneChangeSimpleManeuver">
<Event name="AdversaryAccelerates" priority="overwrite">
<Action name="AdversaryAccelerates">
<PrivateAction>
<LongitudinalAction>
<SpeedAction>
<SpeedActionDynamics dynamicsShape="step" value="50" dynamicsDimension="distance"/>
<SpeedActionTarget>
<AbsoluteTargetSpeed value="5.0"/>
</SpeedActionTarget>
</SpeedAction>
</LongitudinalAction>
</PrivateAction>
</Action>
<StartTrigger>
<ConditionGroup>
<Condition name="StartCondition" delay="0" conditionEdge="rising">
<ByEntityCondition>
<TriggeringEntities triggeringEntitiesRule="any">
<EntityRef entityRef="hero"/>
</TriggeringEntities>
<EntityCondition>
<RelativeDistanceCondition entityRef="adversary" relativeDistanceType="cartesianDistance" value="40.0" freespace="false" rule="lessThan"/>
</EntityCondition>
</ByEntityCondition>
</Condition>
</ConditionGroup>
</StartTrigger>
</Event>
<Event name="AdversaryChangesLane" priority="overwrite">
<Action name="AdversaryChangesLane">
<PrivateAction>
<LateralAction>
<LaneChangeAction>
<LaneChangeActionDynamics dynamicsShape="linear" value="25" dynamicsDimension="distance"/>
<LaneChangeTarget>
<RelativeTargetLane entityRef="adversary" value="-1"/>
</LaneChangeTarget>
</LaneChangeAction>
</LateralAction>
</PrivateAction>
</Action>
<StartTrigger>
<ConditionGroup>
<Condition name="AfterAdversaryAccelerates" delay="0" conditionEdge="rising">
<ByValueCondition>
<StoryboardElementStateCondition storyboardElementType="action" storyboardElementRef="AdversaryAccelerates" state="completeState"/>
</ByValueCondition>
</Condition>
</ConditionGroup>
</StartTrigger>
</Event>
</Maneuver>
</ManeuverGroup>
<StartTrigger>
<ConditionGroup>
<Condition name="OverallStartCondition" delay="0" conditionEdge="rising">
<ByEntityCondition>
<TriggeringEntities triggeringEntitiesRule="any">
<EntityRef entityRef="hero"/>
</TriggeringEntities>
<EntityCondition>
<TraveledDistanceCondition value="1.0"/>
</EntityCondition>
</ByEntityCondition>
</Condition>
<Condition name="StartTime" delay="0" conditionEdge="rising">
<ByValueCondition>
<SimulationTimeCondition value="0" rule="equalTo"/>
</ByValueCondition>
</Condition>
</ConditionGroup>
</StartTrigger>
<StopTrigger>
<ConditionGroup>
<Condition name="EndCondition" delay="0" conditionEdge="rising">
<ByEntityCondition>
<TriggeringEntities triggeringEntitiesRule="any">
<EntityRef entityRef="hero"/>
</TriggeringEntities>
<EntityCondition>
<TraveledDistanceCondition value="200.0"/>
</EntityCondition>
</ByEntityCondition>
</Condition>
</ConditionGroup>
</StopTrigger>
</Act>
</Story>
<StopTrigger>
<ConditionGroup>
<Condition name="criteria_RunningStopTest" delay="0" conditionEdge="rising">
<ByValueCondition>
<ParameterCondition parameterRef="" value="" rule="lessThan"/>
</ByValueCondition>
</Condition>
<Condition name="criteria_RunningRedLightTest" delay="0" conditionEdge="rising">
<ByValueCondition>
<ParameterCondition parameterRef="" value="" rule="lessThan"/>
</ByValueCondition>
</Condition>
<Condition name="criteria_WrongLaneTest" delay="0" conditionEdge="rising">
<ByValueCondition>
<ParameterCondition parameterRef="" value="" rule="lessThan"/>
</ByValueCondition>
</Condition>
<Condition name="criteria_OnSidewalkTest" delay="0" conditionEdge="rising">
<ByValueCondition>
<ParameterCondition parameterRef="" value="" rule="lessThan"/>
</ByValueCondition>
</Condition>
<Condition name="criteria_KeepLaneTest" delay="0" conditionEdge="rising">
<ByValueCondition>
<ParameterCondition parameterRef="" value="" rule="lessThan"/>
</ByValueCondition>
</Condition>
<Condition name="criteria_CollisionTest" delay="0" conditionEdge="rising">
<ByValueCondition>
<ParameterCondition parameterRef="" value="" rule="lessThan"/>
</ByValueCondition>
</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 (-54.84, -3.85, 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_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_hero_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_close_to_hero_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>
<ScenarioObject name="pedestrian_w_transform_16889">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_w_transform_16890">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_close_to_hero_16891">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_w_transform_16892">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_close_to_adversary_16893">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_w_transform_16894">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_w_transform_16895">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_close_to_hero_16896">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_w_transform_16897">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_close_to_standing_16898">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_close_to_hero_16899">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_w_transform_16900">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_close_to_standing_16901">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_close_to_standing_16902">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_close_to_adversary_16903">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_close_to_standing_16904">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_close_to_standing_16905">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
</Entities>
<Storyboard>
<Init>
<Actions>
<GlobalAction>
<EnvironmentAction>
<Environment name="Environment1">
<TimeOfDay animation="false" dateTime="2019-06-25T12:00:00"/>
<Weather cloudState="free">
<Sun intensity="0.85" azimuth="0" elevation="1.31"/>
<Fog visualRange="100000.0"/>
<Precipitation precipitationType="dry" intensity="0.0"/>
</Weather>
<RoadCondition frictionScaleFactor="1.0"/>
</Environment>
</EnvironmentAction>
</GlobalAction>
<Private entityRef="hero">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-9.4" y="-152.8" z="0.5" h="1.57079632679"/>
</Position>
</TeleportAction>
</PrivateAction>
<PrivateAction>
<ControllerAction>
<AssignControllerAction>
<Controller name="HeroAgent">
<Properties>
<Property name="module" value="external_control"/>
</Properties>
</Controller>
</AssignControllerAction>
<OverrideControllerValueAction>
<Throttle value="0" active="false"/>
<Brake value="0" active="false"/>
<Clutch value="0" active="false"/>
<ParkingBrake value="0" active="false"/>
<SteeringWheel value="0" active="false"/>
<Gear number="0" active="false"/>
</OverrideControllerValueAction>
</ControllerAction>
</PrivateAction>
</Private>
<Private entityRef="adversary">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-9.4" y="-71.0" z="0.5" h="1.57079632679"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="standing">
<PrivateAction>
<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_16886">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-12.660330772399902" y="28.767610549926758" z="0.003016853239387274"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_close_to_hero_16887">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-9.355673789978027" y="-159.74085998535156" z="0.0013734435196965933"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_close_to_hero_16888">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-4.118598461151123" y="-152.83920288085938" z="0.0013734435196965933"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_w_transform_16889">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-35.35259246826172" y="-28.130294799804688" z="0.5"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_w_transform_16890">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-85.42721557617188" y="27.83273696899414" z="0.5"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_close_to_hero_16891">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-17.002185821533203" y="-148.00132751464844" z="0.0013734435196965933"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_w_transform_16892">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="56.44395065307617" y="22.485027313232422" z="0.5"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_close_to_adversary_16893">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-13.971336364746094" y="-78.01943969726562" z="0.033757247030735016"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_w_transform_16894">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="25.38267707824707" y="52.09051513671875" z="0.5"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_w_transform_16895">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="27.088544845581055" y="14.272509574890137" z="0.5"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_close_to_hero_16896">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="9.303386688232422" y="-154.05126953125" z="0.0013734435196965933"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_w_transform_16897">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="31.129924774169922" y="68.4994888305664" z="0.5"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_close_to_standing_16898">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-4.727181911468506" y="36.445682525634766" z="0.0030184173956513405"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_close_to_hero_16899">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-2.434499502182007" y="-155.6451873779297" z="0.0013734435196965933"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_w_transform_16900">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-76.78504180908203" y="86.71131134033203" z="0.5"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_close_to_standing_16901">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="0.6298156380653381" y="22.614694595336914" z="0.0030178450979292393"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_close_to_standing_16902">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-13.823488235473633" y="34.22854232788086" z="0.0030178450979292393"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_close_to_adversary_16903">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-14.047540664672852" y="-64.39852142333984" z="0.03375709429383278"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_close_to_standing_16904">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="1.6685333251953125" y="32.56477737426758" z="0.0030178450979292393"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_close_to_standing_16905">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-5.451748847961426" y="36.07932662963867" z="0.0030178450979292393"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
</Actions>
</Init>
<Story name="MyStory">
<Act name="Behavior">
<ManeuverGroup maximumExecutionCount="1" name="ManeuverSequence">
<Actors selectTriggeringEntities="false">
<EntityRef entityRef="adversary"/>
</Actors>
<Maneuver name="LaneChangeSimpleManeuver">
<Event name="AdversaryAccelerates" priority="overwrite">
<Action name="AdversaryAccelerates">
<PrivateAction>
<LongitudinalAction>
<SpeedAction>
<SpeedActionDynamics dynamicsShape="step" value="50" dynamicsDimension="distance"/>
<SpeedActionTarget>
<AbsoluteTargetSpeed value="5.0"/>
</SpeedActionTarget>
</SpeedAction>
</LongitudinalAction>
</PrivateAction>
</Action>
<StartTrigger>
<ConditionGroup>
<Condition name="StartCondition" delay="0" conditionEdge="rising">
<ByEntityCondition>
<TriggeringEntities triggeringEntitiesRule="any">
<EntityRef entityRef="hero"/>
</TriggeringEntities>
<EntityCondition>
<RelativeDistanceCondition entityRef="adversary" relativeDistanceType="cartesianDistance" value="40.0" freespace="false" rule="lessThan"/>
</EntityCondition>
</ByEntityCondition>
</Condition>
</ConditionGroup>
</StartTrigger>
</Event>
<Event name="AdversaryChangesLane" priority="overwrite">
<Action name="AdversaryChangesLane">
<PrivateAction>
<LateralAction>
<LaneChangeAction>
<LaneChangeActionDynamics dynamicsShape="linear" value="25" dynamicsDimension="distance"/>
<LaneChangeTarget>
<RelativeTargetLane entityRef="adversary" value="-1"/>
</LaneChangeTarget>
</LaneChangeAction>
</LateralAction>
</PrivateAction>
</Action>
<StartTrigger>
<ConditionGroup>
<Condition name="AfterAdversaryAccelerates" delay="0" conditionEdge="rising">
<ByValueCondition>
<StoryboardElementStateCondition storyboardElementType="action" storyboardElementRef="AdversaryAccelerates" state="completeState"/>
</ByValueCondition>
</Condition>
</ConditionGroup>
</StartTrigger>
</Event>
</Maneuver>
</ManeuverGroup>
<StartTrigger>
<ConditionGroup>
<Condition name="OverallStartCondition" delay="0" conditionEdge="rising">
<ByEntityCondition>
<TriggeringEntities triggeringEntitiesRule="any">
<EntityRef entityRef="hero"/>
</TriggeringEntities>
<EntityCondition>
<TraveledDistanceCondition value="1.0"/>
</EntityCondition>
</ByEntityCondition>
</Condition>
<Condition name="StartTime" delay="0" conditionEdge="rising">
<ByValueCondition>
<SimulationTimeCondition value="0" rule="equalTo"/>
</ByValueCondition>
</Condition>
</ConditionGroup>
</StartTrigger>
<StopTrigger>
<ConditionGroup>
<Condition name="EndCondition" delay="0" conditionEdge="rising">
<ByEntityCondition>
<TriggeringEntities triggeringEntitiesRule="any">
<EntityRef entityRef="hero"/>
</TriggeringEntities>
<EntityCondition>
<TraveledDistanceCondition value="200.0"/>
</EntityCondition>
</ByEntityCondition>
</Condition>
</ConditionGroup>
</StopTrigger>
</Act>
</Story>
<StopTrigger>
<ConditionGroup>
<Condition name="criteria_RunningStopTest" delay="0" conditionEdge="rising">
<ByValueCondition>
<ParameterCondition parameterRef="" value="" rule="lessThan"/>
</ByValueCondition>
</Condition>
<Condition name="criteria_RunningRedLightTest" delay="0" conditionEdge="rising">
<ByValueCondition>
<ParameterCondition parameterRef="" value="" rule="lessThan"/>
</ByValueCondition>
</Condition>
<Condition name="criteria_WrongLaneTest" delay="0" conditionEdge="rising">
<ByValueCondition>
<ParameterCondition parameterRef="" value="" rule="lessThan"/>
</ByValueCondition>
</Condition>
<Condition name="criteria_OnSidewalkTest" delay="0" conditionEdge="rising">
<ByValueCondition>
<ParameterCondition parameterRef="" value="" rule="lessThan"/>
</ByValueCondition>
</Condition>
<Condition name="criteria_KeepLaneTest" delay="0" conditionEdge="rising">
<ByValueCondition>
<ParameterCondition parameterRef="" value="" rule="lessThan"/>
</ByValueCondition>
</Condition>
<Condition name="criteria_CollisionTest" delay="0" conditionEdge="rising">
<ByValueCondition>
<ParameterCondition parameterRef="" value="" rule="lessThan"/>
</ByValueCondition>
</Condition>
<Condition name="criteria_DrivenDistanceTest" delay="0" conditionEdge="rising">
<ByValueCondition>
<ParameterCondition parameterRef="distance_success" value="100" rule="lessThan"/>
</ByValueCondition>
</Condition>
</ConditionGroup>
</StopTrigger>
</Storyboard>
</OpenSCENARIO>
``` | Here is the result:
```
<?xml version="1.0" ?>
<OpenSCENARIO>
<FileHeader revMajor="1" revMinor="0" date="2020-03-24T12:00:00" description="CARLA:LaneChangeSimple" author=""/>
<ParameterDeclarations/>
<CatalogLocations/>
<RoadNetwork>
<LogicFile filepath="Town04"/>
<SceneGraphFile filepath=""/>
</RoadNetwork>
<Entities>
<ScenarioObject name="hero">
<Vehicle name="vehicle.tesla.model3" vehicleCategory="car">
<ParameterDeclarations/>
<Performance maxSpeed="69.444" maxAcceleration="200" maxDeceleration="10.0"/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2.1" length="4.5" height="1.8"/>
</BoundingBox>
<Axles>
<FrontAxle maxSteering="0.5" wheelDiameter="0.6" trackWidth="1.8" positionX="3.1" positionZ="0.3"/>
<RearAxle maxSteering="0.0" wheelDiameter="0.6" trackWidth="1.8" positionX="0.0" positionZ="0.3"/>
</Axles>
<Properties>
<Property name="type" value="ego_vehicle"/>
</Properties>
</Vehicle>
</ScenarioObject>
<ScenarioObject name="adversary">
<Vehicle name="vehicle.lincoln.mkz_2017" vehicleCategory="car">
<ParameterDeclarations/>
<Performance maxSpeed="69.444" maxAcceleration="200" maxDeceleration="10.0"/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2.1" length="4.5" height="1.8"/>
</BoundingBox>
<Axles>
<FrontAxle maxSteering="0.5" wheelDiameter="0.6" trackWidth="1.8" positionX="3.1" positionZ="0.3"/>
<RearAxle maxSteering="0.0" wheelDiameter="0.6" trackWidth="1.8" positionX="0.0" positionZ="0.3"/>
</Axles>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Vehicle>
</ScenarioObject>
<ScenarioObject name="standing">
<Vehicle name="vehicle.volkswagen.t2" vehicleCategory="car">
<ParameterDeclarations/>
<Performance maxSpeed="69.444" maxAcceleration="200" maxDeceleration="10.0"/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2.1" length="4.5" height="1.8"/>
</BoundingBox>
<Axles>
<FrontAxle maxSteering="0.5" wheelDiameter="0.6" trackWidth="1.8" positionX="3.1" positionZ="0.3"/>
<RearAxle maxSteering="0.0" wheelDiameter="0.6" 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_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_hero_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_close_to_hero_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>
<ScenarioObject name="pedestrian_w_transform_16889">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_w_transform_16890">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_close_to_hero_16891">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_w_transform_16892">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_close_to_adversary_16893">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_w_transform_16894">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_w_transform_16895">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_close_to_hero_16896">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_w_transform_16897">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_close_to_standing_16898">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_close_to_hero_16899">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_w_transform_16900">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_close_to_standing_16901">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_close_to_standing_16902">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_close_to_adversary_16903">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_close_to_standing_16904">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_close_to_standing_16905">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_w_transform_16906">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
</Entities>
<Storyboard>
<Init>
<Actions>
<GlobalAction>
<EnvironmentAction>
<Environment name="Environment1">
<TimeOfDay animation="false" dateTime="2019-06-25T12:00:00"/>
<Weather cloudState="free">
<Sun intensity="0.85" azimuth="0" elevation="1.31"/>
<Fog visualRange="100000.0"/>
<Precipitation precipitationType="dry" intensity="0.0"/>
</Weather>
<RoadCondition frictionScaleFactor="1.0"/>
</Environment>
</EnvironmentAction>
</GlobalAction>
<Private entityRef="hero">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-9.4" y="-152.8" z="0.5" h="1.57079632679"/>
</Position>
</TeleportAction>
</PrivateAction>
<PrivateAction>
<ControllerAction>
<AssignControllerAction>
<Controller name="HeroAgent">
<Properties>
<Property name="module" value="external_control"/>
</Properties>
</Controller>
</AssignControllerAction>
<OverrideControllerValueAction>
<Throttle value="0" active="false"/>
<Brake value="0" active="false"/>
<Clutch value="0" active="false"/>
<ParkingBrake value="0" active="false"/>
<SteeringWheel value="0" active="false"/>
<Gear number="0" active="false"/>
</OverrideControllerValueAction>
</ControllerAction>
</PrivateAction>
</Private>
<Private entityRef="adversary">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-9.4" y="-71.0" z="0.5" h="1.57079632679"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="standing">
<PrivateAction>
<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_16886">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-12.660330772399902" y="28.767610549926758" z="0.003016853239387274"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_close_to_hero_16887">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-9.355673789978027" y="-159.74085998535156" z="0.0013734435196965933"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_close_to_hero_16888">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-4.118598461151123" y="-152.83920288085938" z="0.0013734435196965933"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_w_transform_16889">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-35.35259246826172" y="-28.130294799804688" z="0.5"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_w_transform_16890">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-85.42721557617188" y="27.83273696899414" z="0.5"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_close_to_hero_16891">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-17.002185821533203" y="-148.00132751464844" z="0.0013734435196965933"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_w_transform_16892">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="56.44395065307617" y="22.485027313232422" z="0.5"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_close_to_adversary_16893">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-13.971336364746094" y="-78.01943969726562" z="0.033757247030735016"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_w_transform_16894">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="25.38267707824707" y="52.09051513671875" z="0.5"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_w_transform_16895">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="27.088544845581055" y="14.272509574890137" z="0.5"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_close_to_hero_16896">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="9.303386688232422" y="-154.05126953125" z="0.0013734435196965933"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_w_transform_16897">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="31.129924774169922" y="68.4994888305664" z="0.5"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_close_to_standing_16898">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-4.727181911468506" y="36.445682525634766" z="0.0030184173956513405"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_close_to_hero_16899">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-2.434499502182007" y="-155.6451873779297" z="0.0013734435196965933"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_w_transform_16900">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-76.78504180908203" y="86.71131134033203" z="0.5"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_close_to_standing_16901">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="0.6298156380653381" y="22.614694595336914" z="0.0030178450979292393"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_close_to_standing_16902">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-13.823488235473633" y="34.22854232788086" z="0.0030178450979292393"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_close_to_adversary_16903">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-14.047540664672852" y="-64.39852142333984" z="0.03375709429383278"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_close_to_standing_16904">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="1.6685333251953125" y="32.56477737426758" z="0.0030178450979292393"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_close_to_standing_16905">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-5.451748847961426" y="36.07932662963867" z="0.0030178450979292393"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_w_transform_16906">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-54.83533477783203" y="-3.845061779022217" z="0.5"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
</Actions>
</Init>
<Story name="MyStory">
<Act name="Behavior">
<ManeuverGroup maximumExecutionCount="1" name="ManeuverSequence">
<Actors selectTriggeringEntities="false">
<EntityRef entityRef="adversary"/>
</Actors>
<Maneuver name="LaneChangeSimpleManeuver">
<Event name="AdversaryAccelerates" priority="overwrite">
<Action name="AdversaryAccelerates">
<PrivateAction>
<LongitudinalAction>
<SpeedAction>
<SpeedActionDynamics dynamicsShape="step" value="50" dynamicsDimension="distance"/>
<SpeedActionTarget>
<AbsoluteTargetSpeed value="5.0"/>
</SpeedActionTarget>
</SpeedAction>
</LongitudinalAction>
</PrivateAction>
</Action>
<StartTrigger>
<ConditionGroup>
<Condition name="StartCondition" delay="0" conditionEdge="rising">
<ByEntityCondition>
<TriggeringEntities triggeringEntitiesRule="any">
<EntityRef entityRef="hero"/>
</TriggeringEntities>
<EntityCondition>
<RelativeDistanceCondition entityRef="adversary" relativeDistanceType="cartesianDistance" value="40.0" freespace="false" rule="lessThan"/>
</EntityCondition>
</ByEntityCondition>
</Condition>
</ConditionGroup>
</StartTrigger>
</Event>
<Event name="AdversaryChangesLane" priority="overwrite">
<Action name="AdversaryChangesLane">
<PrivateAction>
<LateralAction>
<LaneChangeAction>
<LaneChangeActionDynamics dynamicsShape="linear" value="25" dynamicsDimension="distance"/>
<LaneChangeTarget>
<RelativeTargetLane entityRef="adversary" value="-1"/>
</LaneChangeTarget>
</LaneChangeAction>
</LateralAction>
</PrivateAction>
</Action>
<StartTrigger>
<ConditionGroup>
<Condition name="AfterAdversaryAccelerates" delay="0" conditionEdge="rising">
<ByValueCondition>
<StoryboardElementStateCondition storyboardElementType="action" storyboardElementRef="AdversaryAccelerates" state="completeState"/>
</ByValueCondition>
</Condition>
</ConditionGroup>
</StartTrigger>
</Event>
</Maneuver>
</ManeuverGroup>
<StartTrigger>
<ConditionGroup>
<Condition name="OverallStartCondition" delay="0" conditionEdge="rising">
<ByEntityCondition>
<TriggeringEntities triggeringEntitiesRule="any">
<EntityRef entityRef="hero"/>
</TriggeringEntities>
<EntityCondition>
<TraveledDistanceCondition value="1.0"/>
</EntityCondition>
</ByEntityCondition>
</Condition>
<Condition name="StartTime" delay="0" conditionEdge="rising">
<ByValueCondition>
<SimulationTimeCondition value="0" rule="equalTo"/>
</ByValueCondition>
</Condition>
</ConditionGroup>
</StartTrigger>
<StopTrigger>
<ConditionGroup>
<Condition name="EndCondition" delay="0" conditionEdge="rising">
<ByEntityCondition>
<TriggeringEntities triggeringEntitiesRule="any">
<EntityRef entityRef="hero"/>
</TriggeringEntities>
<EntityCondition>
<TraveledDistanceCondition value="200.0"/>
</EntityCondition>
</ByEntityCondition>
</Condition>
</ConditionGroup>
</StopTrigger>
</Act>
</Story>
<StopTrigger>
<ConditionGroup>
<Condition name="criteria_RunningStopTest" delay="0" conditionEdge="rising">
<ByValueCondition>
<ParameterCondition parameterRef="" value="" rule="lessThan"/>
</ByValueCondition>
</Condition>
<Condition name="criteria_RunningRedLightTest" delay="0" conditionEdge="rising">
<ByValueCondition>
<ParameterCondition parameterRef="" value="" rule="lessThan"/>
</ByValueCondition>
</Condition>
<Condition name="criteria_WrongLaneTest" delay="0" conditionEdge="rising">
<ByValueCondition>
<ParameterCondition parameterRef="" value="" rule="lessThan"/>
</ByValueCondition>
</Condition>
<Condition name="criteria_OnSidewalkTest" delay="0" conditionEdge="rising">
<ByValueCondition>
<ParameterCondition parameterRef="" value="" rule="lessThan"/>
</ByValueCondition>
</Condition>
<Condition name="criteria_KeepLaneTest" delay="0" conditionEdge="rising">
<ByValueCondition>
<ParameterCondition parameterRef="" value="" rule="lessThan"/>
</ByValueCondition>
</Condition>
<Condition name="criteria_CollisionTest" delay="0" conditionEdge="rising">
<ByValueCondition>
<ParameterCondition parameterRef="" value="" rule="lessThan"/>
</ByValueCondition>
</Condition>
<Condition name="criteria_DrivenDistanceTest" delay="0" conditionEdge="rising">
<ByValueCondition>
<ParameterCondition parameterRef="distance_success" value="100" rule="lessThan"/>
</ByValueCondition>
</Condition>
</ConditionGroup>
</StopTrigger>
</Storyboard>
</OpenSCENARIO>
``` |
i would like to command you to remove pedestrian close to 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_23279">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_close_to_standing_23281">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_close_to_adversary_23282">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_close_to_standing_23283">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_close_to_standing_23284">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_close_to_adversary_23285">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_w_transform_23286">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_close_to_adversary_23287">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_close_to_adversary_23288">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_close_to_adversary_23290">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_w_transform_23291">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_w_transform_23292">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_close_to_adversary_23293">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_w_transform_23294">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_close_to_hero_23295">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_w_transform_23296">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_close_to_standing_23297">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_w_transform_23298">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_close_to_standing_23299">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_close_to_standing_23300">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_w_transform_23301">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_close_to_adversary_23302">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_close_to_hero_23303">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_close_to_adversary_23304">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_close_to_adversary_23305">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
</Entities>
<Storyboard>
<Init>
<Actions>
<GlobalAction>
<EnvironmentAction>
<Environment name="Environment1">
<TimeOfDay animation="false" dateTime="2019-06-25T12:00:00"/>
<Weather cloudState="free">
<Sun intensity="0.85" azimuth="0" elevation="1.31"/>
<Fog visualRange="100000.0"/>
<Precipitation precipitationType="dry" intensity="0.0"/>
</Weather>
<RoadCondition frictionScaleFactor="1.0"/>
</Environment>
</EnvironmentAction>
</GlobalAction>
<Private entityRef="hero">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-9.4" y="-152.8" z="0.5" h="1.57079632679"/>
</Position>
</TeleportAction>
</PrivateAction>
<PrivateAction>
<ControllerAction>
<AssignControllerAction>
<Controller name="HeroAgent">
<Properties>
<Property name="module" value="external_control"/>
</Properties>
</Controller>
</AssignControllerAction>
<OverrideControllerValueAction>
<Throttle value="0" active="false"/>
<Brake value="0" active="false"/>
<Clutch value="0" active="false"/>
<ParkingBrake value="0" active="false"/>
<SteeringWheel value="0" active="false"/>
<Gear number="0" active="false"/>
</OverrideControllerValueAction>
</ControllerAction>
</PrivateAction>
</Private>
<Private entityRef="adversary">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-9.4" y="-71.0" z="0.5" h="1.57079632679"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="standing">
<PrivateAction>
<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_23279">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-4.8912763595581055" y="-152.5019989013672" z="0.0020974730141460896"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_close_to_standing_23281">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-11.3792142868042" y="35.55476379394531" z="0.0030184935312718153"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_close_to_adversary_23282">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-5.355419158935547" y="-75.44320678710938" z="0.03378719091415405"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_close_to_standing_23283">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-9.293076515197754" y="26.846614837646484" z="0.0030226516537368298"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_close_to_standing_23284">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-7.144164562225342" y="22.188495635986328" z="0.003068542340770364"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_close_to_adversary_23285">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-7.047727584838867" y="-80.64743041992188" z="0.03378482908010483"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_w_transform_23286">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-67.86608123779297" y="71.18907165527344" z="0.5"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_close_to_adversary_23287">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="0.0475187674164772" y="-61.65931701660156" z="0.0338149257004261"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_close_to_adversary_23288">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-14.38772964477539" y="-66.75231170654297" z="0.03381004184484482"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_close_to_adversary_23290">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-11.415210723876953" y="-62.37690353393555" z="0.03378036245703697"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_w_transform_23291">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-64.64476013183594" y="-13.494606971740723" z="0.5"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_w_transform_23292">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-78.67591857910156" y="-40.471492767333984" z="0.5"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_close_to_adversary_23293">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-17.514392852783203" y="-65.2855224609375" z="0.033802375197410583"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_w_transform_23294">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-24.438505172729492" y="62.70608139038086" z="0.5"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_close_to_hero_23295">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-8.58134651184082" y="-150.56529235839844" z="0.0020974730141460896"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_w_transform_23296">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-59.73065185546875" y="-46.90767288208008" z="0.5"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_close_to_standing_23297">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-12.012553215026855" y="42.42292404174805" z="0.0030670166015625"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_w_transform_23298">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-65.21307373046875" y="-71.09027099609375" z="0.5"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_close_to_standing_23299">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-11.558634757995605" y="38.255149841308594" z="0.0030822372063994408"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_close_to_standing_23300">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-13.140466690063477" y="22.687196731567383" z="0.0030442809220403433"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_w_transform_23301">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-93.93629455566406" y="-67.43408966064453" z="0.5"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_close_to_adversary_23302">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-1.3669697046279907" y="-78.03264617919922" z="0.03380592167377472"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_close_to_hero_23303">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-4.765885353088379" y="-145.45590209960938" z="0.0020974730141460896"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_close_to_adversary_23304">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-2.732102394104004" y="-83.1551742553711" z="0.03380344435572624"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_close_to_adversary_23305">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-7.432181358337402" y="-74.58161163330078" z="0.03376895934343338"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
</Actions>
</Init>
<Story name="MyStory">
<Act name="Behavior">
<ManeuverGroup maximumExecutionCount="1" name="ManeuverSequence">
<Actors selectTriggeringEntities="false">
<EntityRef entityRef="adversary"/>
</Actors>
<Maneuver name="LaneChangeSimpleManeuver">
<Event name="AdversaryAccelerates" priority="overwrite">
<Action name="AdversaryAccelerates">
<PrivateAction>
<LongitudinalAction>
<SpeedAction>
<SpeedActionDynamics dynamicsShape="step" value="50" dynamicsDimension="distance"/>
<SpeedActionTarget>
<AbsoluteTargetSpeed value="5.0"/>
</SpeedActionTarget>
</SpeedAction>
</LongitudinalAction>
</PrivateAction>
</Action>
<StartTrigger>
<ConditionGroup>
<Condition name="StartCondition" delay="0" conditionEdge="rising">
<ByEntityCondition>
<TriggeringEntities triggeringEntitiesRule="any">
<EntityRef entityRef="hero"/>
</TriggeringEntities>
<EntityCondition>
<RelativeDistanceCondition entityRef="adversary" relativeDistanceType="cartesianDistance" value="40.0" freespace="false" rule="lessThan"/>
</EntityCondition>
</ByEntityCondition>
</Condition>
</ConditionGroup>
</StartTrigger>
</Event>
<Event name="AdversaryChangesLane" priority="overwrite">
<Action name="AdversaryChangesLane">
<PrivateAction>
<LateralAction>
<LaneChangeAction>
<LaneChangeActionDynamics dynamicsShape="linear" value="25" dynamicsDimension="distance"/>
<LaneChangeTarget>
<RelativeTargetLane entityRef="adversary" value="-1"/>
</LaneChangeTarget>
</LaneChangeAction>
</LateralAction>
</PrivateAction>
</Action>
<StartTrigger>
<ConditionGroup>
<Condition name="AfterAdversaryAccelerates" delay="0" conditionEdge="rising">
<ByValueCondition>
<StoryboardElementStateCondition storyboardElementType="action" storyboardElementRef="AdversaryAccelerates" state="completeState"/>
</ByValueCondition>
</Condition>
</ConditionGroup>
</StartTrigger>
</Event>
</Maneuver>
</ManeuverGroup>
<StartTrigger>
<ConditionGroup>
<Condition name="OverallStartCondition" delay="0" conditionEdge="rising">
<ByEntityCondition>
<TriggeringEntities triggeringEntitiesRule="any">
<EntityRef entityRef="hero"/>
</TriggeringEntities>
<EntityCondition>
<TraveledDistanceCondition value="1.0"/>
</EntityCondition>
</ByEntityCondition>
</Condition>
<Condition name="StartTime" delay="0" conditionEdge="rising">
<ByValueCondition>
<SimulationTimeCondition value="0" rule="equalTo"/>
</ByValueCondition>
</Condition>
</ConditionGroup>
</StartTrigger>
<StopTrigger>
<ConditionGroup>
<Condition name="EndCondition" delay="0" conditionEdge="rising">
<ByEntityCondition>
<TriggeringEntities triggeringEntitiesRule="any">
<EntityRef entityRef="hero"/>
</TriggeringEntities>
<EntityCondition>
<TraveledDistanceCondition value="200.0"/>
</EntityCondition>
</ByEntityCondition>
</Condition>
</ConditionGroup>
</StopTrigger>
</Act>
</Story>
<StopTrigger>
<ConditionGroup>
<Condition name="criteria_RunningStopTest" delay="0" conditionEdge="rising">
<ByValueCondition>
<ParameterCondition parameterRef="" value="" rule="lessThan"/>
</ByValueCondition>
</Condition>
<Condition name="criteria_RunningRedLightTest" delay="0" conditionEdge="rising">
<ByValueCondition>
<ParameterCondition parameterRef="" value="" rule="lessThan"/>
</ByValueCondition>
</Condition>
<Condition name="criteria_WrongLaneTest" delay="0" conditionEdge="rising">
<ByValueCondition>
<ParameterCondition parameterRef="" value="" rule="lessThan"/>
</ByValueCondition>
</Condition>
<Condition name="criteria_OnSidewalkTest" delay="0" conditionEdge="rising">
<ByValueCondition>
<ParameterCondition parameterRef="" value="" rule="lessThan"/>
</ByValueCondition>
</Condition>
<Condition name="criteria_KeepLaneTest" delay="0" conditionEdge="rising">
<ByValueCondition>
<ParameterCondition parameterRef="" value="" rule="lessThan"/>
</ByValueCondition>
</Condition>
<Condition name="criteria_CollisionTest" delay="0" conditionEdge="rising">
<ByValueCondition>
<ParameterCondition parameterRef="" value="" rule="lessThan"/>
</ByValueCondition>
</Condition>
<Condition name="criteria_DrivenDistanceTest" delay="0" conditionEdge="rising">
<ByValueCondition>
<ParameterCondition parameterRef="distance_success" value="100" rule="lessThan"/>
</ByValueCondition>
</Condition>
</ConditionGroup>
</StopTrigger>
</Storyboard>
</OpenSCENARIO>
``` | Here is the result:
```
<?xml version="1.0" ?>
<OpenSCENARIO>
<FileHeader revMajor="1" revMinor="0" date="2020-03-24T12:00:00" description="CARLA:LaneChangeSimple" author=""/>
<ParameterDeclarations/>
<CatalogLocations/>
<RoadNetwork>
<LogicFile filepath="Town04"/>
<SceneGraphFile filepath=""/>
</RoadNetwork>
<Entities>
<ScenarioObject name="hero">
<Vehicle name="vehicle.tesla.model3" vehicleCategory="car">
<ParameterDeclarations/>
<Performance maxSpeed="69.444" maxAcceleration="200" maxDeceleration="10.0"/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2.1" length="4.5" height="1.8"/>
</BoundingBox>
<Axles>
<FrontAxle maxSteering="0.5" wheelDiameter="0.6" trackWidth="1.8" positionX="3.1" positionZ="0.3"/>
<RearAxle maxSteering="0.0" wheelDiameter="0.6" trackWidth="1.8" positionX="0.0" positionZ="0.3"/>
</Axles>
<Properties>
<Property name="type" value="ego_vehicle"/>
</Properties>
</Vehicle>
</ScenarioObject>
<ScenarioObject name="adversary">
<Vehicle name="vehicle.lincoln.mkz_2017" vehicleCategory="car">
<ParameterDeclarations/>
<Performance maxSpeed="69.444" maxAcceleration="200" maxDeceleration="10.0"/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2.1" length="4.5" height="1.8"/>
</BoundingBox>
<Axles>
<FrontAxle maxSteering="0.5" wheelDiameter="0.6" trackWidth="1.8" positionX="3.1" positionZ="0.3"/>
<RearAxle maxSteering="0.0" wheelDiameter="0.6" trackWidth="1.8" positionX="0.0" positionZ="0.3"/>
</Axles>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Vehicle>
</ScenarioObject>
<ScenarioObject name="standing">
<Vehicle name="vehicle.volkswagen.t2" vehicleCategory="car">
<ParameterDeclarations/>
<Performance maxSpeed="69.444" maxAcceleration="200" maxDeceleration="10.0"/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2.1" length="4.5" height="1.8"/>
</BoundingBox>
<Axles>
<FrontAxle maxSteering="0.5" wheelDiameter="0.6" trackWidth="1.8" positionX="3.1" positionZ="0.3"/>
<RearAxle maxSteering="0.0" wheelDiameter="0.6" trackWidth="1.8" positionX="0.0" positionZ="0.3"/>
</Axles>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Vehicle>
</ScenarioObject>
<ScenarioObject name="pedestrian_close_to_hero_23279">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_close_to_standing_23281">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_close_to_adversary_23282">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_close_to_standing_23283">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_close_to_standing_23284">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_close_to_adversary_23285">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_w_transform_23286">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_close_to_adversary_23287">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_close_to_adversary_23288">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_close_to_adversary_23290">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_w_transform_23291">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_w_transform_23292">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_close_to_adversary_23293">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_w_transform_23294">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_close_to_hero_23295">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_w_transform_23296">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_close_to_standing_23297">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_w_transform_23298">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_close_to_standing_23299">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_close_to_standing_23300">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_w_transform_23301">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_close_to_adversary_23302">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_close_to_hero_23303">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_close_to_adversary_23304">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
</Entities>
<Storyboard>
<Init>
<Actions>
<GlobalAction>
<EnvironmentAction>
<Environment name="Environment1">
<TimeOfDay animation="false" dateTime="2019-06-25T12:00:00"/>
<Weather cloudState="free">
<Sun intensity="0.85" azimuth="0" elevation="1.31"/>
<Fog visualRange="100000.0"/>
<Precipitation precipitationType="dry" intensity="0.0"/>
</Weather>
<RoadCondition frictionScaleFactor="1.0"/>
</Environment>
</EnvironmentAction>
</GlobalAction>
<Private entityRef="hero">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-9.4" y="-152.8" z="0.5" h="1.57079632679"/>
</Position>
</TeleportAction>
</PrivateAction>
<PrivateAction>
<ControllerAction>
<AssignControllerAction>
<Controller name="HeroAgent">
<Properties>
<Property name="module" value="external_control"/>
</Properties>
</Controller>
</AssignControllerAction>
<OverrideControllerValueAction>
<Throttle value="0" active="false"/>
<Brake value="0" active="false"/>
<Clutch value="0" active="false"/>
<ParkingBrake value="0" active="false"/>
<SteeringWheel value="0" active="false"/>
<Gear number="0" active="false"/>
</OverrideControllerValueAction>
</ControllerAction>
</PrivateAction>
</Private>
<Private entityRef="adversary">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-9.4" y="-71.0" z="0.5" h="1.57079632679"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="standing">
<PrivateAction>
<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_23279">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-4.8912763595581055" y="-152.5019989013672" z="0.0020974730141460896"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_close_to_standing_23281">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-11.3792142868042" y="35.55476379394531" z="0.0030184935312718153"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_close_to_adversary_23282">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-5.355419158935547" y="-75.44320678710938" z="0.03378719091415405"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_close_to_standing_23283">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-9.293076515197754" y="26.846614837646484" z="0.0030226516537368298"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_close_to_standing_23284">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-7.144164562225342" y="22.188495635986328" z="0.003068542340770364"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_close_to_adversary_23285">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-7.047727584838867" y="-80.64743041992188" z="0.03378482908010483"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_w_transform_23286">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-67.86608123779297" y="71.18907165527344" z="0.5"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_close_to_adversary_23287">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="0.0475187674164772" y="-61.65931701660156" z="0.0338149257004261"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_close_to_adversary_23288">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-14.38772964477539" y="-66.75231170654297" z="0.03381004184484482"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_close_to_adversary_23290">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-11.415210723876953" y="-62.37690353393555" z="0.03378036245703697"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_w_transform_23291">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-64.64476013183594" y="-13.494606971740723" z="0.5"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_w_transform_23292">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-78.67591857910156" y="-40.471492767333984" z="0.5"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_close_to_adversary_23293">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-17.514392852783203" y="-65.2855224609375" z="0.033802375197410583"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_w_transform_23294">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-24.438505172729492" y="62.70608139038086" z="0.5"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_close_to_hero_23295">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-8.58134651184082" y="-150.56529235839844" z="0.0020974730141460896"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_w_transform_23296">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-59.73065185546875" y="-46.90767288208008" z="0.5"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_close_to_standing_23297">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-12.012553215026855" y="42.42292404174805" z="0.0030670166015625"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_w_transform_23298">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-65.21307373046875" y="-71.09027099609375" z="0.5"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_close_to_standing_23299">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-11.558634757995605" y="38.255149841308594" z="0.0030822372063994408"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_close_to_standing_23300">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-13.140466690063477" y="22.687196731567383" z="0.0030442809220403433"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_w_transform_23301">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-93.93629455566406" y="-67.43408966064453" z="0.5"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_close_to_adversary_23302">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-1.3669697046279907" y="-78.03264617919922" z="0.03380592167377472"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_close_to_hero_23303">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-4.765885353088379" y="-145.45590209960938" z="0.0020974730141460896"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_close_to_adversary_23304">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-2.732102394104004" y="-83.1551742553711" z="0.03380344435572624"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
</Actions>
</Init>
<Story name="MyStory">
<Act name="Behavior">
<ManeuverGroup maximumExecutionCount="1" name="ManeuverSequence">
<Actors selectTriggeringEntities="false">
<EntityRef entityRef="adversary"/>
</Actors>
<Maneuver name="LaneChangeSimpleManeuver">
<Event name="AdversaryAccelerates" priority="overwrite">
<Action name="AdversaryAccelerates">
<PrivateAction>
<LongitudinalAction>
<SpeedAction>
<SpeedActionDynamics dynamicsShape="step" value="50" dynamicsDimension="distance"/>
<SpeedActionTarget>
<AbsoluteTargetSpeed value="5.0"/>
</SpeedActionTarget>
</SpeedAction>
</LongitudinalAction>
</PrivateAction>
</Action>
<StartTrigger>
<ConditionGroup>
<Condition name="StartCondition" delay="0" conditionEdge="rising">
<ByEntityCondition>
<TriggeringEntities triggeringEntitiesRule="any">
<EntityRef entityRef="hero"/>
</TriggeringEntities>
<EntityCondition>
<RelativeDistanceCondition entityRef="adversary" relativeDistanceType="cartesianDistance" value="40.0" freespace="false" rule="lessThan"/>
</EntityCondition>
</ByEntityCondition>
</Condition>
</ConditionGroup>
</StartTrigger>
</Event>
<Event name="AdversaryChangesLane" priority="overwrite">
<Action name="AdversaryChangesLane">
<PrivateAction>
<LateralAction>
<LaneChangeAction>
<LaneChangeActionDynamics dynamicsShape="linear" value="25" dynamicsDimension="distance"/>
<LaneChangeTarget>
<RelativeTargetLane entityRef="adversary" value="-1"/>
</LaneChangeTarget>
</LaneChangeAction>
</LateralAction>
</PrivateAction>
</Action>
<StartTrigger>
<ConditionGroup>
<Condition name="AfterAdversaryAccelerates" delay="0" conditionEdge="rising">
<ByValueCondition>
<StoryboardElementStateCondition storyboardElementType="action" storyboardElementRef="AdversaryAccelerates" state="completeState"/>
</ByValueCondition>
</Condition>
</ConditionGroup>
</StartTrigger>
</Event>
</Maneuver>
</ManeuverGroup>
<StartTrigger>
<ConditionGroup>
<Condition name="OverallStartCondition" delay="0" conditionEdge="rising">
<ByEntityCondition>
<TriggeringEntities triggeringEntitiesRule="any">
<EntityRef entityRef="hero"/>
</TriggeringEntities>
<EntityCondition>
<TraveledDistanceCondition value="1.0"/>
</EntityCondition>
</ByEntityCondition>
</Condition>
<Condition name="StartTime" delay="0" conditionEdge="rising">
<ByValueCondition>
<SimulationTimeCondition value="0" rule="equalTo"/>
</ByValueCondition>
</Condition>
</ConditionGroup>
</StartTrigger>
<StopTrigger>
<ConditionGroup>
<Condition name="EndCondition" delay="0" conditionEdge="rising">
<ByEntityCondition>
<TriggeringEntities triggeringEntitiesRule="any">
<EntityRef entityRef="hero"/>
</TriggeringEntities>
<EntityCondition>
<TraveledDistanceCondition value="200.0"/>
</EntityCondition>
</ByEntityCondition>
</Condition>
</ConditionGroup>
</StopTrigger>
</Act>
</Story>
<StopTrigger>
<ConditionGroup>
<Condition name="criteria_RunningStopTest" delay="0" conditionEdge="rising">
<ByValueCondition>
<ParameterCondition parameterRef="" value="" rule="lessThan"/>
</ByValueCondition>
</Condition>
<Condition name="criteria_RunningRedLightTest" delay="0" conditionEdge="rising">
<ByValueCondition>
<ParameterCondition parameterRef="" value="" rule="lessThan"/>
</ByValueCondition>
</Condition>
<Condition name="criteria_WrongLaneTest" delay="0" conditionEdge="rising">
<ByValueCondition>
<ParameterCondition parameterRef="" value="" rule="lessThan"/>
</ByValueCondition>
</Condition>
<Condition name="criteria_OnSidewalkTest" delay="0" conditionEdge="rising">
<ByValueCondition>
<ParameterCondition parameterRef="" value="" rule="lessThan"/>
</ByValueCondition>
</Condition>
<Condition name="criteria_KeepLaneTest" delay="0" conditionEdge="rising">
<ByValueCondition>
<ParameterCondition parameterRef="" value="" rule="lessThan"/>
</ByValueCondition>
</Condition>
<Condition name="criteria_CollisionTest" delay="0" conditionEdge="rising">
<ByValueCondition>
<ParameterCondition parameterRef="" value="" rule="lessThan"/>
</ByValueCondition>
</Condition>
<Condition name="criteria_DrivenDistanceTest" delay="0" conditionEdge="rising">
<ByValueCondition>
<ParameterCondition parameterRef="distance_success" value="100" rule="lessThan"/>
</ByValueCondition>
</Condition>
</ConditionGroup>
</StopTrigger>
</Storyboard>
</OpenSCENARIO>
``` |
i need you to remove pedestrian close to 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_25624">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_w_transform_25625">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_close_to_hero_25626">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
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</Entities>
<Storyboard>
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<PrivateAction>
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<AssignControllerAction>
<Controller name="HeroAgent">
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<Property name="module" value="external_control"/>
</Properties>
</Controller>
</AssignControllerAction>
<OverrideControllerValueAction>
<Throttle value="0" active="false"/>
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<Act name="Behavior">
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<Actors selectTriggeringEntities="false">
<EntityRef entityRef="adversary"/>
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<Maneuver name="LaneChangeSimpleManeuver">
<Event name="AdversaryAccelerates" priority="overwrite">
<Action name="AdversaryAccelerates">
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<LongitudinalAction>
<SpeedAction>
<SpeedActionDynamics dynamicsShape="step" value="50" dynamicsDimension="distance"/>
<SpeedActionTarget>
<AbsoluteTargetSpeed value="5.0"/>
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</SpeedAction>
</LongitudinalAction>
</PrivateAction>
</Action>
<StartTrigger>
<ConditionGroup>
<Condition name="StartCondition" delay="0" conditionEdge="rising">
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<TriggeringEntities triggeringEntitiesRule="any">
<EntityRef entityRef="hero"/>
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<EntityCondition>
<RelativeDistanceCondition entityRef="adversary" relativeDistanceType="cartesianDistance" value="40.0" freespace="false" rule="lessThan"/>
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</ByEntityCondition>
</Condition>
</ConditionGroup>
</StartTrigger>
</Event>
<Event name="AdversaryChangesLane" priority="overwrite">
<Action name="AdversaryChangesLane">
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<LateralAction>
<LaneChangeAction>
<LaneChangeActionDynamics dynamicsShape="linear" value="25" dynamicsDimension="distance"/>
<LaneChangeTarget>
<RelativeTargetLane entityRef="adversary" value="-1"/>
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</LaneChangeAction>
</LateralAction>
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</Action>
<StartTrigger>
<ConditionGroup>
<Condition name="AfterAdversaryAccelerates" delay="0" conditionEdge="rising">
<ByValueCondition>
<StoryboardElementStateCondition storyboardElementType="action" storyboardElementRef="AdversaryAccelerates" state="completeState"/>
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</Maneuver>
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<StartTrigger>
<ConditionGroup>
<Condition name="OverallStartCondition" delay="0" conditionEdge="rising">
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<TriggeringEntities triggeringEntitiesRule="any">
<EntityRef entityRef="hero"/>
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<EntityCondition>
<TraveledDistanceCondition value="1.0"/>
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</ByEntityCondition>
</Condition>
<Condition name="StartTime" delay="0" conditionEdge="rising">
<ByValueCondition>
<SimulationTimeCondition value="0" rule="equalTo"/>
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</Condition>
</ConditionGroup>
</StartTrigger>
<StopTrigger>
<ConditionGroup>
<Condition name="EndCondition" delay="0" conditionEdge="rising">
<ByEntityCondition>
<TriggeringEntities triggeringEntitiesRule="any">
<EntityRef entityRef="hero"/>
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<EntityCondition>
<TraveledDistanceCondition value="200.0"/>
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</ByEntityCondition>
</Condition>
</ConditionGroup>
</StopTrigger>
</Act>
</Story>
<StopTrigger>
<ConditionGroup>
<Condition name="criteria_RunningStopTest" delay="0" conditionEdge="rising">
<ByValueCondition>
<ParameterCondition parameterRef="" value="" rule="lessThan"/>
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</Condition>
<Condition name="criteria_RunningRedLightTest" delay="0" conditionEdge="rising">
<ByValueCondition>
<ParameterCondition parameterRef="" value="" rule="lessThan"/>
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</Condition>
<Condition name="criteria_WrongLaneTest" delay="0" conditionEdge="rising">
<ByValueCondition>
<ParameterCondition parameterRef="" value="" rule="lessThan"/>
</ByValueCondition>
</Condition>
<Condition name="criteria_OnSidewalkTest" delay="0" conditionEdge="rising">
<ByValueCondition>
<ParameterCondition parameterRef="" value="" rule="lessThan"/>
</ByValueCondition>
</Condition>
<Condition name="criteria_KeepLaneTest" delay="0" conditionEdge="rising">
<ByValueCondition>
<ParameterCondition parameterRef="" value="" rule="lessThan"/>
</ByValueCondition>
</Condition>
<Condition name="criteria_CollisionTest" delay="0" conditionEdge="rising">
<ByValueCondition>
<ParameterCondition parameterRef="" value="" rule="lessThan"/>
</ByValueCondition>
</Condition>
<Condition name="criteria_DrivenDistanceTest" delay="0" conditionEdge="rising">
<ByValueCondition>
<ParameterCondition parameterRef="distance_success" value="100" rule="lessThan"/>
</ByValueCondition>
</Condition>
</ConditionGroup>
</StopTrigger>
</Storyboard>
</OpenSCENARIO>
``` | Here is the result:
```
<?xml version="1.0" ?>
<OpenSCENARIO>
<FileHeader revMajor="1" revMinor="0" date="2020-03-24T12:00:00" description="CARLA:LaneChangeSimple" author=""/>
<ParameterDeclarations/>
<CatalogLocations/>
<RoadNetwork>
<LogicFile filepath="Town04"/>
<SceneGraphFile filepath=""/>
</RoadNetwork>
<Entities>
<ScenarioObject name="hero">
<Vehicle name="vehicle.tesla.model3" vehicleCategory="car">
<ParameterDeclarations/>
<Performance maxSpeed="69.444" maxAcceleration="200" maxDeceleration="10.0"/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2.1" length="4.5" height="1.8"/>
</BoundingBox>
<Axles>
<FrontAxle maxSteering="0.5" wheelDiameter="0.6" trackWidth="1.8" positionX="3.1" positionZ="0.3"/>
<RearAxle maxSteering="0.0" wheelDiameter="0.6" trackWidth="1.8" positionX="0.0" positionZ="0.3"/>
</Axles>
<Properties>
<Property name="type" value="ego_vehicle"/>
</Properties>
</Vehicle>
</ScenarioObject>
<ScenarioObject name="adversary">
<Vehicle name="vehicle.lincoln.mkz_2017" vehicleCategory="car">
<ParameterDeclarations/>
<Performance maxSpeed="69.444" maxAcceleration="200" maxDeceleration="10.0"/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2.1" length="4.5" height="1.8"/>
</BoundingBox>
<Axles>
<FrontAxle maxSteering="0.5" wheelDiameter="0.6" trackWidth="1.8" positionX="3.1" positionZ="0.3"/>
<RearAxle maxSteering="0.0" wheelDiameter="0.6" trackWidth="1.8" positionX="0.0" positionZ="0.3"/>
</Axles>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Vehicle>
</ScenarioObject>
<ScenarioObject name="standing">
<Vehicle name="vehicle.volkswagen.t2" vehicleCategory="car">
<ParameterDeclarations/>
<Performance maxSpeed="69.444" maxAcceleration="200" maxDeceleration="10.0"/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2.1" length="4.5" height="1.8"/>
</BoundingBox>
<Axles>
<FrontAxle maxSteering="0.5" wheelDiameter="0.6" trackWidth="1.8" positionX="3.1" positionZ="0.3"/>
<RearAxle maxSteering="0.0" wheelDiameter="0.6" 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_25624">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_w_transform_25625">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_close_to_hero_25626">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_w_transform_25627">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_close_to_hero_25628">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_w_transform_25630">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_close_to_adversary_25631">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_close_to_hero_25632">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_close_to_adversary_25633">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_w_transform_25635">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_w_transform_25636">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_close_to_adversary_25637">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_w_transform_25638">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_close_to_hero_25639">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_close_to_hero_25640">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_close_to_adversary_25641">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_w_transform_25642">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_close_to_standing_25643">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_w_transform_25644">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_w_transform_25645">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_close_to_hero_25646">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_close_to_hero_25647">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_close_to_hero_25648">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_close_to_adversary_25649">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_close_to_adversary_25650">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_w_transform_25652">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
</Entities>
<Storyboard>
<Init>
<Actions>
<GlobalAction>
<EnvironmentAction>
<Environment name="Environment1">
<TimeOfDay animation="false" dateTime="2019-06-25T12:00:00"/>
<Weather cloudState="free">
<Sun intensity="0.85" azimuth="0" elevation="1.31"/>
<Fog visualRange="100000.0"/>
<Precipitation precipitationType="dry" intensity="0.0"/>
</Weather>
<RoadCondition frictionScaleFactor="1.0"/>
</Environment>
</EnvironmentAction>
</GlobalAction>
<Private entityRef="hero">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-9.4" y="-152.8" z="0.5" h="1.57079632679"/>
</Position>
</TeleportAction>
</PrivateAction>
<PrivateAction>
<ControllerAction>
<AssignControllerAction>
<Controller name="HeroAgent">
<Properties>
<Property name="module" value="external_control"/>
</Properties>
</Controller>
</AssignControllerAction>
<OverrideControllerValueAction>
<Throttle value="0" active="false"/>
<Brake value="0" active="false"/>
<Clutch value="0" active="false"/>
<ParkingBrake value="0" active="false"/>
<SteeringWheel value="0" active="false"/>
<Gear number="0" active="false"/>
</OverrideControllerValueAction>
</ControllerAction>
</PrivateAction>
</Private>
<Private entityRef="adversary">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-9.4" y="-71.0" z="0.5" h="1.57079632679"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="standing">
<PrivateAction>
<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_25624">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-24.99718475341797" y="-72.9409408569336" z="0.03377319127321243"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_w_transform_25625">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="8.10893440246582" y="24.256725311279297" z="0.5"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_close_to_hero_25626">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="3.548628568649292" y="-163.2200927734375" z="0.0013734435196965933"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_w_transform_25627">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-35.17726516723633" y="-3.3162879943847656" z="0.5"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_close_to_hero_25628">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-17.917619705200195" y="-149.49810791015625" z="0.0013734435196965933"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_w_transform_25630">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="33.438777923583984" y="-83.21784973144531" z="0.5"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_close_to_adversary_25631">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-18.580968856811523" y="-75.39559936523438" z="0.03375541791319847"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_close_to_hero_25632">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-15.787412643432617" y="-153.4306182861328" z="0.0013734435196965933"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_close_to_adversary_25633">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-8.861594200134277" y="-77.20220947265625" z="0.033739738166332245"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_w_transform_25635">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-59.65467071533203" y="38.61384963989258" z="0.5"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_w_transform_25636">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="33.62810516357422" y="20.634075164794922" z="0.5"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_close_to_adversary_25637">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-2.4511070251464844" y="-65.44062042236328" z="0.03374534472823143"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_w_transform_25638">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-74.94908142089844" y="-73.22361755371094" z="0.5"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_close_to_hero_25639">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="4.510897636413574" y="-160.79898071289062" z="0.0013734435196965933"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_close_to_hero_25640">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-5.4726104736328125" y="-147.5482177734375" z="0.0013734435196965933"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_close_to_adversary_25641">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-7.3571672439575195" y="-66.05692291259766" z="0.033793218433856964"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_w_transform_25642">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="73.05323791503906" y="59.297245025634766" z="0.5"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_close_to_standing_25643">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-4.3560614585876465" y="36.06367492675781" z="0.003016853239387274"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_w_transform_25644">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="97.2923583984375" y="14.00331974029541" z="0.5"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_w_transform_25645">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-8.668658256530762" y="-64.4817123413086" z="0.5"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_close_to_hero_25646">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-18.261674880981445" y="-160.89111328125" z="0.0013734435196965933"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_close_to_hero_25647">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-15.783553123474121" y="-151.0567169189453" z="0.0013734435196965933"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_close_to_hero_25648">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-13.789543151855469" y="-160.83831787109375" z="0.0013734435196965933"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_close_to_adversary_25649">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="3.7869627475738525" y="-54.90821838378906" z="0.033757131546735764"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_close_to_adversary_25650">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-7.9228129386901855" y="-68.64414978027344" z="0.03378726914525032"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_w_transform_25652">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-7.308156967163086" y="55.6223258972168" z="0.5"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
</Actions>
</Init>
<Story name="MyStory">
<Act name="Behavior">
<ManeuverGroup maximumExecutionCount="1" name="ManeuverSequence">
<Actors selectTriggeringEntities="false">
<EntityRef entityRef="adversary"/>
</Actors>
<Maneuver name="LaneChangeSimpleManeuver">
<Event name="AdversaryAccelerates" priority="overwrite">
<Action name="AdversaryAccelerates">
<PrivateAction>
<LongitudinalAction>
<SpeedAction>
<SpeedActionDynamics dynamicsShape="step" value="50" dynamicsDimension="distance"/>
<SpeedActionTarget>
<AbsoluteTargetSpeed value="5.0"/>
</SpeedActionTarget>
</SpeedAction>
</LongitudinalAction>
</PrivateAction>
</Action>
<StartTrigger>
<ConditionGroup>
<Condition name="StartCondition" delay="0" conditionEdge="rising">
<ByEntityCondition>
<TriggeringEntities triggeringEntitiesRule="any">
<EntityRef entityRef="hero"/>
</TriggeringEntities>
<EntityCondition>
<RelativeDistanceCondition entityRef="adversary" relativeDistanceType="cartesianDistance" value="40.0" freespace="false" rule="lessThan"/>
</EntityCondition>
</ByEntityCondition>
</Condition>
</ConditionGroup>
</StartTrigger>
</Event>
<Event name="AdversaryChangesLane" priority="overwrite">
<Action name="AdversaryChangesLane">
<PrivateAction>
<LateralAction>
<LaneChangeAction>
<LaneChangeActionDynamics dynamicsShape="linear" value="25" dynamicsDimension="distance"/>
<LaneChangeTarget>
<RelativeTargetLane entityRef="adversary" value="-1"/>
</LaneChangeTarget>
</LaneChangeAction>
</LateralAction>
</PrivateAction>
</Action>
<StartTrigger>
<ConditionGroup>
<Condition name="AfterAdversaryAccelerates" delay="0" conditionEdge="rising">
<ByValueCondition>
<StoryboardElementStateCondition storyboardElementType="action" storyboardElementRef="AdversaryAccelerates" state="completeState"/>
</ByValueCondition>
</Condition>
</ConditionGroup>
</StartTrigger>
</Event>
</Maneuver>
</ManeuverGroup>
<StartTrigger>
<ConditionGroup>
<Condition name="OverallStartCondition" delay="0" conditionEdge="rising">
<ByEntityCondition>
<TriggeringEntities triggeringEntitiesRule="any">
<EntityRef entityRef="hero"/>
</TriggeringEntities>
<EntityCondition>
<TraveledDistanceCondition value="1.0"/>
</EntityCondition>
</ByEntityCondition>
</Condition>
<Condition name="StartTime" delay="0" conditionEdge="rising">
<ByValueCondition>
<SimulationTimeCondition value="0" rule="equalTo"/>
</ByValueCondition>
</Condition>
</ConditionGroup>
</StartTrigger>
<StopTrigger>
<ConditionGroup>
<Condition name="EndCondition" delay="0" conditionEdge="rising">
<ByEntityCondition>
<TriggeringEntities triggeringEntitiesRule="any">
<EntityRef entityRef="hero"/>
</TriggeringEntities>
<EntityCondition>
<TraveledDistanceCondition value="200.0"/>
</EntityCondition>
</ByEntityCondition>
</Condition>
</ConditionGroup>
</StopTrigger>
</Act>
</Story>
<StopTrigger>
<ConditionGroup>
<Condition name="criteria_RunningStopTest" delay="0" conditionEdge="rising">
<ByValueCondition>
<ParameterCondition parameterRef="" value="" rule="lessThan"/>
</ByValueCondition>
</Condition>
<Condition name="criteria_RunningRedLightTest" delay="0" conditionEdge="rising">
<ByValueCondition>
<ParameterCondition parameterRef="" value="" rule="lessThan"/>
</ByValueCondition>
</Condition>
<Condition name="criteria_WrongLaneTest" delay="0" conditionEdge="rising">
<ByValueCondition>
<ParameterCondition parameterRef="" value="" rule="lessThan"/>
</ByValueCondition>
</Condition>
<Condition name="criteria_OnSidewalkTest" delay="0" conditionEdge="rising">
<ByValueCondition>
<ParameterCondition parameterRef="" value="" rule="lessThan"/>
</ByValueCondition>
</Condition>
<Condition name="criteria_KeepLaneTest" delay="0" conditionEdge="rising">
<ByValueCondition>
<ParameterCondition parameterRef="" value="" rule="lessThan"/>
</ByValueCondition>
</Condition>
<Condition name="criteria_CollisionTest" delay="0" conditionEdge="rising">
<ByValueCondition>
<ParameterCondition parameterRef="" value="" rule="lessThan"/>
</ByValueCondition>
</Condition>
<Condition name="criteria_DrivenDistanceTest" delay="0" conditionEdge="rising">
<ByValueCondition>
<ParameterCondition parameterRef="distance_success" value="100" rule="lessThan"/>
</ByValueCondition>
</Condition>
</ConditionGroup>
</StopTrigger>
</Storyboard>
</OpenSCENARIO>
``` |
i would like to ask you to add pedestrian at location (66.27, -43.08, 0.5)?
```
<?xml version="1.0" ?>
<OpenSCENARIO>
<FileHeader revMajor="1" revMinor="0" date="2020-03-24T12:00:00" description="CARLA:LaneChangeSimple" author=""/>
<ParameterDeclarations/>
<CatalogLocations/>
<RoadNetwork>
<LogicFile filepath="Town04"/>
<SceneGraphFile filepath=""/>
</RoadNetwork>
<Entities>
<ScenarioObject name="hero">
<Vehicle name="vehicle.tesla.model3" vehicleCategory="car">
<ParameterDeclarations/>
<Performance maxSpeed="69.444" maxAcceleration="200" maxDeceleration="10.0"/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2.1" length="4.5" height="1.8"/>
</BoundingBox>
<Axles>
<FrontAxle maxSteering="0.5" wheelDiameter="0.6" trackWidth="1.8" positionX="3.1" positionZ="0.3"/>
<RearAxle maxSteering="0.0" wheelDiameter="0.6" trackWidth="1.8" positionX="0.0" positionZ="0.3"/>
</Axles>
<Properties>
<Property name="type" value="ego_vehicle"/>
</Properties>
</Vehicle>
</ScenarioObject>
<ScenarioObject name="adversary">
<Vehicle name="vehicle.lincoln.mkz_2017" vehicleCategory="car">
<ParameterDeclarations/>
<Performance maxSpeed="69.444" maxAcceleration="200" maxDeceleration="10.0"/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2.1" length="4.5" height="1.8"/>
</BoundingBox>
<Axles>
<FrontAxle maxSteering="0.5" wheelDiameter="0.6" trackWidth="1.8" positionX="3.1" positionZ="0.3"/>
<RearAxle maxSteering="0.0" wheelDiameter="0.6" trackWidth="1.8" positionX="0.0" positionZ="0.3"/>
</Axles>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Vehicle>
</ScenarioObject>
<ScenarioObject name="standing">
<Vehicle name="vehicle.volkswagen.t2" vehicleCategory="car">
<ParameterDeclarations/>
<Performance maxSpeed="69.444" maxAcceleration="200" maxDeceleration="10.0"/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2.1" length="4.5" height="1.8"/>
</BoundingBox>
<Axles>
<FrontAxle maxSteering="0.5" wheelDiameter="0.6" trackWidth="1.8" positionX="3.1" positionZ="0.3"/>
<RearAxle maxSteering="0.0" wheelDiameter="0.6" trackWidth="1.8" positionX="0.0" positionZ="0.3"/>
</Axles>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Vehicle>
</ScenarioObject>
<ScenarioObject name="pedestrian_close_to_hero_23569">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_close_to_standing_23570">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_w_transform_23571">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_close_to_standing_23572">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_w_transform_23573">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_w_transform_23574">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_close_to_standing_23575">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_w_transform_23576">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_close_to_standing_23577">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_w_transform_23579">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_close_to_hero_23580">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_close_to_adversary_23581">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_w_transform_23582">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_w_transform_23583">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_w_transform_23584">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_w_transform_23585">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_close_to_standing_23586">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
</Entities>
<Storyboard>
<Init>
<Actions>
<GlobalAction>
<EnvironmentAction>
<Environment name="Environment1">
<TimeOfDay animation="false" dateTime="2019-06-25T12:00:00"/>
<Weather cloudState="free">
<Sun intensity="0.85" azimuth="0" elevation="1.31"/>
<Fog visualRange="100000.0"/>
<Precipitation precipitationType="dry" intensity="0.0"/>
</Weather>
<RoadCondition frictionScaleFactor="1.0"/>
</Environment>
</EnvironmentAction>
</GlobalAction>
<Private entityRef="hero">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-9.4" y="-152.8" z="0.5" h="1.57079632679"/>
</Position>
</TeleportAction>
</PrivateAction>
<PrivateAction>
<ControllerAction>
<AssignControllerAction>
<Controller name="HeroAgent">
<Properties>
<Property name="module" value="external_control"/>
</Properties>
</Controller>
</AssignControllerAction>
<OverrideControllerValueAction>
<Throttle value="0" active="false"/>
<Brake value="0" active="false"/>
<Clutch value="0" active="false"/>
<ParkingBrake value="0" active="false"/>
<SteeringWheel value="0" active="false"/>
<Gear number="0" active="false"/>
</OverrideControllerValueAction>
</ControllerAction>
</PrivateAction>
</Private>
<Private entityRef="adversary">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-9.4" y="-71.0" z="0.5" h="1.57079632679"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="standing">
<PrivateAction>
<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_23569">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-13.535721778869629" y="-156.89971923828125" z="0.0014652633108198643"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_close_to_standing_23570">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-10.540366172790527" y="32.859954833984375" z="0.0030773163307458162"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_w_transform_23571">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-94.65836334228516" y="-45.4486083984375" z="0.5"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_close_to_standing_23572">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-17.224214553833008" y="27.963623046875" z="0.003042945871129632"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_w_transform_23573">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-62.823482513427734" y="-82.07172393798828" z="0.5"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_w_transform_23574">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="48.33855438232422" y="79.93486785888672" z="0.5"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_close_to_standing_23575">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-12.409478187561035" y="36.769798278808594" z="0.0030660247430205345"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_w_transform_23576">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-43.956722259521484" y="86.47140502929688" z="0.5"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_close_to_standing_23577">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-9.367831230163574" y="35.24580764770508" z="0.003053588792681694"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_w_transform_23579">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="23.71513557434082" y="16.895124435424805" z="0.5"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_close_to_hero_23580">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-10.189703941345215" y="-166.99354553222656" z="0.0014652633108198643"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_close_to_adversary_23581">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-1.3837461471557617" y="-61.94048309326172" z="0.03381725400686264"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_w_transform_23582">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="18.641115188598633" y="54.168792724609375" z="0.5"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_w_transform_23583">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-80.69993591308594" y="-45.9766960144043" z="0.5"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_w_transform_23584">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="72.18072509765625" y="92.85408782958984" z="0.5"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_w_transform_23585">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-98.4491958618164" y="-38.40180969238281" z="0.5"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_close_to_standing_23586">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-9.186336517333984" y="38.97539138793945" z="0.003077888395637274"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
</Actions>
</Init>
<Story name="MyStory">
<Act name="Behavior">
<ManeuverGroup maximumExecutionCount="1" name="ManeuverSequence">
<Actors selectTriggeringEntities="false">
<EntityRef entityRef="adversary"/>
</Actors>
<Maneuver name="LaneChangeSimpleManeuver">
<Event name="AdversaryAccelerates" priority="overwrite">
<Action name="AdversaryAccelerates">
<PrivateAction>
<LongitudinalAction>
<SpeedAction>
<SpeedActionDynamics dynamicsShape="step" value="50" dynamicsDimension="distance"/>
<SpeedActionTarget>
<AbsoluteTargetSpeed value="5.0"/>
</SpeedActionTarget>
</SpeedAction>
</LongitudinalAction>
</PrivateAction>
</Action>
<StartTrigger>
<ConditionGroup>
<Condition name="StartCondition" delay="0" conditionEdge="rising">
<ByEntityCondition>
<TriggeringEntities triggeringEntitiesRule="any">
<EntityRef entityRef="hero"/>
</TriggeringEntities>
<EntityCondition>
<RelativeDistanceCondition entityRef="adversary" relativeDistanceType="cartesianDistance" value="40.0" freespace="false" rule="lessThan"/>
</EntityCondition>
</ByEntityCondition>
</Condition>
</ConditionGroup>
</StartTrigger>
</Event>
<Event name="AdversaryChangesLane" priority="overwrite">
<Action name="AdversaryChangesLane">
<PrivateAction>
<LateralAction>
<LaneChangeAction>
<LaneChangeActionDynamics dynamicsShape="linear" value="25" dynamicsDimension="distance"/>
<LaneChangeTarget>
<RelativeTargetLane entityRef="adversary" value="-1"/>
</LaneChangeTarget>
</LaneChangeAction>
</LateralAction>
</PrivateAction>
</Action>
<StartTrigger>
<ConditionGroup>
<Condition name="AfterAdversaryAccelerates" delay="0" conditionEdge="rising">
<ByValueCondition>
<StoryboardElementStateCondition storyboardElementType="action" storyboardElementRef="AdversaryAccelerates" state="completeState"/>
</ByValueCondition>
</Condition>
</ConditionGroup>
</StartTrigger>
</Event>
</Maneuver>
</ManeuverGroup>
<StartTrigger>
<ConditionGroup>
<Condition name="OverallStartCondition" delay="0" conditionEdge="rising">
<ByEntityCondition>
<TriggeringEntities triggeringEntitiesRule="any">
<EntityRef entityRef="hero"/>
</TriggeringEntities>
<EntityCondition>
<TraveledDistanceCondition value="1.0"/>
</EntityCondition>
</ByEntityCondition>
</Condition>
<Condition name="StartTime" delay="0" conditionEdge="rising">
<ByValueCondition>
<SimulationTimeCondition value="0" rule="equalTo"/>
</ByValueCondition>
</Condition>
</ConditionGroup>
</StartTrigger>
<StopTrigger>
<ConditionGroup>
<Condition name="EndCondition" delay="0" conditionEdge="rising">
<ByEntityCondition>
<TriggeringEntities triggeringEntitiesRule="any">
<EntityRef entityRef="hero"/>
</TriggeringEntities>
<EntityCondition>
<TraveledDistanceCondition value="200.0"/>
</EntityCondition>
</ByEntityCondition>
</Condition>
</ConditionGroup>
</StopTrigger>
</Act>
</Story>
<StopTrigger>
<ConditionGroup>
<Condition name="criteria_RunningStopTest" delay="0" conditionEdge="rising">
<ByValueCondition>
<ParameterCondition parameterRef="" value="" rule="lessThan"/>
</ByValueCondition>
</Condition>
<Condition name="criteria_RunningRedLightTest" delay="0" conditionEdge="rising">
<ByValueCondition>
<ParameterCondition parameterRef="" value="" rule="lessThan"/>
</ByValueCondition>
</Condition>
<Condition name="criteria_WrongLaneTest" delay="0" conditionEdge="rising">
<ByValueCondition>
<ParameterCondition parameterRef="" value="" rule="lessThan"/>
</ByValueCondition>
</Condition>
<Condition name="criteria_OnSidewalkTest" delay="0" conditionEdge="rising">
<ByValueCondition>
<ParameterCondition parameterRef="" value="" rule="lessThan"/>
</ByValueCondition>
</Condition>
<Condition name="criteria_KeepLaneTest" delay="0" conditionEdge="rising">
<ByValueCondition>
<ParameterCondition parameterRef="" value="" rule="lessThan"/>
</ByValueCondition>
</Condition>
<Condition name="criteria_CollisionTest" delay="0" conditionEdge="rising">
<ByValueCondition>
<ParameterCondition parameterRef="" value="" rule="lessThan"/>
</ByValueCondition>
</Condition>
<Condition name="criteria_DrivenDistanceTest" delay="0" conditionEdge="rising">
<ByValueCondition>
<ParameterCondition parameterRef="distance_success" value="100" rule="lessThan"/>
</ByValueCondition>
</Condition>
</ConditionGroup>
</StopTrigger>
</Storyboard>
</OpenSCENARIO>
``` | Here is the result:
```
<?xml version="1.0" ?>
<OpenSCENARIO>
<FileHeader revMajor="1" revMinor="0" date="2020-03-24T12:00:00" description="CARLA:LaneChangeSimple" author=""/>
<ParameterDeclarations/>
<CatalogLocations/>
<RoadNetwork>
<LogicFile filepath="Town04"/>
<SceneGraphFile filepath=""/>
</RoadNetwork>
<Entities>
<ScenarioObject name="hero">
<Vehicle name="vehicle.tesla.model3" vehicleCategory="car">
<ParameterDeclarations/>
<Performance maxSpeed="69.444" maxAcceleration="200" maxDeceleration="10.0"/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2.1" length="4.5" height="1.8"/>
</BoundingBox>
<Axles>
<FrontAxle maxSteering="0.5" wheelDiameter="0.6" trackWidth="1.8" positionX="3.1" positionZ="0.3"/>
<RearAxle maxSteering="0.0" wheelDiameter="0.6" trackWidth="1.8" positionX="0.0" positionZ="0.3"/>
</Axles>
<Properties>
<Property name="type" value="ego_vehicle"/>
</Properties>
</Vehicle>
</ScenarioObject>
<ScenarioObject name="adversary">
<Vehicle name="vehicle.lincoln.mkz_2017" vehicleCategory="car">
<ParameterDeclarations/>
<Performance maxSpeed="69.444" maxAcceleration="200" maxDeceleration="10.0"/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2.1" length="4.5" height="1.8"/>
</BoundingBox>
<Axles>
<FrontAxle maxSteering="0.5" wheelDiameter="0.6" trackWidth="1.8" positionX="3.1" positionZ="0.3"/>
<RearAxle maxSteering="0.0" wheelDiameter="0.6" trackWidth="1.8" positionX="0.0" positionZ="0.3"/>
</Axles>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Vehicle>
</ScenarioObject>
<ScenarioObject name="standing">
<Vehicle name="vehicle.volkswagen.t2" vehicleCategory="car">
<ParameterDeclarations/>
<Performance maxSpeed="69.444" maxAcceleration="200" maxDeceleration="10.0"/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2.1" length="4.5" height="1.8"/>
</BoundingBox>
<Axles>
<FrontAxle maxSteering="0.5" wheelDiameter="0.6" trackWidth="1.8" positionX="3.1" positionZ="0.3"/>
<RearAxle maxSteering="0.0" wheelDiameter="0.6" 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_23569">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_close_to_standing_23570">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_w_transform_23571">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_close_to_standing_23572">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_w_transform_23573">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_w_transform_23574">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_close_to_standing_23575">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_w_transform_23576">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_close_to_standing_23577">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_w_transform_23579">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_close_to_hero_23580">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_close_to_adversary_23581">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_w_transform_23582">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_w_transform_23583">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_w_transform_23584">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_w_transform_23585">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_close_to_standing_23586">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_w_transform_23587">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
</Entities>
<Storyboard>
<Init>
<Actions>
<GlobalAction>
<EnvironmentAction>
<Environment name="Environment1">
<TimeOfDay animation="false" dateTime="2019-06-25T12:00:00"/>
<Weather cloudState="free">
<Sun intensity="0.85" azimuth="0" elevation="1.31"/>
<Fog visualRange="100000.0"/>
<Precipitation precipitationType="dry" intensity="0.0"/>
</Weather>
<RoadCondition frictionScaleFactor="1.0"/>
</Environment>
</EnvironmentAction>
</GlobalAction>
<Private entityRef="hero">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-9.4" y="-152.8" z="0.5" h="1.57079632679"/>
</Position>
</TeleportAction>
</PrivateAction>
<PrivateAction>
<ControllerAction>
<AssignControllerAction>
<Controller name="HeroAgent">
<Properties>
<Property name="module" value="external_control"/>
</Properties>
</Controller>
</AssignControllerAction>
<OverrideControllerValueAction>
<Throttle value="0" active="false"/>
<Brake value="0" active="false"/>
<Clutch value="0" active="false"/>
<ParkingBrake value="0" active="false"/>
<SteeringWheel value="0" active="false"/>
<Gear number="0" active="false"/>
</OverrideControllerValueAction>
</ControllerAction>
</PrivateAction>
</Private>
<Private entityRef="adversary">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-9.4" y="-71.0" z="0.5" h="1.57079632679"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="standing">
<PrivateAction>
<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_23569">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-13.535721778869629" y="-156.89971923828125" z="0.0014652633108198643"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_close_to_standing_23570">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-10.540366172790527" y="32.859954833984375" z="0.0030773163307458162"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_w_transform_23571">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-94.65836334228516" y="-45.4486083984375" z="0.5"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_close_to_standing_23572">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-17.224214553833008" y="27.963623046875" z="0.003042945871129632"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_w_transform_23573">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-62.823482513427734" y="-82.07172393798828" z="0.5"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_w_transform_23574">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="48.33855438232422" y="79.93486785888672" z="0.5"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_close_to_standing_23575">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-12.409478187561035" y="36.769798278808594" z="0.0030660247430205345"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_w_transform_23576">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-43.956722259521484" y="86.47140502929688" z="0.5"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_close_to_standing_23577">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-9.367831230163574" y="35.24580764770508" z="0.003053588792681694"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_w_transform_23579">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="23.71513557434082" y="16.895124435424805" z="0.5"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_close_to_hero_23580">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-10.189703941345215" y="-166.99354553222656" z="0.0014652633108198643"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_close_to_adversary_23581">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-1.3837461471557617" y="-61.94048309326172" z="0.03381725400686264"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_w_transform_23582">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="18.641115188598633" y="54.168792724609375" z="0.5"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_w_transform_23583">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-80.69993591308594" y="-45.9766960144043" z="0.5"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_w_transform_23584">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="72.18072509765625" y="92.85408782958984" z="0.5"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_w_transform_23585">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-98.4491958618164" y="-38.40180969238281" z="0.5"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_close_to_standing_23586">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-9.186336517333984" y="38.97539138793945" z="0.003077888395637274"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_w_transform_23587">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="66.26966094970703" y="-43.07729721069336" 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 (99.17, -58.52, 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_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>
</Entities>
<Storyboard>
<Init>
<Actions>
<GlobalAction>
<EnvironmentAction>
<Environment name="Environment1">
<TimeOfDay animation="false" dateTime="2019-06-25T12:00:00"/>
<Weather cloudState="free">
<Sun intensity="0.85" azimuth="0" elevation="1.31"/>
<Fog visualRange="100000.0"/>
<Precipitation precipitationType="dry" intensity="0.0"/>
</Weather>
<RoadCondition frictionScaleFactor="1.0"/>
</Environment>
</EnvironmentAction>
</GlobalAction>
<Private entityRef="hero">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-9.4" y="-152.8" z="0.5" h="1.57079632679"/>
</Position>
</TeleportAction>
</PrivateAction>
<PrivateAction>
<ControllerAction>
<AssignControllerAction>
<Controller name="HeroAgent">
<Properties>
<Property name="module" value="external_control"/>
</Properties>
</Controller>
</AssignControllerAction>
<OverrideControllerValueAction>
<Throttle value="0" active="false"/>
<Brake value="0" active="false"/>
<Clutch value="0" active="false"/>
<ParkingBrake value="0" active="false"/>
<SteeringWheel value="0" active="false"/>
<Gear number="0" active="false"/>
</OverrideControllerValueAction>
</ControllerAction>
</PrivateAction>
</Private>
<Private entityRef="adversary">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-9.4" y="-71.0" z="0.5" h="1.57079632679"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="standing">
<PrivateAction>
<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_14032">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-18.117164611816406" y="-161.52694702148438" z="0.0014652633108198643"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_w_transform_14033">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="34.946163177490234" y="25.90787696838379" 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_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_w_transform_14034">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
</Entities>
<Storyboard>
<Init>
<Actions>
<GlobalAction>
<EnvironmentAction>
<Environment name="Environment1">
<TimeOfDay animation="false" dateTime="2019-06-25T12:00:00"/>
<Weather cloudState="free">
<Sun intensity="0.85" azimuth="0" elevation="1.31"/>
<Fog visualRange="100000.0"/>
<Precipitation precipitationType="dry" intensity="0.0"/>
</Weather>
<RoadCondition frictionScaleFactor="1.0"/>
</Environment>
</EnvironmentAction>
</GlobalAction>
<Private entityRef="hero">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-9.4" y="-152.8" z="0.5" h="1.57079632679"/>
</Position>
</TeleportAction>
</PrivateAction>
<PrivateAction>
<ControllerAction>
<AssignControllerAction>
<Controller name="HeroAgent">
<Properties>
<Property name="module" value="external_control"/>
</Properties>
</Controller>
</AssignControllerAction>
<OverrideControllerValueAction>
<Throttle value="0" active="false"/>
<Brake value="0" active="false"/>
<Clutch value="0" active="false"/>
<ParkingBrake value="0" active="false"/>
<SteeringWheel value="0" active="false"/>
<Gear number="0" active="false"/>
</OverrideControllerValueAction>
</ControllerAction>
</PrivateAction>
</Private>
<Private entityRef="adversary">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-9.4" y="-71.0" z="0.5" h="1.57079632679"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="standing">
<PrivateAction>
<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_14032">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-18.117164611816406" y="-161.52694702148438" z="0.0014652633108198643"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_w_transform_14033">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="34.946163177490234" y="25.90787696838379" z="0.5"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_w_transform_14034">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="99.1661148071289" y="-58.51504135131836" 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_hero_3808">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_close_to_standing_3809">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_close_to_hero_3810">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_w_transform_3811">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_close_to_hero_3812">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_w_transform_3813">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
</Entities>
<Storyboard>
<Init>
<Actions>
<GlobalAction>
<EnvironmentAction>
<Environment name="Environment1">
<TimeOfDay animation="false" dateTime="2019-06-25T12:00:00"/>
<Weather cloudState="free">
<Sun intensity="0.85" azimuth="0" elevation="1.31"/>
<Fog visualRange="100000.0"/>
<Precipitation precipitationType="dry" intensity="0.0"/>
</Weather>
<RoadCondition frictionScaleFactor="1.0"/>
</Environment>
</EnvironmentAction>
</GlobalAction>
<Private entityRef="hero">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-9.4" y="-152.8" z="0.5" h="1.57079632679"/>
</Position>
</TeleportAction>
</PrivateAction>
<PrivateAction>
<ControllerAction>
<AssignControllerAction>
<Controller name="HeroAgent">
<Properties>
<Property name="module" value="external_control"/>
</Properties>
</Controller>
</AssignControllerAction>
<OverrideControllerValueAction>
<Throttle value="0" active="false"/>
<Brake value="0" active="false"/>
<Clutch value="0" active="false"/>
<ParkingBrake value="0" active="false"/>
<SteeringWheel value="0" active="false"/>
<Gear number="0" active="false"/>
</OverrideControllerValueAction>
</ControllerAction>
</PrivateAction>
</Private>
<Private entityRef="adversary">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-9.4" y="-71.0" z="0.5" h="1.57079632679"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="standing">
<PrivateAction>
<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_3808">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-16.532699584960938" y="-157.28724670410156" z="0.0015143966302275658"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_close_to_standing_3809">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-6.298778533935547" y="32.481849670410156" z="0.003147468436509371"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_close_to_hero_3810">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="1.8811625242233276" y="-162.92942810058594" z="0.0015143966302275658"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_w_transform_3811">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="37.48992156982422" y="69.37516784667969" z="0.5"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_close_to_hero_3812">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-17.653282165527344" y="-147.45993041992188" z="0.0015143966302275658"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_w_transform_3813">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="91.51844787597656" y="29.451290130615234" 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_3808">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_close_to_standing_3809">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_close_to_hero_3810">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_w_transform_3811">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_close_to_hero_3812">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_w_transform_3813">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_close_to_hero_3814">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
</Entities>
<Storyboard>
<Init>
<Actions>
<GlobalAction>
<EnvironmentAction>
<Environment name="Environment1">
<TimeOfDay animation="false" dateTime="2019-06-25T12:00:00"/>
<Weather cloudState="free">
<Sun intensity="0.85" azimuth="0" elevation="1.31"/>
<Fog visualRange="100000.0"/>
<Precipitation precipitationType="dry" intensity="0.0"/>
</Weather>
<RoadCondition frictionScaleFactor="1.0"/>
</Environment>
</EnvironmentAction>
</GlobalAction>
<Private entityRef="hero">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-9.4" y="-152.8" z="0.5" h="1.57079632679"/>
</Position>
</TeleportAction>
</PrivateAction>
<PrivateAction>
<ControllerAction>
<AssignControllerAction>
<Controller name="HeroAgent">
<Properties>
<Property name="module" value="external_control"/>
</Properties>
</Controller>
</AssignControllerAction>
<OverrideControllerValueAction>
<Throttle value="0" active="false"/>
<Brake value="0" active="false"/>
<Clutch value="0" active="false"/>
<ParkingBrake value="0" active="false"/>
<SteeringWheel value="0" active="false"/>
<Gear number="0" active="false"/>
</OverrideControllerValueAction>
</ControllerAction>
</PrivateAction>
</Private>
<Private entityRef="adversary">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-9.4" y="-71.0" z="0.5" h="1.57079632679"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="standing">
<PrivateAction>
<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_3808">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-16.532699584960938" y="-157.28724670410156" z="0.0015143966302275658"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_close_to_standing_3809">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-6.298778533935547" y="32.481849670410156" z="0.003147468436509371"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_close_to_hero_3810">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="1.8811625242233276" y="-162.92942810058594" z="0.0015143966302275658"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_w_transform_3811">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="37.48992156982422" y="69.37516784667969" z="0.5"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_close_to_hero_3812">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-17.653282165527344" y="-147.45993041992188" z="0.0015143966302275658"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_w_transform_3813">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="91.51844787597656" y="29.451290130615234" z="0.5"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_close_to_hero_3814">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-8.078639030456543" y="-146.8632049560547" z="0.0015143966302275658"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
</Actions>
</Init>
<Story name="MyStory">
<Act name="Behavior">
<ManeuverGroup maximumExecutionCount="1" name="ManeuverSequence">
<Actors selectTriggeringEntities="false">
<EntityRef entityRef="adversary"/>
</Actors>
<Maneuver name="LaneChangeSimpleManeuver">
<Event name="AdversaryAccelerates" priority="overwrite">
<Action name="AdversaryAccelerates">
<PrivateAction>
<LongitudinalAction>
<SpeedAction>
<SpeedActionDynamics dynamicsShape="step" value="50" dynamicsDimension="distance"/>
<SpeedActionTarget>
<AbsoluteTargetSpeed value="5.0"/>
</SpeedActionTarget>
</SpeedAction>
</LongitudinalAction>
</PrivateAction>
</Action>
<StartTrigger>
<ConditionGroup>
<Condition name="StartCondition" delay="0" conditionEdge="rising">
<ByEntityCondition>
<TriggeringEntities triggeringEntitiesRule="any">
<EntityRef entityRef="hero"/>
</TriggeringEntities>
<EntityCondition>
<RelativeDistanceCondition entityRef="adversary" relativeDistanceType="cartesianDistance" value="40.0" freespace="false" rule="lessThan"/>
</EntityCondition>
</ByEntityCondition>
</Condition>
</ConditionGroup>
</StartTrigger>
</Event>
<Event name="AdversaryChangesLane" priority="overwrite">
<Action name="AdversaryChangesLane">
<PrivateAction>
<LateralAction>
<LaneChangeAction>
<LaneChangeActionDynamics dynamicsShape="linear" value="25" dynamicsDimension="distance"/>
<LaneChangeTarget>
<RelativeTargetLane entityRef="adversary" value="-1"/>
</LaneChangeTarget>
</LaneChangeAction>
</LateralAction>
</PrivateAction>
</Action>
<StartTrigger>
<ConditionGroup>
<Condition name="AfterAdversaryAccelerates" delay="0" conditionEdge="rising">
<ByValueCondition>
<StoryboardElementStateCondition storyboardElementType="action" storyboardElementRef="AdversaryAccelerates" state="completeState"/>
</ByValueCondition>
</Condition>
</ConditionGroup>
</StartTrigger>
</Event>
</Maneuver>
</ManeuverGroup>
<StartTrigger>
<ConditionGroup>
<Condition name="OverallStartCondition" delay="0" conditionEdge="rising">
<ByEntityCondition>
<TriggeringEntities triggeringEntitiesRule="any">
<EntityRef entityRef="hero"/>
</TriggeringEntities>
<EntityCondition>
<TraveledDistanceCondition value="1.0"/>
</EntityCondition>
</ByEntityCondition>
</Condition>
<Condition name="StartTime" delay="0" conditionEdge="rising">
<ByValueCondition>
<SimulationTimeCondition value="0" rule="equalTo"/>
</ByValueCondition>
</Condition>
</ConditionGroup>
</StartTrigger>
<StopTrigger>
<ConditionGroup>
<Condition name="EndCondition" delay="0" conditionEdge="rising">
<ByEntityCondition>
<TriggeringEntities triggeringEntitiesRule="any">
<EntityRef entityRef="hero"/>
</TriggeringEntities>
<EntityCondition>
<TraveledDistanceCondition value="200.0"/>
</EntityCondition>
</ByEntityCondition>
</Condition>
</ConditionGroup>
</StopTrigger>
</Act>
</Story>
<StopTrigger>
<ConditionGroup>
<Condition name="criteria_RunningStopTest" delay="0" conditionEdge="rising">
<ByValueCondition>
<ParameterCondition parameterRef="" value="" rule="lessThan"/>
</ByValueCondition>
</Condition>
<Condition name="criteria_RunningRedLightTest" delay="0" conditionEdge="rising">
<ByValueCondition>
<ParameterCondition parameterRef="" value="" rule="lessThan"/>
</ByValueCondition>
</Condition>
<Condition name="criteria_WrongLaneTest" delay="0" conditionEdge="rising">
<ByValueCondition>
<ParameterCondition parameterRef="" value="" rule="lessThan"/>
</ByValueCondition>
</Condition>
<Condition name="criteria_OnSidewalkTest" delay="0" conditionEdge="rising">
<ByValueCondition>
<ParameterCondition parameterRef="" value="" rule="lessThan"/>
</ByValueCondition>
</Condition>
<Condition name="criteria_KeepLaneTest" delay="0" conditionEdge="rising">
<ByValueCondition>
<ParameterCondition parameterRef="" value="" rule="lessThan"/>
</ByValueCondition>
</Condition>
<Condition name="criteria_CollisionTest" delay="0" conditionEdge="rising">
<ByValueCondition>
<ParameterCondition parameterRef="" value="" rule="lessThan"/>
</ByValueCondition>
</Condition>
<Condition name="criteria_DrivenDistanceTest" delay="0" conditionEdge="rising">
<ByValueCondition>
<ParameterCondition parameterRef="distance_success" value="100" rule="lessThan"/>
</ByValueCondition>
</Condition>
</ConditionGroup>
</StopTrigger>
</Storyboard>
</OpenSCENARIO>
``` |
i would like to 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_881">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_w_transform_882">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_w_transform_883">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_close_to_adversary_884">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_close_to_standing_885">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_close_to_standing_886">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_close_to_hero_887">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_close_to_adversary_888">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_close_to_hero_889">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_w_transform_891">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_w_transform_892">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
</Entities>
<Storyboard>
<Init>
<Actions>
<GlobalAction>
<EnvironmentAction>
<Environment name="Environment1">
<TimeOfDay animation="false" dateTime="2019-06-25T12:00:00"/>
<Weather cloudState="free">
<Sun intensity="0.85" azimuth="0" elevation="1.31"/>
<Fog visualRange="100000.0"/>
<Precipitation precipitationType="dry" intensity="0.0"/>
</Weather>
<RoadCondition frictionScaleFactor="1.0"/>
</Environment>
</EnvironmentAction>
</GlobalAction>
<Private entityRef="hero">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-9.4" y="-152.8" z="0.5" h="1.57079632679"/>
</Position>
</TeleportAction>
</PrivateAction>
<PrivateAction>
<ControllerAction>
<AssignControllerAction>
<Controller name="HeroAgent">
<Properties>
<Property name="module" value="external_control"/>
</Properties>
</Controller>
</AssignControllerAction>
<OverrideControllerValueAction>
<Throttle value="0" active="false"/>
<Brake value="0" active="false"/>
<Clutch value="0" active="false"/>
<ParkingBrake value="0" active="false"/>
<SteeringWheel value="0" active="false"/>
<Gear number="0" active="false"/>
</OverrideControllerValueAction>
</ControllerAction>
</PrivateAction>
</Private>
<Private entityRef="adversary">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-9.4" y="-71.0" z="0.5" h="1.57079632679"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="standing">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-8.2" y="29.2" z="0.5" h="1.57079632679"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_close_to_hero_881">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-6.390212535858154" y="-161.64561462402344" z="0.0016471862327307463"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_w_transform_882">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-1.292235016822815" y="73.7016830444336" z="0.5"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_w_transform_883">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="10.245823860168457" y="-35.644927978515625" z="0.5"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_close_to_adversary_884">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-8.911574363708496" y="-64.21329498291016" z="0.03377136215567589"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_close_to_standing_885">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="0.7536762356758118" y="23.211225509643555" z="0.0029933929909020662"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_close_to_standing_886">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-10.39175033569336" y="28.631568908691406" z="0.0030221175402402878"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_close_to_hero_887">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-13.711277961730957" y="-155.13282775878906" z="0.0016471862327307463"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_close_to_adversary_888">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-11.961947441101074" y="-80.8162612915039" z="0.03377864882349968"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_close_to_hero_889">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-5.1752471923828125" y="-161.67945861816406" z="0.0016471862327307463"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_w_transform_891">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="9.379152297973633" y="-38.84756851196289" z="0.5"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_w_transform_892">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-42.21665954589844" y="74.07704162597656" 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_881">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_w_transform_882">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_w_transform_883">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_close_to_adversary_884">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_close_to_standing_885">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_close_to_standing_886">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_close_to_hero_887">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_close_to_adversary_888">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_close_to_hero_889">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_w_transform_891">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_w_transform_892">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_close_to_standing_894">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
</Entities>
<Storyboard>
<Init>
<Actions>
<GlobalAction>
<EnvironmentAction>
<Environment name="Environment1">
<TimeOfDay animation="false" dateTime="2019-06-25T12:00:00"/>
<Weather cloudState="free">
<Sun intensity="0.85" azimuth="0" elevation="1.31"/>
<Fog visualRange="100000.0"/>
<Precipitation precipitationType="dry" intensity="0.0"/>
</Weather>
<RoadCondition frictionScaleFactor="1.0"/>
</Environment>
</EnvironmentAction>
</GlobalAction>
<Private entityRef="hero">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-9.4" y="-152.8" z="0.5" h="1.57079632679"/>
</Position>
</TeleportAction>
</PrivateAction>
<PrivateAction>
<ControllerAction>
<AssignControllerAction>
<Controller name="HeroAgent">
<Properties>
<Property name="module" value="external_control"/>
</Properties>
</Controller>
</AssignControllerAction>
<OverrideControllerValueAction>
<Throttle value="0" active="false"/>
<Brake value="0" active="false"/>
<Clutch value="0" active="false"/>
<ParkingBrake value="0" active="false"/>
<SteeringWheel value="0" active="false"/>
<Gear number="0" active="false"/>
</OverrideControllerValueAction>
</ControllerAction>
</PrivateAction>
</Private>
<Private entityRef="adversary">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-9.4" y="-71.0" z="0.5" h="1.57079632679"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="standing">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-8.2" y="29.2" z="0.5" h="1.57079632679"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_close_to_hero_881">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-6.390212535858154" y="-161.64561462402344" z="0.0016471862327307463"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_w_transform_882">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-1.292235016822815" y="73.7016830444336" z="0.5"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_w_transform_883">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="10.245823860168457" y="-35.644927978515625" z="0.5"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_close_to_adversary_884">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-8.911574363708496" y="-64.21329498291016" z="0.03377136215567589"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_close_to_standing_885">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="0.7536762356758118" y="23.211225509643555" z="0.0029933929909020662"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_close_to_standing_886">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-10.39175033569336" y="28.631568908691406" z="0.0030221175402402878"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_close_to_hero_887">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-13.711277961730957" y="-155.13282775878906" z="0.0016471862327307463"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_close_to_adversary_888">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-11.961947441101074" y="-80.8162612915039" z="0.03377864882349968"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_close_to_hero_889">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-5.1752471923828125" y="-161.67945861816406" z="0.0016471862327307463"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_w_transform_891">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="9.379152297973633" y="-38.84756851196289" z="0.5"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_w_transform_892">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-42.21665954589844" y="74.07704162597656" z="0.5"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_close_to_standing_894">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-15.802553176879883" y="26.83656883239746" z="0.003062782110646367"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
</Actions>
</Init>
<Story name="MyStory">
<Act name="Behavior">
<ManeuverGroup maximumExecutionCount="1" name="ManeuverSequence">
<Actors selectTriggeringEntities="false">
<EntityRef entityRef="adversary"/>
</Actors>
<Maneuver name="LaneChangeSimpleManeuver">
<Event name="AdversaryAccelerates" priority="overwrite">
<Action name="AdversaryAccelerates">
<PrivateAction>
<LongitudinalAction>
<SpeedAction>
<SpeedActionDynamics dynamicsShape="step" value="50" dynamicsDimension="distance"/>
<SpeedActionTarget>
<AbsoluteTargetSpeed value="5.0"/>
</SpeedActionTarget>
</SpeedAction>
</LongitudinalAction>
</PrivateAction>
</Action>
<StartTrigger>
<ConditionGroup>
<Condition name="StartCondition" delay="0" conditionEdge="rising">
<ByEntityCondition>
<TriggeringEntities triggeringEntitiesRule="any">
<EntityRef entityRef="hero"/>
</TriggeringEntities>
<EntityCondition>
<RelativeDistanceCondition entityRef="adversary" relativeDistanceType="cartesianDistance" value="40.0" freespace="false" rule="lessThan"/>
</EntityCondition>
</ByEntityCondition>
</Condition>
</ConditionGroup>
</StartTrigger>
</Event>
<Event name="AdversaryChangesLane" priority="overwrite">
<Action name="AdversaryChangesLane">
<PrivateAction>
<LateralAction>
<LaneChangeAction>
<LaneChangeActionDynamics dynamicsShape="linear" value="25" dynamicsDimension="distance"/>
<LaneChangeTarget>
<RelativeTargetLane entityRef="adversary" value="-1"/>
</LaneChangeTarget>
</LaneChangeAction>
</LateralAction>
</PrivateAction>
</Action>
<StartTrigger>
<ConditionGroup>
<Condition name="AfterAdversaryAccelerates" delay="0" conditionEdge="rising">
<ByValueCondition>
<StoryboardElementStateCondition storyboardElementType="action" storyboardElementRef="AdversaryAccelerates" state="completeState"/>
</ByValueCondition>
</Condition>
</ConditionGroup>
</StartTrigger>
</Event>
</Maneuver>
</ManeuverGroup>
<StartTrigger>
<ConditionGroup>
<Condition name="OverallStartCondition" delay="0" conditionEdge="rising">
<ByEntityCondition>
<TriggeringEntities triggeringEntitiesRule="any">
<EntityRef entityRef="hero"/>
</TriggeringEntities>
<EntityCondition>
<TraveledDistanceCondition value="1.0"/>
</EntityCondition>
</ByEntityCondition>
</Condition>
<Condition name="StartTime" delay="0" conditionEdge="rising">
<ByValueCondition>
<SimulationTimeCondition value="0" rule="equalTo"/>
</ByValueCondition>
</Condition>
</ConditionGroup>
</StartTrigger>
<StopTrigger>
<ConditionGroup>
<Condition name="EndCondition" delay="0" conditionEdge="rising">
<ByEntityCondition>
<TriggeringEntities triggeringEntitiesRule="any">
<EntityRef entityRef="hero"/>
</TriggeringEntities>
<EntityCondition>
<TraveledDistanceCondition value="200.0"/>
</EntityCondition>
</ByEntityCondition>
</Condition>
</ConditionGroup>
</StopTrigger>
</Act>
</Story>
<StopTrigger>
<ConditionGroup>
<Condition name="criteria_RunningStopTest" delay="0" conditionEdge="rising">
<ByValueCondition>
<ParameterCondition parameterRef="" value="" rule="lessThan"/>
</ByValueCondition>
</Condition>
<Condition name="criteria_RunningRedLightTest" delay="0" conditionEdge="rising">
<ByValueCondition>
<ParameterCondition parameterRef="" value="" rule="lessThan"/>
</ByValueCondition>
</Condition>
<Condition name="criteria_WrongLaneTest" delay="0" conditionEdge="rising">
<ByValueCondition>
<ParameterCondition parameterRef="" value="" rule="lessThan"/>
</ByValueCondition>
</Condition>
<Condition name="criteria_OnSidewalkTest" delay="0" conditionEdge="rising">
<ByValueCondition>
<ParameterCondition parameterRef="" value="" rule="lessThan"/>
</ByValueCondition>
</Condition>
<Condition name="criteria_KeepLaneTest" delay="0" conditionEdge="rising">
<ByValueCondition>
<ParameterCondition parameterRef="" value="" rule="lessThan"/>
</ByValueCondition>
</Condition>
<Condition name="criteria_CollisionTest" delay="0" conditionEdge="rising">
<ByValueCondition>
<ParameterCondition parameterRef="" value="" rule="lessThan"/>
</ByValueCondition>
</Condition>
<Condition name="criteria_DrivenDistanceTest" delay="0" conditionEdge="rising">
<ByValueCondition>
<ParameterCondition parameterRef="distance_success" value="100" rule="lessThan"/>
</ByValueCondition>
</Condition>
</ConditionGroup>
</StopTrigger>
</Storyboard>
</OpenSCENARIO>
``` |
can you remove pedestrian close to adversary?
```
<?xml version="1.0" ?>
<OpenSCENARIO>
<FileHeader revMajor="1" revMinor="0" date="2020-03-24T12:00:00" description="CARLA:LaneChangeSimple" author=""/>
<ParameterDeclarations/>
<CatalogLocations/>
<RoadNetwork>
<LogicFile filepath="Town04"/>
<SceneGraphFile filepath=""/>
</RoadNetwork>
<Entities>
<ScenarioObject name="hero">
<Vehicle name="vehicle.tesla.model3" vehicleCategory="car">
<ParameterDeclarations/>
<Performance maxSpeed="69.444" maxAcceleration="200" maxDeceleration="10.0"/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2.1" length="4.5" height="1.8"/>
</BoundingBox>
<Axles>
<FrontAxle maxSteering="0.5" wheelDiameter="0.6" trackWidth="1.8" positionX="3.1" positionZ="0.3"/>
<RearAxle maxSteering="0.0" wheelDiameter="0.6" trackWidth="1.8" positionX="0.0" positionZ="0.3"/>
</Axles>
<Properties>
<Property name="type" value="ego_vehicle"/>
</Properties>
</Vehicle>
</ScenarioObject>
<ScenarioObject name="adversary">
<Vehicle name="vehicle.lincoln.mkz_2017" vehicleCategory="car">
<ParameterDeclarations/>
<Performance maxSpeed="69.444" maxAcceleration="200" maxDeceleration="10.0"/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2.1" length="4.5" height="1.8"/>
</BoundingBox>
<Axles>
<FrontAxle maxSteering="0.5" wheelDiameter="0.6" trackWidth="1.8" positionX="3.1" positionZ="0.3"/>
<RearAxle maxSteering="0.0" wheelDiameter="0.6" trackWidth="1.8" positionX="0.0" positionZ="0.3"/>
</Axles>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Vehicle>
</ScenarioObject>
<ScenarioObject name="standing">
<Vehicle name="vehicle.volkswagen.t2" vehicleCategory="car">
<ParameterDeclarations/>
<Performance maxSpeed="69.444" maxAcceleration="200" maxDeceleration="10.0"/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2.1" length="4.5" height="1.8"/>
</BoundingBox>
<Axles>
<FrontAxle maxSteering="0.5" wheelDiameter="0.6" trackWidth="1.8" positionX="3.1" positionZ="0.3"/>
<RearAxle maxSteering="0.0" wheelDiameter="0.6" trackWidth="1.8" positionX="0.0" positionZ="0.3"/>
</Axles>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Vehicle>
</ScenarioObject>
<ScenarioObject name="pedestrian_close_to_adversary_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_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_w_transform_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>
</Entities>
<Storyboard>
<Init>
<Actions>
<GlobalAction>
<EnvironmentAction>
<Environment name="Environment1">
<TimeOfDay animation="false" dateTime="2019-06-25T12:00:00"/>
<Weather cloudState="free">
<Sun intensity="0.85" azimuth="0" elevation="1.31"/>
<Fog visualRange="100000.0"/>
<Precipitation precipitationType="dry" intensity="0.0"/>
</Weather>
<RoadCondition frictionScaleFactor="1.0"/>
</Environment>
</EnvironmentAction>
</GlobalAction>
<Private entityRef="hero">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-9.4" y="-152.8" z="0.5" h="1.57079632679"/>
</Position>
</TeleportAction>
</PrivateAction>
<PrivateAction>
<ControllerAction>
<AssignControllerAction>
<Controller name="HeroAgent">
<Properties>
<Property name="module" value="external_control"/>
</Properties>
</Controller>
</AssignControllerAction>
<OverrideControllerValueAction>
<Throttle value="0" active="false"/>
<Brake value="0" active="false"/>
<Clutch value="0" active="false"/>
<ParkingBrake value="0" active="false"/>
<SteeringWheel value="0" active="false"/>
<Gear number="0" active="false"/>
</OverrideControllerValueAction>
</ControllerAction>
</PrivateAction>
</Private>
<Private entityRef="adversary">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-9.4" y="-71.0" z="0.5" h="1.57079632679"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="standing">
<PrivateAction>
<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_14198">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-6.511509895324707" y="-74.36012268066406" z="0.03375869616866112"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_w_transform_14202">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-27.41596031188965" y="64.3812026977539" z="0.5"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_w_transform_14203">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-39.524932861328125" y="75.81803894042969" 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_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_w_transform_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>
</Entities>
<Storyboard>
<Init>
<Actions>
<GlobalAction>
<EnvironmentAction>
<Environment name="Environment1">
<TimeOfDay animation="false" dateTime="2019-06-25T12:00:00"/>
<Weather cloudState="free">
<Sun intensity="0.85" azimuth="0" elevation="1.31"/>
<Fog visualRange="100000.0"/>
<Precipitation precipitationType="dry" intensity="0.0"/>
</Weather>
<RoadCondition frictionScaleFactor="1.0"/>
</Environment>
</EnvironmentAction>
</GlobalAction>
<Private entityRef="hero">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-9.4" y="-152.8" z="0.5" h="1.57079632679"/>
</Position>
</TeleportAction>
</PrivateAction>
<PrivateAction>
<ControllerAction>
<AssignControllerAction>
<Controller name="HeroAgent">
<Properties>
<Property name="module" value="external_control"/>
</Properties>
</Controller>
</AssignControllerAction>
<OverrideControllerValueAction>
<Throttle value="0" active="false"/>
<Brake value="0" active="false"/>
<Clutch value="0" active="false"/>
<ParkingBrake value="0" active="false"/>
<SteeringWheel value="0" active="false"/>
<Gear number="0" active="false"/>
</OverrideControllerValueAction>
</ControllerAction>
</PrivateAction>
</Private>
<Private entityRef="adversary">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-9.4" y="-71.0" z="0.5" h="1.57079632679"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="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_14202">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-27.41596031188965" y="64.3812026977539" z="0.5"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_w_transform_14203">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-39.524932861328125" y="75.81803894042969" 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 remove pedestrian actor named pedestrian_close_to_hero_6764?
```
<?xml version="1.0" ?>
<OpenSCENARIO>
<FileHeader revMajor="1" revMinor="0" date="2020-03-24T12:00:00" description="CARLA:LaneChangeSimple" author=""/>
<ParameterDeclarations/>
<CatalogLocations/>
<RoadNetwork>
<LogicFile filepath="Town04"/>
<SceneGraphFile filepath=""/>
</RoadNetwork>
<Entities>
<ScenarioObject name="hero">
<Vehicle name="vehicle.tesla.model3" vehicleCategory="car">
<ParameterDeclarations/>
<Performance maxSpeed="69.444" maxAcceleration="200" maxDeceleration="10.0"/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2.1" length="4.5" height="1.8"/>
</BoundingBox>
<Axles>
<FrontAxle maxSteering="0.5" wheelDiameter="0.6" trackWidth="1.8" positionX="3.1" positionZ="0.3"/>
<RearAxle maxSteering="0.0" wheelDiameter="0.6" trackWidth="1.8" positionX="0.0" positionZ="0.3"/>
</Axles>
<Properties>
<Property name="type" value="ego_vehicle"/>
</Properties>
</Vehicle>
</ScenarioObject>
<ScenarioObject name="adversary">
<Vehicle name="vehicle.lincoln.mkz_2017" vehicleCategory="car">
<ParameterDeclarations/>
<Performance maxSpeed="69.444" maxAcceleration="200" maxDeceleration="10.0"/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2.1" length="4.5" height="1.8"/>
</BoundingBox>
<Axles>
<FrontAxle maxSteering="0.5" wheelDiameter="0.6" trackWidth="1.8" positionX="3.1" positionZ="0.3"/>
<RearAxle maxSteering="0.0" wheelDiameter="0.6" trackWidth="1.8" positionX="0.0" positionZ="0.3"/>
</Axles>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Vehicle>
</ScenarioObject>
<ScenarioObject name="standing">
<Vehicle name="vehicle.volkswagen.t2" vehicleCategory="car">
<ParameterDeclarations/>
<Performance maxSpeed="69.444" maxAcceleration="200" maxDeceleration="10.0"/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2.1" length="4.5" height="1.8"/>
</BoundingBox>
<Axles>
<FrontAxle maxSteering="0.5" wheelDiameter="0.6" trackWidth="1.8" positionX="3.1" positionZ="0.3"/>
<RearAxle maxSteering="0.0" wheelDiameter="0.6" 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_6750">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_close_to_adversary_6751">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_close_to_standing_6754">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_w_transform_6755">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_w_transform_6756">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_close_to_hero_6757">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_w_transform_6758">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_w_transform_6760">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_close_to_standing_6761">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_close_to_adversary_6762">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_w_transform_6763">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_close_to_hero_6764">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_close_to_hero_6765">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_close_to_standing_6766">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_w_transform_6768">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_w_transform_6769">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_w_transform_6770">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_close_to_adversary_6771">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_close_to_hero_6772">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_close_to_hero_6773">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_close_to_hero_6774">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_w_transform_6776">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_w_transform_6778">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
</Entities>
<Storyboard>
<Init>
<Actions>
<GlobalAction>
<EnvironmentAction>
<Environment name="Environment1">
<TimeOfDay animation="false" dateTime="2019-06-25T12:00:00"/>
<Weather cloudState="free">
<Sun intensity="0.85" azimuth="0" elevation="1.31"/>
<Fog visualRange="100000.0"/>
<Precipitation precipitationType="dry" intensity="0.0"/>
</Weather>
<RoadCondition frictionScaleFactor="1.0"/>
</Environment>
</EnvironmentAction>
</GlobalAction>
<Private entityRef="hero">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-9.4" y="-152.8" z="0.5" h="1.57079632679"/>
</Position>
</TeleportAction>
</PrivateAction>
<PrivateAction>
<ControllerAction>
<AssignControllerAction>
<Controller name="HeroAgent">
<Properties>
<Property name="module" value="external_control"/>
</Properties>
</Controller>
</AssignControllerAction>
<OverrideControllerValueAction>
<Throttle value="0" active="false"/>
<Brake value="0" active="false"/>
<Clutch value="0" active="false"/>
<ParkingBrake value="0" active="false"/>
<SteeringWheel value="0" active="false"/>
<Gear number="0" active="false"/>
</OverrideControllerValueAction>
</ControllerAction>
</PrivateAction>
</Private>
<Private entityRef="adversary">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-9.4" y="-71.0" z="0.5" h="1.57079632679"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="standing">
<PrivateAction>
<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_6750">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-10.88566780090332" y="31.247413635253906" z="0.003041496267542243"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_close_to_adversary_6751">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-6.3583598136901855" y="-74.80559539794922" z="0.03380706533789635"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_close_to_standing_6754">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-15.218979835510254" y="29.079444885253906" z="0.003029518062248826"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_w_transform_6755">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-4.030848503112793" y="50.1624870300293" z="0.5"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_w_transform_6756">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-62.11290740966797" y="-25.711231231689453" z="0.5"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_close_to_hero_6757">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-17.710573196411133" y="-214.08216857910156" z="0.0016759490827098489"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_w_transform_6758">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-78.86937713623047" y="9.352668762207031" z="0.5"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_w_transform_6760">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-95.63138580322266" y="30.313724517822266" z="0.5"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_close_to_standing_6761">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-15.239311218261719" y="31.204368591308594" z="0.0030374526977539062"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_close_to_adversary_6762">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-9.970016479492188" y="-64.4249038696289" z="0.03377773240208626"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_w_transform_6763">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="48.773223876953125" y="52.6999626159668" z="0.5"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_close_to_hero_6764">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-16.223262786865234" y="-225.63339233398438" z="0.0016847992083057761"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_close_to_hero_6765">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-6.396883964538574" y="-202.441650390625" z="0.001674117986112833"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_close_to_standing_6766">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="7.7739176750183105" y="26.023523330688477" z="0.00305595388635993"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_w_transform_6768">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="39.717185974121094" y="16.413646697998047" z="0.5"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_w_transform_6769">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="2.42069935798645" y="-84.06149291992188" z="0.5"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_w_transform_6770">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="7.124959945678711" y="-61.8167839050293" z="0.5"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_close_to_adversary_6771">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-12.937751770019531" y="-77.6789321899414" z="0.03378593549132347"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_close_to_hero_6772">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-11.262722969055176" y="-213.67091369628906" z="0.0016605376731604338"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_close_to_hero_6773">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-4.880889892578125" y="-216.71975708007812" z="0.0016767119523137808"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_close_to_hero_6774">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-16.878023147583008" y="-219.03721618652344" z="0.0017160034039989114"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_w_transform_6776">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="87.85835266113281" y="84.6192855834961" z="0.5"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_w_transform_6778">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="63.69648361206055" y="-57.491722106933594" 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_6750">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_close_to_adversary_6751">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_close_to_standing_6754">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_w_transform_6755">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_w_transform_6756">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_close_to_hero_6757">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_w_transform_6758">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_w_transform_6760">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_close_to_standing_6761">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_close_to_adversary_6762">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_w_transform_6763">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_close_to_hero_6765">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_close_to_standing_6766">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_w_transform_6768">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_w_transform_6769">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_w_transform_6770">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_close_to_adversary_6771">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_close_to_hero_6772">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_close_to_hero_6773">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_close_to_hero_6774">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_w_transform_6776">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_w_transform_6778">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
</Entities>
<Storyboard>
<Init>
<Actions>
<GlobalAction>
<EnvironmentAction>
<Environment name="Environment1">
<TimeOfDay animation="false" dateTime="2019-06-25T12:00:00"/>
<Weather cloudState="free">
<Sun intensity="0.85" azimuth="0" elevation="1.31"/>
<Fog visualRange="100000.0"/>
<Precipitation precipitationType="dry" intensity="0.0"/>
</Weather>
<RoadCondition frictionScaleFactor="1.0"/>
</Environment>
</EnvironmentAction>
</GlobalAction>
<Private entityRef="hero">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-9.4" y="-152.8" z="0.5" h="1.57079632679"/>
</Position>
</TeleportAction>
</PrivateAction>
<PrivateAction>
<ControllerAction>
<AssignControllerAction>
<Controller name="HeroAgent">
<Properties>
<Property name="module" value="external_control"/>
</Properties>
</Controller>
</AssignControllerAction>
<OverrideControllerValueAction>
<Throttle value="0" active="false"/>
<Brake value="0" active="false"/>
<Clutch value="0" active="false"/>
<ParkingBrake value="0" active="false"/>
<SteeringWheel value="0" active="false"/>
<Gear number="0" active="false"/>
</OverrideControllerValueAction>
</ControllerAction>
</PrivateAction>
</Private>
<Private entityRef="adversary">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-9.4" y="-71.0" z="0.5" h="1.57079632679"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="standing">
<PrivateAction>
<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_6750">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-10.88566780090332" y="31.247413635253906" z="0.003041496267542243"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_close_to_adversary_6751">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-6.3583598136901855" y="-74.80559539794922" z="0.03380706533789635"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_close_to_standing_6754">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-15.218979835510254" y="29.079444885253906" z="0.003029518062248826"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_w_transform_6755">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-4.030848503112793" y="50.1624870300293" z="0.5"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_w_transform_6756">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-62.11290740966797" y="-25.711231231689453" z="0.5"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_close_to_hero_6757">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-17.710573196411133" y="-214.08216857910156" z="0.0016759490827098489"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_w_transform_6758">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-78.86937713623047" y="9.352668762207031" z="0.5"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_w_transform_6760">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-95.63138580322266" y="30.313724517822266" z="0.5"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_close_to_standing_6761">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-15.239311218261719" y="31.204368591308594" z="0.0030374526977539062"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_close_to_adversary_6762">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-9.970016479492188" y="-64.4249038696289" z="0.03377773240208626"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_w_transform_6763">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="48.773223876953125" y="52.6999626159668" z="0.5"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_close_to_hero_6765">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-6.396883964538574" y="-202.441650390625" z="0.001674117986112833"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_close_to_standing_6766">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="7.7739176750183105" y="26.023523330688477" z="0.00305595388635993"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_w_transform_6768">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="39.717185974121094" y="16.413646697998047" z="0.5"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_w_transform_6769">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="2.42069935798645" y="-84.06149291992188" z="0.5"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_w_transform_6770">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="7.124959945678711" y="-61.8167839050293" z="0.5"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_close_to_adversary_6771">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-12.937751770019531" y="-77.6789321899414" z="0.03378593549132347"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_close_to_hero_6772">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-11.262722969055176" y="-213.67091369628906" z="0.0016605376731604338"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_close_to_hero_6773">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-4.880889892578125" y="-216.71975708007812" z="0.0016767119523137808"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_close_to_hero_6774">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-16.878023147583008" y="-219.03721618652344" z="0.0017160034039989114"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_w_transform_6776">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="87.85835266113281" y="84.6192855834961" z="0.5"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_w_transform_6778">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="63.69648361206055" y="-57.491722106933594" z="0.5"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
</Actions>
</Init>
<Story name="MyStory">
<Act name="Behavior">
<ManeuverGroup maximumExecutionCount="1" name="ManeuverSequence">
<Actors selectTriggeringEntities="false">
<EntityRef entityRef="adversary"/>
</Actors>
<Maneuver name="LaneChangeSimpleManeuver">
<Event name="AdversaryAccelerates" priority="overwrite">
<Action name="AdversaryAccelerates">
<PrivateAction>
<LongitudinalAction>
<SpeedAction>
<SpeedActionDynamics dynamicsShape="step" value="50" dynamicsDimension="distance"/>
<SpeedActionTarget>
<AbsoluteTargetSpeed value="5.0"/>
</SpeedActionTarget>
</SpeedAction>
</LongitudinalAction>
</PrivateAction>
</Action>
<StartTrigger>
<ConditionGroup>
<Condition name="StartCondition" delay="0" conditionEdge="rising">
<ByEntityCondition>
<TriggeringEntities triggeringEntitiesRule="any">
<EntityRef entityRef="hero"/>
</TriggeringEntities>
<EntityCondition>
<RelativeDistanceCondition entityRef="adversary" relativeDistanceType="cartesianDistance" value="40.0" freespace="false" rule="lessThan"/>
</EntityCondition>
</ByEntityCondition>
</Condition>
</ConditionGroup>
</StartTrigger>
</Event>
<Event name="AdversaryChangesLane" priority="overwrite">
<Action name="AdversaryChangesLane">
<PrivateAction>
<LateralAction>
<LaneChangeAction>
<LaneChangeActionDynamics dynamicsShape="linear" value="25" dynamicsDimension="distance"/>
<LaneChangeTarget>
<RelativeTargetLane entityRef="adversary" value="-1"/>
</LaneChangeTarget>
</LaneChangeAction>
</LateralAction>
</PrivateAction>
</Action>
<StartTrigger>
<ConditionGroup>
<Condition name="AfterAdversaryAccelerates" delay="0" conditionEdge="rising">
<ByValueCondition>
<StoryboardElementStateCondition storyboardElementType="action" storyboardElementRef="AdversaryAccelerates" state="completeState"/>
</ByValueCondition>
</Condition>
</ConditionGroup>
</StartTrigger>
</Event>
</Maneuver>
</ManeuverGroup>
<StartTrigger>
<ConditionGroup>
<Condition name="OverallStartCondition" delay="0" conditionEdge="rising">
<ByEntityCondition>
<TriggeringEntities triggeringEntitiesRule="any">
<EntityRef entityRef="hero"/>
</TriggeringEntities>
<EntityCondition>
<TraveledDistanceCondition value="1.0"/>
</EntityCondition>
</ByEntityCondition>
</Condition>
<Condition name="StartTime" delay="0" conditionEdge="rising">
<ByValueCondition>
<SimulationTimeCondition value="0" rule="equalTo"/>
</ByValueCondition>
</Condition>
</ConditionGroup>
</StartTrigger>
<StopTrigger>
<ConditionGroup>
<Condition name="EndCondition" delay="0" conditionEdge="rising">
<ByEntityCondition>
<TriggeringEntities triggeringEntitiesRule="any">
<EntityRef entityRef="hero"/>
</TriggeringEntities>
<EntityCondition>
<TraveledDistanceCondition value="200.0"/>
</EntityCondition>
</ByEntityCondition>
</Condition>
</ConditionGroup>
</StopTrigger>
</Act>
</Story>
<StopTrigger>
<ConditionGroup>
<Condition name="criteria_RunningStopTest" delay="0" conditionEdge="rising">
<ByValueCondition>
<ParameterCondition parameterRef="" value="" rule="lessThan"/>
</ByValueCondition>
</Condition>
<Condition name="criteria_RunningRedLightTest" delay="0" conditionEdge="rising">
<ByValueCondition>
<ParameterCondition parameterRef="" value="" rule="lessThan"/>
</ByValueCondition>
</Condition>
<Condition name="criteria_WrongLaneTest" delay="0" conditionEdge="rising">
<ByValueCondition>
<ParameterCondition parameterRef="" value="" rule="lessThan"/>
</ByValueCondition>
</Condition>
<Condition name="criteria_OnSidewalkTest" delay="0" conditionEdge="rising">
<ByValueCondition>
<ParameterCondition parameterRef="" value="" rule="lessThan"/>
</ByValueCondition>
</Condition>
<Condition name="criteria_KeepLaneTest" delay="0" conditionEdge="rising">
<ByValueCondition>
<ParameterCondition parameterRef="" value="" rule="lessThan"/>
</ByValueCondition>
</Condition>
<Condition name="criteria_CollisionTest" delay="0" conditionEdge="rising">
<ByValueCondition>
<ParameterCondition parameterRef="" value="" rule="lessThan"/>
</ByValueCondition>
</Condition>
<Condition name="criteria_DrivenDistanceTest" delay="0" conditionEdge="rising">
<ByValueCondition>
<ParameterCondition parameterRef="distance_success" value="100" rule="lessThan"/>
</ByValueCondition>
</Condition>
</ConditionGroup>
</StopTrigger>
</Storyboard>
</OpenSCENARIO>
``` |
i would like to command you to add pedestrian close to 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_3145">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_w_transform_3146">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_close_to_adversary_3147">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_w_transform_3149">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_w_transform_3150">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_w_transform_3151">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_close_to_adversary_3153">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_w_transform_3154">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_close_to_standing_3155">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
</Entities>
<Storyboard>
<Init>
<Actions>
<GlobalAction>
<EnvironmentAction>
<Environment name="Environment1">
<TimeOfDay animation="false" dateTime="2019-06-25T12:00:00"/>
<Weather cloudState="free">
<Sun intensity="0.85" azimuth="0" elevation="1.31"/>
<Fog visualRange="100000.0"/>
<Precipitation precipitationType="dry" intensity="0.0"/>
</Weather>
<RoadCondition frictionScaleFactor="1.0"/>
</Environment>
</EnvironmentAction>
</GlobalAction>
<Private entityRef="hero">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-9.4" y="-152.8" z="0.5" h="1.57079632679"/>
</Position>
</TeleportAction>
</PrivateAction>
<PrivateAction>
<ControllerAction>
<AssignControllerAction>
<Controller name="HeroAgent">
<Properties>
<Property name="module" value="external_control"/>
</Properties>
</Controller>
</AssignControllerAction>
<OverrideControllerValueAction>
<Throttle value="0" active="false"/>
<Brake value="0" active="false"/>
<Clutch value="0" active="false"/>
<ParkingBrake value="0" active="false"/>
<SteeringWheel value="0" active="false"/>
<Gear number="0" active="false"/>
</OverrideControllerValueAction>
</ControllerAction>
</PrivateAction>
</Private>
<Private entityRef="adversary">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-9.4" y="-71.0" z="0.5" h="1.57079632679"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="standing">
<PrivateAction>
<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_3145">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-2.8800106048583984" y="23.193191528320312" z="0.002966918982565403"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_w_transform_3146">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="19.940284729003906" y="-68.5915298461914" z="0.5"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_close_to_adversary_3147">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-2.2176625728607178" y="-62.14501953125" z="0.03376201540231705"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_w_transform_3149">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-61.34878158569336" y="13.72789192199707" z="0.5"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_w_transform_3150">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-71.37054443359375" y="5.695446491241455" z="0.5"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_w_transform_3151">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="14.09570598602295" y="33.04117965698242" z="0.5"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_close_to_adversary_3153">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-13.28687572479248" y="-77.06195831298828" z="0.03383621200919151"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_w_transform_3154">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="83.2818374633789" y="66.12578582763672" z="0.5"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_close_to_standing_3155">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-9.167993545532227" y="24.996829986572266" z="0.003049392718821764"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
</Actions>
</Init>
<Story name="MyStory">
<Act name="Behavior">
<ManeuverGroup maximumExecutionCount="1" name="ManeuverSequence">
<Actors selectTriggeringEntities="false">
<EntityRef entityRef="adversary"/>
</Actors>
<Maneuver name="LaneChangeSimpleManeuver">
<Event name="AdversaryAccelerates" priority="overwrite">
<Action name="AdversaryAccelerates">
<PrivateAction>
<LongitudinalAction>
<SpeedAction>
<SpeedActionDynamics dynamicsShape="step" value="50" dynamicsDimension="distance"/>
<SpeedActionTarget>
<AbsoluteTargetSpeed value="5.0"/>
</SpeedActionTarget>
</SpeedAction>
</LongitudinalAction>
</PrivateAction>
</Action>
<StartTrigger>
<ConditionGroup>
<Condition name="StartCondition" delay="0" conditionEdge="rising">
<ByEntityCondition>
<TriggeringEntities triggeringEntitiesRule="any">
<EntityRef entityRef="hero"/>
</TriggeringEntities>
<EntityCondition>
<RelativeDistanceCondition entityRef="adversary" relativeDistanceType="cartesianDistance" value="40.0" freespace="false" rule="lessThan"/>
</EntityCondition>
</ByEntityCondition>
</Condition>
</ConditionGroup>
</StartTrigger>
</Event>
<Event name="AdversaryChangesLane" priority="overwrite">
<Action name="AdversaryChangesLane">
<PrivateAction>
<LateralAction>
<LaneChangeAction>
<LaneChangeActionDynamics dynamicsShape="linear" value="25" dynamicsDimension="distance"/>
<LaneChangeTarget>
<RelativeTargetLane entityRef="adversary" value="-1"/>
</LaneChangeTarget>
</LaneChangeAction>
</LateralAction>
</PrivateAction>
</Action>
<StartTrigger>
<ConditionGroup>
<Condition name="AfterAdversaryAccelerates" delay="0" conditionEdge="rising">
<ByValueCondition>
<StoryboardElementStateCondition storyboardElementType="action" storyboardElementRef="AdversaryAccelerates" state="completeState"/>
</ByValueCondition>
</Condition>
</ConditionGroup>
</StartTrigger>
</Event>
</Maneuver>
</ManeuverGroup>
<StartTrigger>
<ConditionGroup>
<Condition name="OverallStartCondition" delay="0" conditionEdge="rising">
<ByEntityCondition>
<TriggeringEntities triggeringEntitiesRule="any">
<EntityRef entityRef="hero"/>
</TriggeringEntities>
<EntityCondition>
<TraveledDistanceCondition value="1.0"/>
</EntityCondition>
</ByEntityCondition>
</Condition>
<Condition name="StartTime" delay="0" conditionEdge="rising">
<ByValueCondition>
<SimulationTimeCondition value="0" rule="equalTo"/>
</ByValueCondition>
</Condition>
</ConditionGroup>
</StartTrigger>
<StopTrigger>
<ConditionGroup>
<Condition name="EndCondition" delay="0" conditionEdge="rising">
<ByEntityCondition>
<TriggeringEntities triggeringEntitiesRule="any">
<EntityRef entityRef="hero"/>
</TriggeringEntities>
<EntityCondition>
<TraveledDistanceCondition value="200.0"/>
</EntityCondition>
</ByEntityCondition>
</Condition>
</ConditionGroup>
</StopTrigger>
</Act>
</Story>
<StopTrigger>
<ConditionGroup>
<Condition name="criteria_RunningStopTest" delay="0" conditionEdge="rising">
<ByValueCondition>
<ParameterCondition parameterRef="" value="" rule="lessThan"/>
</ByValueCondition>
</Condition>
<Condition name="criteria_RunningRedLightTest" delay="0" conditionEdge="rising">
<ByValueCondition>
<ParameterCondition parameterRef="" value="" rule="lessThan"/>
</ByValueCondition>
</Condition>
<Condition name="criteria_WrongLaneTest" delay="0" conditionEdge="rising">
<ByValueCondition>
<ParameterCondition parameterRef="" value="" rule="lessThan"/>
</ByValueCondition>
</Condition>
<Condition name="criteria_OnSidewalkTest" delay="0" conditionEdge="rising">
<ByValueCondition>
<ParameterCondition parameterRef="" value="" rule="lessThan"/>
</ByValueCondition>
</Condition>
<Condition name="criteria_KeepLaneTest" delay="0" conditionEdge="rising">
<ByValueCondition>
<ParameterCondition parameterRef="" value="" rule="lessThan"/>
</ByValueCondition>
</Condition>
<Condition name="criteria_CollisionTest" delay="0" conditionEdge="rising">
<ByValueCondition>
<ParameterCondition parameterRef="" value="" rule="lessThan"/>
</ByValueCondition>
</Condition>
<Condition name="criteria_DrivenDistanceTest" delay="0" conditionEdge="rising">
<ByValueCondition>
<ParameterCondition parameterRef="distance_success" value="100" rule="lessThan"/>
</ByValueCondition>
</Condition>
</ConditionGroup>
</StopTrigger>
</Storyboard>
</OpenSCENARIO>
``` | Here is the result:
```
<?xml version="1.0" ?>
<OpenSCENARIO>
<FileHeader revMajor="1" revMinor="0" date="2020-03-24T12:00:00" description="CARLA:LaneChangeSimple" author=""/>
<ParameterDeclarations/>
<CatalogLocations/>
<RoadNetwork>
<LogicFile filepath="Town04"/>
<SceneGraphFile filepath=""/>
</RoadNetwork>
<Entities>
<ScenarioObject name="hero">
<Vehicle name="vehicle.tesla.model3" vehicleCategory="car">
<ParameterDeclarations/>
<Performance maxSpeed="69.444" maxAcceleration="200" maxDeceleration="10.0"/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2.1" length="4.5" height="1.8"/>
</BoundingBox>
<Axles>
<FrontAxle maxSteering="0.5" wheelDiameter="0.6" trackWidth="1.8" positionX="3.1" positionZ="0.3"/>
<RearAxle maxSteering="0.0" wheelDiameter="0.6" trackWidth="1.8" positionX="0.0" positionZ="0.3"/>
</Axles>
<Properties>
<Property name="type" value="ego_vehicle"/>
</Properties>
</Vehicle>
</ScenarioObject>
<ScenarioObject name="adversary">
<Vehicle name="vehicle.lincoln.mkz_2017" vehicleCategory="car">
<ParameterDeclarations/>
<Performance maxSpeed="69.444" maxAcceleration="200" maxDeceleration="10.0"/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2.1" length="4.5" height="1.8"/>
</BoundingBox>
<Axles>
<FrontAxle maxSteering="0.5" wheelDiameter="0.6" trackWidth="1.8" positionX="3.1" positionZ="0.3"/>
<RearAxle maxSteering="0.0" wheelDiameter="0.6" trackWidth="1.8" positionX="0.0" positionZ="0.3"/>
</Axles>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Vehicle>
</ScenarioObject>
<ScenarioObject name="standing">
<Vehicle name="vehicle.volkswagen.t2" vehicleCategory="car">
<ParameterDeclarations/>
<Performance maxSpeed="69.444" maxAcceleration="200" maxDeceleration="10.0"/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2.1" length="4.5" height="1.8"/>
</BoundingBox>
<Axles>
<FrontAxle maxSteering="0.5" wheelDiameter="0.6" trackWidth="1.8" positionX="3.1" positionZ="0.3"/>
<RearAxle maxSteering="0.0" wheelDiameter="0.6" 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_3145">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_w_transform_3146">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_close_to_adversary_3147">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_w_transform_3149">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_w_transform_3150">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_w_transform_3151">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_close_to_adversary_3153">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_w_transform_3154">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_close_to_standing_3155">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_close_to_adversary_3156">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
</Entities>
<Storyboard>
<Init>
<Actions>
<GlobalAction>
<EnvironmentAction>
<Environment name="Environment1">
<TimeOfDay animation="false" dateTime="2019-06-25T12:00:00"/>
<Weather cloudState="free">
<Sun intensity="0.85" azimuth="0" elevation="1.31"/>
<Fog visualRange="100000.0"/>
<Precipitation precipitationType="dry" intensity="0.0"/>
</Weather>
<RoadCondition frictionScaleFactor="1.0"/>
</Environment>
</EnvironmentAction>
</GlobalAction>
<Private entityRef="hero">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-9.4" y="-152.8" z="0.5" h="1.57079632679"/>
</Position>
</TeleportAction>
</PrivateAction>
<PrivateAction>
<ControllerAction>
<AssignControllerAction>
<Controller name="HeroAgent">
<Properties>
<Property name="module" value="external_control"/>
</Properties>
</Controller>
</AssignControllerAction>
<OverrideControllerValueAction>
<Throttle value="0" active="false"/>
<Brake value="0" active="false"/>
<Clutch value="0" active="false"/>
<ParkingBrake value="0" active="false"/>
<SteeringWheel value="0" active="false"/>
<Gear number="0" active="false"/>
</OverrideControllerValueAction>
</ControllerAction>
</PrivateAction>
</Private>
<Private entityRef="adversary">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-9.4" y="-71.0" z="0.5" h="1.57079632679"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="standing">
<PrivateAction>
<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_3145">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-2.8800106048583984" y="23.193191528320312" z="0.002966918982565403"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_w_transform_3146">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="19.940284729003906" y="-68.5915298461914" z="0.5"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_close_to_adversary_3147">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-2.2176625728607178" y="-62.14501953125" z="0.03376201540231705"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_w_transform_3149">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-61.34878158569336" y="13.72789192199707" z="0.5"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_w_transform_3150">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-71.37054443359375" y="5.695446491241455" z="0.5"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_w_transform_3151">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="14.09570598602295" y="33.04117965698242" z="0.5"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_close_to_adversary_3153">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-13.28687572479248" y="-77.06195831298828" z="0.03383621200919151"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_w_transform_3154">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="83.2818374633789" y="66.12578582763672" z="0.5"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_close_to_standing_3155">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-9.167993545532227" y="24.996829986572266" z="0.003049392718821764"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_close_to_adversary_3156">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-17.390615463256836" y="-69.3178939819336" z="0.03376968204975128"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
</Actions>
</Init>
<Story name="MyStory">
<Act name="Behavior">
<ManeuverGroup maximumExecutionCount="1" name="ManeuverSequence">
<Actors selectTriggeringEntities="false">
<EntityRef entityRef="adversary"/>
</Actors>
<Maneuver name="LaneChangeSimpleManeuver">
<Event name="AdversaryAccelerates" priority="overwrite">
<Action name="AdversaryAccelerates">
<PrivateAction>
<LongitudinalAction>
<SpeedAction>
<SpeedActionDynamics dynamicsShape="step" value="50" dynamicsDimension="distance"/>
<SpeedActionTarget>
<AbsoluteTargetSpeed value="5.0"/>
</SpeedActionTarget>
</SpeedAction>
</LongitudinalAction>
</PrivateAction>
</Action>
<StartTrigger>
<ConditionGroup>
<Condition name="StartCondition" delay="0" conditionEdge="rising">
<ByEntityCondition>
<TriggeringEntities triggeringEntitiesRule="any">
<EntityRef entityRef="hero"/>
</TriggeringEntities>
<EntityCondition>
<RelativeDistanceCondition entityRef="adversary" relativeDistanceType="cartesianDistance" value="40.0" freespace="false" rule="lessThan"/>
</EntityCondition>
</ByEntityCondition>
</Condition>
</ConditionGroup>
</StartTrigger>
</Event>
<Event name="AdversaryChangesLane" priority="overwrite">
<Action name="AdversaryChangesLane">
<PrivateAction>
<LateralAction>
<LaneChangeAction>
<LaneChangeActionDynamics dynamicsShape="linear" value="25" dynamicsDimension="distance"/>
<LaneChangeTarget>
<RelativeTargetLane entityRef="adversary" value="-1"/>
</LaneChangeTarget>
</LaneChangeAction>
</LateralAction>
</PrivateAction>
</Action>
<StartTrigger>
<ConditionGroup>
<Condition name="AfterAdversaryAccelerates" delay="0" conditionEdge="rising">
<ByValueCondition>
<StoryboardElementStateCondition storyboardElementType="action" storyboardElementRef="AdversaryAccelerates" state="completeState"/>
</ByValueCondition>
</Condition>
</ConditionGroup>
</StartTrigger>
</Event>
</Maneuver>
</ManeuverGroup>
<StartTrigger>
<ConditionGroup>
<Condition name="OverallStartCondition" delay="0" conditionEdge="rising">
<ByEntityCondition>
<TriggeringEntities triggeringEntitiesRule="any">
<EntityRef entityRef="hero"/>
</TriggeringEntities>
<EntityCondition>
<TraveledDistanceCondition value="1.0"/>
</EntityCondition>
</ByEntityCondition>
</Condition>
<Condition name="StartTime" delay="0" conditionEdge="rising">
<ByValueCondition>
<SimulationTimeCondition value="0" rule="equalTo"/>
</ByValueCondition>
</Condition>
</ConditionGroup>
</StartTrigger>
<StopTrigger>
<ConditionGroup>
<Condition name="EndCondition" delay="0" conditionEdge="rising">
<ByEntityCondition>
<TriggeringEntities triggeringEntitiesRule="any">
<EntityRef entityRef="hero"/>
</TriggeringEntities>
<EntityCondition>
<TraveledDistanceCondition value="200.0"/>
</EntityCondition>
</ByEntityCondition>
</Condition>
</ConditionGroup>
</StopTrigger>
</Act>
</Story>
<StopTrigger>
<ConditionGroup>
<Condition name="criteria_RunningStopTest" delay="0" conditionEdge="rising">
<ByValueCondition>
<ParameterCondition parameterRef="" value="" rule="lessThan"/>
</ByValueCondition>
</Condition>
<Condition name="criteria_RunningRedLightTest" delay="0" conditionEdge="rising">
<ByValueCondition>
<ParameterCondition parameterRef="" value="" rule="lessThan"/>
</ByValueCondition>
</Condition>
<Condition name="criteria_WrongLaneTest" delay="0" conditionEdge="rising">
<ByValueCondition>
<ParameterCondition parameterRef="" value="" rule="lessThan"/>
</ByValueCondition>
</Condition>
<Condition name="criteria_OnSidewalkTest" delay="0" conditionEdge="rising">
<ByValueCondition>
<ParameterCondition parameterRef="" value="" rule="lessThan"/>
</ByValueCondition>
</Condition>
<Condition name="criteria_KeepLaneTest" delay="0" conditionEdge="rising">
<ByValueCondition>
<ParameterCondition parameterRef="" value="" rule="lessThan"/>
</ByValueCondition>
</Condition>
<Condition name="criteria_CollisionTest" delay="0" conditionEdge="rising">
<ByValueCondition>
<ParameterCondition parameterRef="" value="" rule="lessThan"/>
</ByValueCondition>
</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 actor named pedestrian_w_transform_14632?
```
<?xml version="1.0" ?>
<OpenSCENARIO>
<FileHeader revMajor="1" revMinor="0" date="2020-03-24T12:00:00" description="CARLA:LaneChangeSimple" author=""/>
<ParameterDeclarations/>
<CatalogLocations/>
<RoadNetwork>
<LogicFile filepath="Town04"/>
<SceneGraphFile filepath=""/>
</RoadNetwork>
<Entities>
<ScenarioObject name="hero">
<Vehicle name="vehicle.tesla.model3" vehicleCategory="car">
<ParameterDeclarations/>
<Performance maxSpeed="69.444" maxAcceleration="200" maxDeceleration="10.0"/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2.1" length="4.5" height="1.8"/>
</BoundingBox>
<Axles>
<FrontAxle maxSteering="0.5" wheelDiameter="0.6" trackWidth="1.8" positionX="3.1" positionZ="0.3"/>
<RearAxle maxSteering="0.0" wheelDiameter="0.6" trackWidth="1.8" positionX="0.0" positionZ="0.3"/>
</Axles>
<Properties>
<Property name="type" value="ego_vehicle"/>
</Properties>
</Vehicle>
</ScenarioObject>
<ScenarioObject name="adversary">
<Vehicle name="vehicle.lincoln.mkz_2017" vehicleCategory="car">
<ParameterDeclarations/>
<Performance maxSpeed="69.444" maxAcceleration="200" maxDeceleration="10.0"/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2.1" length="4.5" height="1.8"/>
</BoundingBox>
<Axles>
<FrontAxle maxSteering="0.5" wheelDiameter="0.6" trackWidth="1.8" positionX="3.1" positionZ="0.3"/>
<RearAxle maxSteering="0.0" wheelDiameter="0.6" trackWidth="1.8" positionX="0.0" positionZ="0.3"/>
</Axles>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Vehicle>
</ScenarioObject>
<ScenarioObject name="standing">
<Vehicle name="vehicle.volkswagen.t2" vehicleCategory="car">
<ParameterDeclarations/>
<Performance maxSpeed="69.444" maxAcceleration="200" maxDeceleration="10.0"/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2.1" length="4.5" height="1.8"/>
</BoundingBox>
<Axles>
<FrontAxle maxSteering="0.5" wheelDiameter="0.6" trackWidth="1.8" positionX="3.1" positionZ="0.3"/>
<RearAxle maxSteering="0.0" wheelDiameter="0.6" 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_14627">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_close_to_standing_14628">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_close_to_standing_14629">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_w_transform_14630">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_close_to_hero_14631">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_w_transform_14632">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_w_transform_14633">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_close_to_adversary_14634">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_close_to_adversary_14635">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_close_to_standing_14636">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_close_to_standing_14638">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_w_transform_14639">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_w_transform_14640">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_w_transform_14641">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_close_to_adversary_14642">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_close_to_adversary_14643">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_w_transform_14644">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_close_to_standing_14645">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_close_to_adversary_14646">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_w_transform_14647">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_w_transform_14648">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
</Entities>
<Storyboard>
<Init>
<Actions>
<GlobalAction>
<EnvironmentAction>
<Environment name="Environment1">
<TimeOfDay animation="false" dateTime="2019-06-25T12:00:00"/>
<Weather cloudState="free">
<Sun intensity="0.85" azimuth="0" elevation="1.31"/>
<Fog visualRange="100000.0"/>
<Precipitation precipitationType="dry" intensity="0.0"/>
</Weather>
<RoadCondition frictionScaleFactor="1.0"/>
</Environment>
</EnvironmentAction>
</GlobalAction>
<Private entityRef="hero">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-9.4" y="-152.8" z="0.5" h="1.57079632679"/>
</Position>
</TeleportAction>
</PrivateAction>
<PrivateAction>
<ControllerAction>
<AssignControllerAction>
<Controller name="HeroAgent">
<Properties>
<Property name="module" value="external_control"/>
</Properties>
</Controller>
</AssignControllerAction>
<OverrideControllerValueAction>
<Throttle value="0" active="false"/>
<Brake value="0" active="false"/>
<Clutch value="0" active="false"/>
<ParkingBrake value="0" active="false"/>
<SteeringWheel value="0" active="false"/>
<Gear number="0" active="false"/>
</OverrideControllerValueAction>
</ControllerAction>
</PrivateAction>
</Private>
<Private entityRef="adversary">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-9.4" y="-71.0" z="0.5" h="1.57079632679"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="standing">
<PrivateAction>
<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_14627">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-3.623082399368286" y="-73.4540023803711" z="0.033807333558797836"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_close_to_standing_14628">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-13.962509155273438" y="35.868507385253906" z="0.003046493511646986"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_close_to_standing_14629">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="0.6676974296569824" y="20.227447509765625" z="0.003028716892004013"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_w_transform_14630">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="67.4217758178711" y="29.972951889038086" z="0.5"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_close_to_hero_14631">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-10.535181999206543" y="-143.59144592285156" z="0.001423797570168972"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_w_transform_14632">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="39.85248565673828" y="-45.75266647338867" z="0.5"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_w_transform_14633">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="38.3818244934082" y="-16.647733688354492" z="0.5"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_close_to_adversary_14634">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-13.78298568725586" y="-55.83213806152344" z="0.033767279237508774"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_close_to_adversary_14635">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-16.783931732177734" y="-71.78788757324219" z="0.03375217318534851"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_close_to_standing_14636">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-3.1916697025299072" y="38.42231750488281" z="0.003013877896592021"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_close_to_standing_14638">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-4.364401340484619" y="35.85551834106445" z="0.003016510047018528"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_w_transform_14639">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-7.689528465270996" y="37.54457092285156" z="0.5"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_w_transform_14640">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="92.89753723144531" y="-28.368234634399414" z="0.5"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_w_transform_14641">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="2.1622042655944824" y="61.7017707824707" z="0.5"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_close_to_adversary_14642">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-6.814963340759277" y="-62.94514465332031" z="0.03378044068813324"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_close_to_adversary_14643">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-5.562888145446777" y="-76.1429672241211" z="0.03381076827645302"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_w_transform_14644">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="8.439074516296387" y="-63.70712661743164" z="0.5"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_close_to_standing_14645">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-2.014591693878174" y="37.63429260253906" z="0.0030667877290397882"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_close_to_adversary_14646">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-15.225491523742676" y="-67.17369079589844" z="0.03383472189307213"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_w_transform_14647">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-5.764728546142578" y="35.44824981689453" z="0.5"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_w_transform_14648">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-53.2578010559082" y="-71.97472381591797" 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_14627">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_close_to_standing_14628">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_close_to_standing_14629">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_w_transform_14630">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_close_to_hero_14631">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_w_transform_14633">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_close_to_adversary_14634">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_close_to_adversary_14635">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_close_to_standing_14636">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_close_to_standing_14638">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_w_transform_14639">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_w_transform_14640">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_w_transform_14641">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_close_to_adversary_14642">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_close_to_adversary_14643">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_w_transform_14644">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_close_to_standing_14645">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_close_to_adversary_14646">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_w_transform_14647">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_w_transform_14648">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
</Entities>
<Storyboard>
<Init>
<Actions>
<GlobalAction>
<EnvironmentAction>
<Environment name="Environment1">
<TimeOfDay animation="false" dateTime="2019-06-25T12:00:00"/>
<Weather cloudState="free">
<Sun intensity="0.85" azimuth="0" elevation="1.31"/>
<Fog visualRange="100000.0"/>
<Precipitation precipitationType="dry" intensity="0.0"/>
</Weather>
<RoadCondition frictionScaleFactor="1.0"/>
</Environment>
</EnvironmentAction>
</GlobalAction>
<Private entityRef="hero">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-9.4" y="-152.8" z="0.5" h="1.57079632679"/>
</Position>
</TeleportAction>
</PrivateAction>
<PrivateAction>
<ControllerAction>
<AssignControllerAction>
<Controller name="HeroAgent">
<Properties>
<Property name="module" value="external_control"/>
</Properties>
</Controller>
</AssignControllerAction>
<OverrideControllerValueAction>
<Throttle value="0" active="false"/>
<Brake value="0" active="false"/>
<Clutch value="0" active="false"/>
<ParkingBrake value="0" active="false"/>
<SteeringWheel value="0" active="false"/>
<Gear number="0" active="false"/>
</OverrideControllerValueAction>
</ControllerAction>
</PrivateAction>
</Private>
<Private entityRef="adversary">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-9.4" y="-71.0" z="0.5" h="1.57079632679"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="standing">
<PrivateAction>
<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_14627">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-3.623082399368286" y="-73.4540023803711" z="0.033807333558797836"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_close_to_standing_14628">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-13.962509155273438" y="35.868507385253906" z="0.003046493511646986"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_close_to_standing_14629">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="0.6676974296569824" y="20.227447509765625" z="0.003028716892004013"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_w_transform_14630">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="67.4217758178711" y="29.972951889038086" z="0.5"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_close_to_hero_14631">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-10.535181999206543" y="-143.59144592285156" z="0.001423797570168972"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_w_transform_14633">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="38.3818244934082" y="-16.647733688354492" z="0.5"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_close_to_adversary_14634">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-13.78298568725586" y="-55.83213806152344" z="0.033767279237508774"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_close_to_adversary_14635">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-16.783931732177734" y="-71.78788757324219" z="0.03375217318534851"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_close_to_standing_14636">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-3.1916697025299072" y="38.42231750488281" z="0.003013877896592021"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_close_to_standing_14638">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-4.364401340484619" y="35.85551834106445" z="0.003016510047018528"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_w_transform_14639">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-7.689528465270996" y="37.54457092285156" z="0.5"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_w_transform_14640">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="92.89753723144531" y="-28.368234634399414" z="0.5"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_w_transform_14641">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="2.1622042655944824" y="61.7017707824707" z="0.5"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_close_to_adversary_14642">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-6.814963340759277" y="-62.94514465332031" z="0.03378044068813324"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_close_to_adversary_14643">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-5.562888145446777" y="-76.1429672241211" z="0.03381076827645302"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_w_transform_14644">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="8.439074516296387" y="-63.70712661743164" z="0.5"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_close_to_standing_14645">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-2.014591693878174" y="37.63429260253906" z="0.0030667877290397882"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_close_to_adversary_14646">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-15.225491523742676" y="-67.17369079589844" z="0.03383472189307213"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_w_transform_14647">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-5.764728546142578" y="35.44824981689453" z="0.5"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_w_transform_14648">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-53.2578010559082" y="-71.97472381591797" 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 (-7.8, -29.8, 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_6134">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_w_transform_6135">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_w_transform_6136">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
</Entities>
<Storyboard>
<Init>
<Actions>
<GlobalAction>
<EnvironmentAction>
<Environment name="Environment1">
<TimeOfDay animation="false" dateTime="2019-06-25T12:00:00"/>
<Weather cloudState="free">
<Sun intensity="0.85" azimuth="0" elevation="1.31"/>
<Fog visualRange="100000.0"/>
<Precipitation precipitationType="dry" intensity="0.0"/>
</Weather>
<RoadCondition frictionScaleFactor="1.0"/>
</Environment>
</EnvironmentAction>
</GlobalAction>
<Private entityRef="hero">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-9.4" y="-152.8" z="0.5" h="1.57079632679"/>
</Position>
</TeleportAction>
</PrivateAction>
<PrivateAction>
<ControllerAction>
<AssignControllerAction>
<Controller name="HeroAgent">
<Properties>
<Property name="module" value="external_control"/>
</Properties>
</Controller>
</AssignControllerAction>
<OverrideControllerValueAction>
<Throttle value="0" active="false"/>
<Brake value="0" active="false"/>
<Clutch value="0" active="false"/>
<ParkingBrake value="0" active="false"/>
<SteeringWheel value="0" active="false"/>
<Gear number="0" active="false"/>
</OverrideControllerValueAction>
</ControllerAction>
</PrivateAction>
</Private>
<Private entityRef="adversary">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-9.4" y="-71.0" z="0.5" h="1.57079632679"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="standing">
<PrivateAction>
<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_6134">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-7.455880641937256" y="26.175201416015625" z="0.0030732345767319202"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_w_transform_6135">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-77.60664367675781" y="1.1967880725860596" z="0.5"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_w_transform_6136">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-6.822183132171631" y="-64.4981460571289" 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_6134">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_w_transform_6135">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_w_transform_6136">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_w_transform_6137">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
</Entities>
<Storyboard>
<Init>
<Actions>
<GlobalAction>
<EnvironmentAction>
<Environment name="Environment1">
<TimeOfDay animation="false" dateTime="2019-06-25T12:00:00"/>
<Weather cloudState="free">
<Sun intensity="0.85" azimuth="0" elevation="1.31"/>
<Fog visualRange="100000.0"/>
<Precipitation precipitationType="dry" intensity="0.0"/>
</Weather>
<RoadCondition frictionScaleFactor="1.0"/>
</Environment>
</EnvironmentAction>
</GlobalAction>
<Private entityRef="hero">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-9.4" y="-152.8" z="0.5" h="1.57079632679"/>
</Position>
</TeleportAction>
</PrivateAction>
<PrivateAction>
<ControllerAction>
<AssignControllerAction>
<Controller name="HeroAgent">
<Properties>
<Property name="module" value="external_control"/>
</Properties>
</Controller>
</AssignControllerAction>
<OverrideControllerValueAction>
<Throttle value="0" active="false"/>
<Brake value="0" active="false"/>
<Clutch value="0" active="false"/>
<ParkingBrake value="0" active="false"/>
<SteeringWheel value="0" active="false"/>
<Gear number="0" active="false"/>
</OverrideControllerValueAction>
</ControllerAction>
</PrivateAction>
</Private>
<Private entityRef="adversary">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-9.4" y="-71.0" z="0.5" h="1.57079632679"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="standing">
<PrivateAction>
<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_6134">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-7.455880641937256" y="26.175201416015625" z="0.0030732345767319202"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_w_transform_6135">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-77.60664367675781" y="1.1967880725860596" z="0.5"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_w_transform_6136">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-6.822183132171631" y="-64.4981460571289" z="0.5"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_w_transform_6137">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-7.799537181854248" y="-29.796585083007812" z="0.5"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
</Actions>
</Init>
<Story name="MyStory">
<Act name="Behavior">
<ManeuverGroup maximumExecutionCount="1" name="ManeuverSequence">
<Actors selectTriggeringEntities="false">
<EntityRef entityRef="adversary"/>
</Actors>
<Maneuver name="LaneChangeSimpleManeuver">
<Event name="AdversaryAccelerates" priority="overwrite">
<Action name="AdversaryAccelerates">
<PrivateAction>
<LongitudinalAction>
<SpeedAction>
<SpeedActionDynamics dynamicsShape="step" value="50" dynamicsDimension="distance"/>
<SpeedActionTarget>
<AbsoluteTargetSpeed value="5.0"/>
</SpeedActionTarget>
</SpeedAction>
</LongitudinalAction>
</PrivateAction>
</Action>
<StartTrigger>
<ConditionGroup>
<Condition name="StartCondition" delay="0" conditionEdge="rising">
<ByEntityCondition>
<TriggeringEntities triggeringEntitiesRule="any">
<EntityRef entityRef="hero"/>
</TriggeringEntities>
<EntityCondition>
<RelativeDistanceCondition entityRef="adversary" relativeDistanceType="cartesianDistance" value="40.0" freespace="false" rule="lessThan"/>
</EntityCondition>
</ByEntityCondition>
</Condition>
</ConditionGroup>
</StartTrigger>
</Event>
<Event name="AdversaryChangesLane" priority="overwrite">
<Action name="AdversaryChangesLane">
<PrivateAction>
<LateralAction>
<LaneChangeAction>
<LaneChangeActionDynamics dynamicsShape="linear" value="25" dynamicsDimension="distance"/>
<LaneChangeTarget>
<RelativeTargetLane entityRef="adversary" value="-1"/>
</LaneChangeTarget>
</LaneChangeAction>
</LateralAction>
</PrivateAction>
</Action>
<StartTrigger>
<ConditionGroup>
<Condition name="AfterAdversaryAccelerates" delay="0" conditionEdge="rising">
<ByValueCondition>
<StoryboardElementStateCondition storyboardElementType="action" storyboardElementRef="AdversaryAccelerates" state="completeState"/>
</ByValueCondition>
</Condition>
</ConditionGroup>
</StartTrigger>
</Event>
</Maneuver>
</ManeuverGroup>
<StartTrigger>
<ConditionGroup>
<Condition name="OverallStartCondition" delay="0" conditionEdge="rising">
<ByEntityCondition>
<TriggeringEntities triggeringEntitiesRule="any">
<EntityRef entityRef="hero"/>
</TriggeringEntities>
<EntityCondition>
<TraveledDistanceCondition value="1.0"/>
</EntityCondition>
</ByEntityCondition>
</Condition>
<Condition name="StartTime" delay="0" conditionEdge="rising">
<ByValueCondition>
<SimulationTimeCondition value="0" rule="equalTo"/>
</ByValueCondition>
</Condition>
</ConditionGroup>
</StartTrigger>
<StopTrigger>
<ConditionGroup>
<Condition name="EndCondition" delay="0" conditionEdge="rising">
<ByEntityCondition>
<TriggeringEntities triggeringEntitiesRule="any">
<EntityRef entityRef="hero"/>
</TriggeringEntities>
<EntityCondition>
<TraveledDistanceCondition value="200.0"/>
</EntityCondition>
</ByEntityCondition>
</Condition>
</ConditionGroup>
</StopTrigger>
</Act>
</Story>
<StopTrigger>
<ConditionGroup>
<Condition name="criteria_RunningStopTest" delay="0" conditionEdge="rising">
<ByValueCondition>
<ParameterCondition parameterRef="" value="" rule="lessThan"/>
</ByValueCondition>
</Condition>
<Condition name="criteria_RunningRedLightTest" delay="0" conditionEdge="rising">
<ByValueCondition>
<ParameterCondition parameterRef="" value="" rule="lessThan"/>
</ByValueCondition>
</Condition>
<Condition name="criteria_WrongLaneTest" delay="0" conditionEdge="rising">
<ByValueCondition>
<ParameterCondition parameterRef="" value="" rule="lessThan"/>
</ByValueCondition>
</Condition>
<Condition name="criteria_OnSidewalkTest" delay="0" conditionEdge="rising">
<ByValueCondition>
<ParameterCondition parameterRef="" value="" rule="lessThan"/>
</ByValueCondition>
</Condition>
<Condition name="criteria_KeepLaneTest" delay="0" conditionEdge="rising">
<ByValueCondition>
<ParameterCondition parameterRef="" value="" rule="lessThan"/>
</ByValueCondition>
</Condition>
<Condition name="criteria_CollisionTest" delay="0" conditionEdge="rising">
<ByValueCondition>
<ParameterCondition parameterRef="" value="" rule="lessThan"/>
</ByValueCondition>
</Condition>
<Condition name="criteria_DrivenDistanceTest" delay="0" conditionEdge="rising">
<ByValueCondition>
<ParameterCondition parameterRef="distance_success" value="100" rule="lessThan"/>
</ByValueCondition>
</Condition>
</ConditionGroup>
</StopTrigger>
</Storyboard>
</OpenSCENARIO>
``` |
i would like to lead you to add pedestrian close to standing?
```
<?xml version="1.0" ?>
<OpenSCENARIO>
<FileHeader revMajor="1" revMinor="0" date="2020-03-24T12:00:00" description="CARLA:LaneChangeSimple" author=""/>
<ParameterDeclarations/>
<CatalogLocations/>
<RoadNetwork>
<LogicFile filepath="Town04"/>
<SceneGraphFile filepath=""/>
</RoadNetwork>
<Entities>
<ScenarioObject name="hero">
<Vehicle name="vehicle.tesla.model3" vehicleCategory="car">
<ParameterDeclarations/>
<Performance maxSpeed="69.444" maxAcceleration="200" maxDeceleration="10.0"/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2.1" length="4.5" height="1.8"/>
</BoundingBox>
<Axles>
<FrontAxle maxSteering="0.5" wheelDiameter="0.6" trackWidth="1.8" positionX="3.1" positionZ="0.3"/>
<RearAxle maxSteering="0.0" wheelDiameter="0.6" trackWidth="1.8" positionX="0.0" positionZ="0.3"/>
</Axles>
<Properties>
<Property name="type" value="ego_vehicle"/>
</Properties>
</Vehicle>
</ScenarioObject>
<ScenarioObject name="adversary">
<Vehicle name="vehicle.lincoln.mkz_2017" vehicleCategory="car">
<ParameterDeclarations/>
<Performance maxSpeed="69.444" maxAcceleration="200" maxDeceleration="10.0"/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2.1" length="4.5" height="1.8"/>
</BoundingBox>
<Axles>
<FrontAxle maxSteering="0.5" wheelDiameter="0.6" trackWidth="1.8" positionX="3.1" positionZ="0.3"/>
<RearAxle maxSteering="0.0" wheelDiameter="0.6" trackWidth="1.8" positionX="0.0" positionZ="0.3"/>
</Axles>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Vehicle>
</ScenarioObject>
<ScenarioObject name="standing">
<Vehicle name="vehicle.volkswagen.t2" vehicleCategory="car">
<ParameterDeclarations/>
<Performance maxSpeed="69.444" maxAcceleration="200" maxDeceleration="10.0"/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2.1" length="4.5" height="1.8"/>
</BoundingBox>
<Axles>
<FrontAxle maxSteering="0.5" wheelDiameter="0.6" trackWidth="1.8" positionX="3.1" positionZ="0.3"/>
<RearAxle maxSteering="0.0" wheelDiameter="0.6" trackWidth="1.8" positionX="0.0" positionZ="0.3"/>
</Axles>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Vehicle>
</ScenarioObject>
<ScenarioObject name="pedestrian_close_to_adversary_12086">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_close_to_standing_12087">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_w_transform_12088">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_close_to_adversary_12089">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
</Entities>
<Storyboard>
<Init>
<Actions>
<GlobalAction>
<EnvironmentAction>
<Environment name="Environment1">
<TimeOfDay animation="false" dateTime="2019-06-25T12:00:00"/>
<Weather cloudState="free">
<Sun intensity="0.85" azimuth="0" elevation="1.31"/>
<Fog visualRange="100000.0"/>
<Precipitation precipitationType="dry" intensity="0.0"/>
</Weather>
<RoadCondition frictionScaleFactor="1.0"/>
</Environment>
</EnvironmentAction>
</GlobalAction>
<Private entityRef="hero">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-9.4" y="-152.8" z="0.5" h="1.57079632679"/>
</Position>
</TeleportAction>
</PrivateAction>
<PrivateAction>
<ControllerAction>
<AssignControllerAction>
<Controller name="HeroAgent">
<Properties>
<Property name="module" value="external_control"/>
</Properties>
</Controller>
</AssignControllerAction>
<OverrideControllerValueAction>
<Throttle value="0" active="false"/>
<Brake value="0" active="false"/>
<Clutch value="0" active="false"/>
<ParkingBrake value="0" active="false"/>
<SteeringWheel value="0" active="false"/>
<Gear number="0" active="false"/>
</OverrideControllerValueAction>
</ControllerAction>
</PrivateAction>
</Private>
<Private entityRef="adversary">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-9.4" y="-71.0" z="0.5" h="1.57079632679"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="standing">
<PrivateAction>
<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_12086">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-18.3037166595459" y="-61.89522171020508" z="0.03388088196516037"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_close_to_standing_12087">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-1.2749953269958496" y="19.593826293945312" z="0.003141555702313781"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_w_transform_12088">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="1.419687271118164" y="-73.14547729492188" z="0.5"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_close_to_adversary_12089">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-15.588842391967773" y="-73.23619842529297" z="0.033849332481622696"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
</Actions>
</Init>
<Story name="MyStory">
<Act name="Behavior">
<ManeuverGroup maximumExecutionCount="1" name="ManeuverSequence">
<Actors selectTriggeringEntities="false">
<EntityRef entityRef="adversary"/>
</Actors>
<Maneuver name="LaneChangeSimpleManeuver">
<Event name="AdversaryAccelerates" priority="overwrite">
<Action name="AdversaryAccelerates">
<PrivateAction>
<LongitudinalAction>
<SpeedAction>
<SpeedActionDynamics dynamicsShape="step" value="50" dynamicsDimension="distance"/>
<SpeedActionTarget>
<AbsoluteTargetSpeed value="5.0"/>
</SpeedActionTarget>
</SpeedAction>
</LongitudinalAction>
</PrivateAction>
</Action>
<StartTrigger>
<ConditionGroup>
<Condition name="StartCondition" delay="0" conditionEdge="rising">
<ByEntityCondition>
<TriggeringEntities triggeringEntitiesRule="any">
<EntityRef entityRef="hero"/>
</TriggeringEntities>
<EntityCondition>
<RelativeDistanceCondition entityRef="adversary" relativeDistanceType="cartesianDistance" value="40.0" freespace="false" rule="lessThan"/>
</EntityCondition>
</ByEntityCondition>
</Condition>
</ConditionGroup>
</StartTrigger>
</Event>
<Event name="AdversaryChangesLane" priority="overwrite">
<Action name="AdversaryChangesLane">
<PrivateAction>
<LateralAction>
<LaneChangeAction>
<LaneChangeActionDynamics dynamicsShape="linear" value="25" dynamicsDimension="distance"/>
<LaneChangeTarget>
<RelativeTargetLane entityRef="adversary" value="-1"/>
</LaneChangeTarget>
</LaneChangeAction>
</LateralAction>
</PrivateAction>
</Action>
<StartTrigger>
<ConditionGroup>
<Condition name="AfterAdversaryAccelerates" delay="0" conditionEdge="rising">
<ByValueCondition>
<StoryboardElementStateCondition storyboardElementType="action" storyboardElementRef="AdversaryAccelerates" state="completeState"/>
</ByValueCondition>
</Condition>
</ConditionGroup>
</StartTrigger>
</Event>
</Maneuver>
</ManeuverGroup>
<StartTrigger>
<ConditionGroup>
<Condition name="OverallStartCondition" delay="0" conditionEdge="rising">
<ByEntityCondition>
<TriggeringEntities triggeringEntitiesRule="any">
<EntityRef entityRef="hero"/>
</TriggeringEntities>
<EntityCondition>
<TraveledDistanceCondition value="1.0"/>
</EntityCondition>
</ByEntityCondition>
</Condition>
<Condition name="StartTime" delay="0" conditionEdge="rising">
<ByValueCondition>
<SimulationTimeCondition value="0" rule="equalTo"/>
</ByValueCondition>
</Condition>
</ConditionGroup>
</StartTrigger>
<StopTrigger>
<ConditionGroup>
<Condition name="EndCondition" delay="0" conditionEdge="rising">
<ByEntityCondition>
<TriggeringEntities triggeringEntitiesRule="any">
<EntityRef entityRef="hero"/>
</TriggeringEntities>
<EntityCondition>
<TraveledDistanceCondition value="200.0"/>
</EntityCondition>
</ByEntityCondition>
</Condition>
</ConditionGroup>
</StopTrigger>
</Act>
</Story>
<StopTrigger>
<ConditionGroup>
<Condition name="criteria_RunningStopTest" delay="0" conditionEdge="rising">
<ByValueCondition>
<ParameterCondition parameterRef="" value="" rule="lessThan"/>
</ByValueCondition>
</Condition>
<Condition name="criteria_RunningRedLightTest" delay="0" conditionEdge="rising">
<ByValueCondition>
<ParameterCondition parameterRef="" value="" rule="lessThan"/>
</ByValueCondition>
</Condition>
<Condition name="criteria_WrongLaneTest" delay="0" conditionEdge="rising">
<ByValueCondition>
<ParameterCondition parameterRef="" value="" rule="lessThan"/>
</ByValueCondition>
</Condition>
<Condition name="criteria_OnSidewalkTest" delay="0" conditionEdge="rising">
<ByValueCondition>
<ParameterCondition parameterRef="" value="" rule="lessThan"/>
</ByValueCondition>
</Condition>
<Condition name="criteria_KeepLaneTest" delay="0" conditionEdge="rising">
<ByValueCondition>
<ParameterCondition parameterRef="" value="" rule="lessThan"/>
</ByValueCondition>
</Condition>
<Condition name="criteria_CollisionTest" delay="0" conditionEdge="rising">
<ByValueCondition>
<ParameterCondition parameterRef="" value="" rule="lessThan"/>
</ByValueCondition>
</Condition>
<Condition name="criteria_DrivenDistanceTest" delay="0" conditionEdge="rising">
<ByValueCondition>
<ParameterCondition parameterRef="distance_success" value="100" rule="lessThan"/>
</ByValueCondition>
</Condition>
</ConditionGroup>
</StopTrigger>
</Storyboard>
</OpenSCENARIO>
``` | Here is the result:
```
<?xml version="1.0" ?>
<OpenSCENARIO>
<FileHeader revMajor="1" revMinor="0" date="2020-03-24T12:00:00" description="CARLA:LaneChangeSimple" author=""/>
<ParameterDeclarations/>
<CatalogLocations/>
<RoadNetwork>
<LogicFile filepath="Town04"/>
<SceneGraphFile filepath=""/>
</RoadNetwork>
<Entities>
<ScenarioObject name="hero">
<Vehicle name="vehicle.tesla.model3" vehicleCategory="car">
<ParameterDeclarations/>
<Performance maxSpeed="69.444" maxAcceleration="200" maxDeceleration="10.0"/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2.1" length="4.5" height="1.8"/>
</BoundingBox>
<Axles>
<FrontAxle maxSteering="0.5" wheelDiameter="0.6" trackWidth="1.8" positionX="3.1" positionZ="0.3"/>
<RearAxle maxSteering="0.0" wheelDiameter="0.6" trackWidth="1.8" positionX="0.0" positionZ="0.3"/>
</Axles>
<Properties>
<Property name="type" value="ego_vehicle"/>
</Properties>
</Vehicle>
</ScenarioObject>
<ScenarioObject name="adversary">
<Vehicle name="vehicle.lincoln.mkz_2017" vehicleCategory="car">
<ParameterDeclarations/>
<Performance maxSpeed="69.444" maxAcceleration="200" maxDeceleration="10.0"/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2.1" length="4.5" height="1.8"/>
</BoundingBox>
<Axles>
<FrontAxle maxSteering="0.5" wheelDiameter="0.6" trackWidth="1.8" positionX="3.1" positionZ="0.3"/>
<RearAxle maxSteering="0.0" wheelDiameter="0.6" trackWidth="1.8" positionX="0.0" positionZ="0.3"/>
</Axles>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Vehicle>
</ScenarioObject>
<ScenarioObject name="standing">
<Vehicle name="vehicle.volkswagen.t2" vehicleCategory="car">
<ParameterDeclarations/>
<Performance maxSpeed="69.444" maxAcceleration="200" maxDeceleration="10.0"/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2.1" length="4.5" height="1.8"/>
</BoundingBox>
<Axles>
<FrontAxle maxSteering="0.5" wheelDiameter="0.6" trackWidth="1.8" positionX="3.1" positionZ="0.3"/>
<RearAxle maxSteering="0.0" wheelDiameter="0.6" 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_12086">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_close_to_standing_12087">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_w_transform_12088">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_close_to_adversary_12089">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_close_to_standing_12090">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
</Entities>
<Storyboard>
<Init>
<Actions>
<GlobalAction>
<EnvironmentAction>
<Environment name="Environment1">
<TimeOfDay animation="false" dateTime="2019-06-25T12:00:00"/>
<Weather cloudState="free">
<Sun intensity="0.85" azimuth="0" elevation="1.31"/>
<Fog visualRange="100000.0"/>
<Precipitation precipitationType="dry" intensity="0.0"/>
</Weather>
<RoadCondition frictionScaleFactor="1.0"/>
</Environment>
</EnvironmentAction>
</GlobalAction>
<Private entityRef="hero">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-9.4" y="-152.8" z="0.5" h="1.57079632679"/>
</Position>
</TeleportAction>
</PrivateAction>
<PrivateAction>
<ControllerAction>
<AssignControllerAction>
<Controller name="HeroAgent">
<Properties>
<Property name="module" value="external_control"/>
</Properties>
</Controller>
</AssignControllerAction>
<OverrideControllerValueAction>
<Throttle value="0" active="false"/>
<Brake value="0" active="false"/>
<Clutch value="0" active="false"/>
<ParkingBrake value="0" active="false"/>
<SteeringWheel value="0" active="false"/>
<Gear number="0" active="false"/>
</OverrideControllerValueAction>
</ControllerAction>
</PrivateAction>
</Private>
<Private entityRef="adversary">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-9.4" y="-71.0" z="0.5" h="1.57079632679"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="standing">
<PrivateAction>
<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_12086">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-18.3037166595459" y="-61.89522171020508" z="0.03388088196516037"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_close_to_standing_12087">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-1.2749953269958496" y="19.593826293945312" z="0.003141555702313781"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_w_transform_12088">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="1.419687271118164" y="-73.14547729492188" z="0.5"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_close_to_adversary_12089">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-15.588842391967773" y="-73.23619842529297" z="0.033849332481622696"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_close_to_standing_12090">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-11.028066635131836" y="47.19609832763672" z="0.0031387328635901213"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
</Actions>
</Init>
<Story name="MyStory">
<Act name="Behavior">
<ManeuverGroup maximumExecutionCount="1" name="ManeuverSequence">
<Actors selectTriggeringEntities="false">
<EntityRef entityRef="adversary"/>
</Actors>
<Maneuver name="LaneChangeSimpleManeuver">
<Event name="AdversaryAccelerates" priority="overwrite">
<Action name="AdversaryAccelerates">
<PrivateAction>
<LongitudinalAction>
<SpeedAction>
<SpeedActionDynamics dynamicsShape="step" value="50" dynamicsDimension="distance"/>
<SpeedActionTarget>
<AbsoluteTargetSpeed value="5.0"/>
</SpeedActionTarget>
</SpeedAction>
</LongitudinalAction>
</PrivateAction>
</Action>
<StartTrigger>
<ConditionGroup>
<Condition name="StartCondition" delay="0" conditionEdge="rising">
<ByEntityCondition>
<TriggeringEntities triggeringEntitiesRule="any">
<EntityRef entityRef="hero"/>
</TriggeringEntities>
<EntityCondition>
<RelativeDistanceCondition entityRef="adversary" relativeDistanceType="cartesianDistance" value="40.0" freespace="false" rule="lessThan"/>
</EntityCondition>
</ByEntityCondition>
</Condition>
</ConditionGroup>
</StartTrigger>
</Event>
<Event name="AdversaryChangesLane" priority="overwrite">
<Action name="AdversaryChangesLane">
<PrivateAction>
<LateralAction>
<LaneChangeAction>
<LaneChangeActionDynamics dynamicsShape="linear" value="25" dynamicsDimension="distance"/>
<LaneChangeTarget>
<RelativeTargetLane entityRef="adversary" value="-1"/>
</LaneChangeTarget>
</LaneChangeAction>
</LateralAction>
</PrivateAction>
</Action>
<StartTrigger>
<ConditionGroup>
<Condition name="AfterAdversaryAccelerates" delay="0" conditionEdge="rising">
<ByValueCondition>
<StoryboardElementStateCondition storyboardElementType="action" storyboardElementRef="AdversaryAccelerates" state="completeState"/>
</ByValueCondition>
</Condition>
</ConditionGroup>
</StartTrigger>
</Event>
</Maneuver>
</ManeuverGroup>
<StartTrigger>
<ConditionGroup>
<Condition name="OverallStartCondition" delay="0" conditionEdge="rising">
<ByEntityCondition>
<TriggeringEntities triggeringEntitiesRule="any">
<EntityRef entityRef="hero"/>
</TriggeringEntities>
<EntityCondition>
<TraveledDistanceCondition value="1.0"/>
</EntityCondition>
</ByEntityCondition>
</Condition>
<Condition name="StartTime" delay="0" conditionEdge="rising">
<ByValueCondition>
<SimulationTimeCondition value="0" rule="equalTo"/>
</ByValueCondition>
</Condition>
</ConditionGroup>
</StartTrigger>
<StopTrigger>
<ConditionGroup>
<Condition name="EndCondition" delay="0" conditionEdge="rising">
<ByEntityCondition>
<TriggeringEntities triggeringEntitiesRule="any">
<EntityRef entityRef="hero"/>
</TriggeringEntities>
<EntityCondition>
<TraveledDistanceCondition value="200.0"/>
</EntityCondition>
</ByEntityCondition>
</Condition>
</ConditionGroup>
</StopTrigger>
</Act>
</Story>
<StopTrigger>
<ConditionGroup>
<Condition name="criteria_RunningStopTest" delay="0" conditionEdge="rising">
<ByValueCondition>
<ParameterCondition parameterRef="" value="" rule="lessThan"/>
</ByValueCondition>
</Condition>
<Condition name="criteria_RunningRedLightTest" delay="0" conditionEdge="rising">
<ByValueCondition>
<ParameterCondition parameterRef="" value="" rule="lessThan"/>
</ByValueCondition>
</Condition>
<Condition name="criteria_WrongLaneTest" delay="0" conditionEdge="rising">
<ByValueCondition>
<ParameterCondition parameterRef="" value="" rule="lessThan"/>
</ByValueCondition>
</Condition>
<Condition name="criteria_OnSidewalkTest" delay="0" conditionEdge="rising">
<ByValueCondition>
<ParameterCondition parameterRef="" value="" rule="lessThan"/>
</ByValueCondition>
</Condition>
<Condition name="criteria_KeepLaneTest" delay="0" conditionEdge="rising">
<ByValueCondition>
<ParameterCondition parameterRef="" value="" rule="lessThan"/>
</ByValueCondition>
</Condition>
<Condition name="criteria_CollisionTest" delay="0" conditionEdge="rising">
<ByValueCondition>
<ParameterCondition parameterRef="" value="" rule="lessThan"/>
</ByValueCondition>
</Condition>
<Condition name="criteria_DrivenDistanceTest" delay="0" conditionEdge="rising">
<ByValueCondition>
<ParameterCondition parameterRef="distance_success" value="100" rule="lessThan"/>
</ByValueCondition>
</Condition>
</ConditionGroup>
</StopTrigger>
</Storyboard>
</OpenSCENARIO>
``` |
i would like you to add pedestrian close to adversary?
```
<?xml version="1.0" ?>
<OpenSCENARIO>
<FileHeader revMajor="1" revMinor="0" date="2020-03-24T12:00:00" description="CARLA:LaneChangeSimple" author=""/>
<ParameterDeclarations/>
<CatalogLocations/>
<RoadNetwork>
<LogicFile filepath="Town04"/>
<SceneGraphFile filepath=""/>
</RoadNetwork>
<Entities>
<ScenarioObject name="hero">
<Vehicle name="vehicle.tesla.model3" vehicleCategory="car">
<ParameterDeclarations/>
<Performance maxSpeed="69.444" maxAcceleration="200" maxDeceleration="10.0"/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2.1" length="4.5" height="1.8"/>
</BoundingBox>
<Axles>
<FrontAxle maxSteering="0.5" wheelDiameter="0.6" trackWidth="1.8" positionX="3.1" positionZ="0.3"/>
<RearAxle maxSteering="0.0" wheelDiameter="0.6" trackWidth="1.8" positionX="0.0" positionZ="0.3"/>
</Axles>
<Properties>
<Property name="type" value="ego_vehicle"/>
</Properties>
</Vehicle>
</ScenarioObject>
<ScenarioObject name="adversary">
<Vehicle name="vehicle.lincoln.mkz_2017" vehicleCategory="car">
<ParameterDeclarations/>
<Performance maxSpeed="69.444" maxAcceleration="200" maxDeceleration="10.0"/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2.1" length="4.5" height="1.8"/>
</BoundingBox>
<Axles>
<FrontAxle maxSteering="0.5" wheelDiameter="0.6" trackWidth="1.8" positionX="3.1" positionZ="0.3"/>
<RearAxle maxSteering="0.0" wheelDiameter="0.6" trackWidth="1.8" positionX="0.0" positionZ="0.3"/>
</Axles>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Vehicle>
</ScenarioObject>
<ScenarioObject name="standing">
<Vehicle name="vehicle.volkswagen.t2" vehicleCategory="car">
<ParameterDeclarations/>
<Performance maxSpeed="69.444" maxAcceleration="200" maxDeceleration="10.0"/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2.1" length="4.5" height="1.8"/>
</BoundingBox>
<Axles>
<FrontAxle maxSteering="0.5" wheelDiameter="0.6" trackWidth="1.8" positionX="3.1" positionZ="0.3"/>
<RearAxle maxSteering="0.0" wheelDiameter="0.6" trackWidth="1.8" positionX="0.0" positionZ="0.3"/>
</Axles>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Vehicle>
</ScenarioObject>
<ScenarioObject name="pedestrian_close_to_hero_2735">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_close_to_adversary_2736">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_close_to_hero_2737">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_w_transform_2739">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_close_to_adversary_2740">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_close_to_hero_2741">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_close_to_standing_2742">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_close_to_standing_2743">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_close_to_adversary_2744">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
</Entities>
<Storyboard>
<Init>
<Actions>
<GlobalAction>
<EnvironmentAction>
<Environment name="Environment1">
<TimeOfDay animation="false" dateTime="2019-06-25T12:00:00"/>
<Weather cloudState="free">
<Sun intensity="0.85" azimuth="0" elevation="1.31"/>
<Fog visualRange="100000.0"/>
<Precipitation precipitationType="dry" intensity="0.0"/>
</Weather>
<RoadCondition frictionScaleFactor="1.0"/>
</Environment>
</EnvironmentAction>
</GlobalAction>
<Private entityRef="hero">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-9.4" y="-152.8" z="0.5" h="1.57079632679"/>
</Position>
</TeleportAction>
</PrivateAction>
<PrivateAction>
<ControllerAction>
<AssignControllerAction>
<Controller name="HeroAgent">
<Properties>
<Property name="module" value="external_control"/>
</Properties>
</Controller>
</AssignControllerAction>
<OverrideControllerValueAction>
<Throttle value="0" active="false"/>
<Brake value="0" active="false"/>
<Clutch value="0" active="false"/>
<ParkingBrake value="0" active="false"/>
<SteeringWheel value="0" active="false"/>
<Gear number="0" active="false"/>
</OverrideControllerValueAction>
</ControllerAction>
</PrivateAction>
</Private>
<Private entityRef="adversary">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-9.4" y="-71.0" z="0.5" h="1.57079632679"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="standing">
<PrivateAction>
<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_2735">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-12.301812171936035" y="-161.63401794433594" z="0.001423797570168972"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_close_to_adversary_2736">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-8.629046440124512" y="-76.62871551513672" z="0.03380969911813736"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_close_to_hero_2737">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-8.922466278076172" y="-143.63693237304688" z="0.001423797570168972"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_w_transform_2739">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-74.70135498046875" y="38.10286331176758" z="0.5"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_close_to_adversary_2740">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-2.123682975769043" y="-64.572021484375" z="0.03381362929940224"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_close_to_hero_2741">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-8.96695613861084" y="-144.6989288330078" z="0.001423797570168972"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_close_to_standing_2742">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-10.687914848327637" y="29.063190460205078" z="0.0030064773745834827"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_close_to_standing_2743">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-16.625202178955078" y="29.133331298828125" z="0.002993354806676507"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_close_to_adversary_2744">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-19.324275970458984" y="-80.44230651855469" z="0.03374580293893814"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
</Actions>
</Init>
<Story name="MyStory">
<Act name="Behavior">
<ManeuverGroup maximumExecutionCount="1" name="ManeuverSequence">
<Actors selectTriggeringEntities="false">
<EntityRef entityRef="adversary"/>
</Actors>
<Maneuver name="LaneChangeSimpleManeuver">
<Event name="AdversaryAccelerates" priority="overwrite">
<Action name="AdversaryAccelerates">
<PrivateAction>
<LongitudinalAction>
<SpeedAction>
<SpeedActionDynamics dynamicsShape="step" value="50" dynamicsDimension="distance"/>
<SpeedActionTarget>
<AbsoluteTargetSpeed value="5.0"/>
</SpeedActionTarget>
</SpeedAction>
</LongitudinalAction>
</PrivateAction>
</Action>
<StartTrigger>
<ConditionGroup>
<Condition name="StartCondition" delay="0" conditionEdge="rising">
<ByEntityCondition>
<TriggeringEntities triggeringEntitiesRule="any">
<EntityRef entityRef="hero"/>
</TriggeringEntities>
<EntityCondition>
<RelativeDistanceCondition entityRef="adversary" relativeDistanceType="cartesianDistance" value="40.0" freespace="false" rule="lessThan"/>
</EntityCondition>
</ByEntityCondition>
</Condition>
</ConditionGroup>
</StartTrigger>
</Event>
<Event name="AdversaryChangesLane" priority="overwrite">
<Action name="AdversaryChangesLane">
<PrivateAction>
<LateralAction>
<LaneChangeAction>
<LaneChangeActionDynamics dynamicsShape="linear" value="25" dynamicsDimension="distance"/>
<LaneChangeTarget>
<RelativeTargetLane entityRef="adversary" value="-1"/>
</LaneChangeTarget>
</LaneChangeAction>
</LateralAction>
</PrivateAction>
</Action>
<StartTrigger>
<ConditionGroup>
<Condition name="AfterAdversaryAccelerates" delay="0" conditionEdge="rising">
<ByValueCondition>
<StoryboardElementStateCondition storyboardElementType="action" storyboardElementRef="AdversaryAccelerates" state="completeState"/>
</ByValueCondition>
</Condition>
</ConditionGroup>
</StartTrigger>
</Event>
</Maneuver>
</ManeuverGroup>
<StartTrigger>
<ConditionGroup>
<Condition name="OverallStartCondition" delay="0" conditionEdge="rising">
<ByEntityCondition>
<TriggeringEntities triggeringEntitiesRule="any">
<EntityRef entityRef="hero"/>
</TriggeringEntities>
<EntityCondition>
<TraveledDistanceCondition value="1.0"/>
</EntityCondition>
</ByEntityCondition>
</Condition>
<Condition name="StartTime" delay="0" conditionEdge="rising">
<ByValueCondition>
<SimulationTimeCondition value="0" rule="equalTo"/>
</ByValueCondition>
</Condition>
</ConditionGroup>
</StartTrigger>
<StopTrigger>
<ConditionGroup>
<Condition name="EndCondition" delay="0" conditionEdge="rising">
<ByEntityCondition>
<TriggeringEntities triggeringEntitiesRule="any">
<EntityRef entityRef="hero"/>
</TriggeringEntities>
<EntityCondition>
<TraveledDistanceCondition value="200.0"/>
</EntityCondition>
</ByEntityCondition>
</Condition>
</ConditionGroup>
</StopTrigger>
</Act>
</Story>
<StopTrigger>
<ConditionGroup>
<Condition name="criteria_RunningStopTest" delay="0" conditionEdge="rising">
<ByValueCondition>
<ParameterCondition parameterRef="" value="" rule="lessThan"/>
</ByValueCondition>
</Condition>
<Condition name="criteria_RunningRedLightTest" delay="0" conditionEdge="rising">
<ByValueCondition>
<ParameterCondition parameterRef="" value="" rule="lessThan"/>
</ByValueCondition>
</Condition>
<Condition name="criteria_WrongLaneTest" delay="0" conditionEdge="rising">
<ByValueCondition>
<ParameterCondition parameterRef="" value="" rule="lessThan"/>
</ByValueCondition>
</Condition>
<Condition name="criteria_OnSidewalkTest" delay="0" conditionEdge="rising">
<ByValueCondition>
<ParameterCondition parameterRef="" value="" rule="lessThan"/>
</ByValueCondition>
</Condition>
<Condition name="criteria_KeepLaneTest" delay="0" conditionEdge="rising">
<ByValueCondition>
<ParameterCondition parameterRef="" value="" rule="lessThan"/>
</ByValueCondition>
</Condition>
<Condition name="criteria_CollisionTest" delay="0" conditionEdge="rising">
<ByValueCondition>
<ParameterCondition parameterRef="" value="" rule="lessThan"/>
</ByValueCondition>
</Condition>
<Condition name="criteria_DrivenDistanceTest" delay="0" conditionEdge="rising">
<ByValueCondition>
<ParameterCondition parameterRef="distance_success" value="100" rule="lessThan"/>
</ByValueCondition>
</Condition>
</ConditionGroup>
</StopTrigger>
</Storyboard>
</OpenSCENARIO>
``` | Here is the result:
```
<?xml version="1.0" ?>
<OpenSCENARIO>
<FileHeader revMajor="1" revMinor="0" date="2020-03-24T12:00:00" description="CARLA:LaneChangeSimple" author=""/>
<ParameterDeclarations/>
<CatalogLocations/>
<RoadNetwork>
<LogicFile filepath="Town04"/>
<SceneGraphFile filepath=""/>
</RoadNetwork>
<Entities>
<ScenarioObject name="hero">
<Vehicle name="vehicle.tesla.model3" vehicleCategory="car">
<ParameterDeclarations/>
<Performance maxSpeed="69.444" maxAcceleration="200" maxDeceleration="10.0"/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2.1" length="4.5" height="1.8"/>
</BoundingBox>
<Axles>
<FrontAxle maxSteering="0.5" wheelDiameter="0.6" trackWidth="1.8" positionX="3.1" positionZ="0.3"/>
<RearAxle maxSteering="0.0" wheelDiameter="0.6" trackWidth="1.8" positionX="0.0" positionZ="0.3"/>
</Axles>
<Properties>
<Property name="type" value="ego_vehicle"/>
</Properties>
</Vehicle>
</ScenarioObject>
<ScenarioObject name="adversary">
<Vehicle name="vehicle.lincoln.mkz_2017" vehicleCategory="car">
<ParameterDeclarations/>
<Performance maxSpeed="69.444" maxAcceleration="200" maxDeceleration="10.0"/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2.1" length="4.5" height="1.8"/>
</BoundingBox>
<Axles>
<FrontAxle maxSteering="0.5" wheelDiameter="0.6" trackWidth="1.8" positionX="3.1" positionZ="0.3"/>
<RearAxle maxSteering="0.0" wheelDiameter="0.6" trackWidth="1.8" positionX="0.0" positionZ="0.3"/>
</Axles>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Vehicle>
</ScenarioObject>
<ScenarioObject name="standing">
<Vehicle name="vehicle.volkswagen.t2" vehicleCategory="car">
<ParameterDeclarations/>
<Performance maxSpeed="69.444" maxAcceleration="200" maxDeceleration="10.0"/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2.1" length="4.5" height="1.8"/>
</BoundingBox>
<Axles>
<FrontAxle maxSteering="0.5" wheelDiameter="0.6" trackWidth="1.8" positionX="3.1" positionZ="0.3"/>
<RearAxle maxSteering="0.0" wheelDiameter="0.6" 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_2735">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_close_to_adversary_2736">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_close_to_hero_2737">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_w_transform_2739">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_close_to_adversary_2740">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_close_to_hero_2741">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_close_to_standing_2742">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_close_to_standing_2743">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_close_to_adversary_2744">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_close_to_adversary_2745">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
</Entities>
<Storyboard>
<Init>
<Actions>
<GlobalAction>
<EnvironmentAction>
<Environment name="Environment1">
<TimeOfDay animation="false" dateTime="2019-06-25T12:00:00"/>
<Weather cloudState="free">
<Sun intensity="0.85" azimuth="0" elevation="1.31"/>
<Fog visualRange="100000.0"/>
<Precipitation precipitationType="dry" intensity="0.0"/>
</Weather>
<RoadCondition frictionScaleFactor="1.0"/>
</Environment>
</EnvironmentAction>
</GlobalAction>
<Private entityRef="hero">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-9.4" y="-152.8" z="0.5" h="1.57079632679"/>
</Position>
</TeleportAction>
</PrivateAction>
<PrivateAction>
<ControllerAction>
<AssignControllerAction>
<Controller name="HeroAgent">
<Properties>
<Property name="module" value="external_control"/>
</Properties>
</Controller>
</AssignControllerAction>
<OverrideControllerValueAction>
<Throttle value="0" active="false"/>
<Brake value="0" active="false"/>
<Clutch value="0" active="false"/>
<ParkingBrake value="0" active="false"/>
<SteeringWheel value="0" active="false"/>
<Gear number="0" active="false"/>
</OverrideControllerValueAction>
</ControllerAction>
</PrivateAction>
</Private>
<Private entityRef="adversary">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-9.4" y="-71.0" z="0.5" h="1.57079632679"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="standing">
<PrivateAction>
<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_2735">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-12.301812171936035" y="-161.63401794433594" z="0.001423797570168972"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_close_to_adversary_2736">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-8.629046440124512" y="-76.62871551513672" z="0.03380969911813736"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_close_to_hero_2737">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-8.922466278076172" y="-143.63693237304688" z="0.001423797570168972"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_w_transform_2739">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-74.70135498046875" y="38.10286331176758" z="0.5"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_close_to_adversary_2740">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-2.123682975769043" y="-64.572021484375" z="0.03381362929940224"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_close_to_hero_2741">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-8.96695613861084" y="-144.6989288330078" z="0.001423797570168972"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_close_to_standing_2742">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-10.687914848327637" y="29.063190460205078" z="0.0030064773745834827"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_close_to_standing_2743">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-16.625202178955078" y="29.133331298828125" z="0.002993354806676507"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_close_to_adversary_2744">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-19.324275970458984" y="-80.44230651855469" z="0.03374580293893814"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_close_to_adversary_2745">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-3.1258673667907715" y="-66.4247817993164" z="0.03375537693500519"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
</Actions>
</Init>
<Story name="MyStory">
<Act name="Behavior">
<ManeuverGroup maximumExecutionCount="1" name="ManeuverSequence">
<Actors selectTriggeringEntities="false">
<EntityRef entityRef="adversary"/>
</Actors>
<Maneuver name="LaneChangeSimpleManeuver">
<Event name="AdversaryAccelerates" priority="overwrite">
<Action name="AdversaryAccelerates">
<PrivateAction>
<LongitudinalAction>
<SpeedAction>
<SpeedActionDynamics dynamicsShape="step" value="50" dynamicsDimension="distance"/>
<SpeedActionTarget>
<AbsoluteTargetSpeed value="5.0"/>
</SpeedActionTarget>
</SpeedAction>
</LongitudinalAction>
</PrivateAction>
</Action>
<StartTrigger>
<ConditionGroup>
<Condition name="StartCondition" delay="0" conditionEdge="rising">
<ByEntityCondition>
<TriggeringEntities triggeringEntitiesRule="any">
<EntityRef entityRef="hero"/>
</TriggeringEntities>
<EntityCondition>
<RelativeDistanceCondition entityRef="adversary" relativeDistanceType="cartesianDistance" value="40.0" freespace="false" rule="lessThan"/>
</EntityCondition>
</ByEntityCondition>
</Condition>
</ConditionGroup>
</StartTrigger>
</Event>
<Event name="AdversaryChangesLane" priority="overwrite">
<Action name="AdversaryChangesLane">
<PrivateAction>
<LateralAction>
<LaneChangeAction>
<LaneChangeActionDynamics dynamicsShape="linear" value="25" dynamicsDimension="distance"/>
<LaneChangeTarget>
<RelativeTargetLane entityRef="adversary" value="-1"/>
</LaneChangeTarget>
</LaneChangeAction>
</LateralAction>
</PrivateAction>
</Action>
<StartTrigger>
<ConditionGroup>
<Condition name="AfterAdversaryAccelerates" delay="0" conditionEdge="rising">
<ByValueCondition>
<StoryboardElementStateCondition storyboardElementType="action" storyboardElementRef="AdversaryAccelerates" state="completeState"/>
</ByValueCondition>
</Condition>
</ConditionGroup>
</StartTrigger>
</Event>
</Maneuver>
</ManeuverGroup>
<StartTrigger>
<ConditionGroup>
<Condition name="OverallStartCondition" delay="0" conditionEdge="rising">
<ByEntityCondition>
<TriggeringEntities triggeringEntitiesRule="any">
<EntityRef entityRef="hero"/>
</TriggeringEntities>
<EntityCondition>
<TraveledDistanceCondition value="1.0"/>
</EntityCondition>
</ByEntityCondition>
</Condition>
<Condition name="StartTime" delay="0" conditionEdge="rising">
<ByValueCondition>
<SimulationTimeCondition value="0" rule="equalTo"/>
</ByValueCondition>
</Condition>
</ConditionGroup>
</StartTrigger>
<StopTrigger>
<ConditionGroup>
<Condition name="EndCondition" delay="0" conditionEdge="rising">
<ByEntityCondition>
<TriggeringEntities triggeringEntitiesRule="any">
<EntityRef entityRef="hero"/>
</TriggeringEntities>
<EntityCondition>
<TraveledDistanceCondition value="200.0"/>
</EntityCondition>
</ByEntityCondition>
</Condition>
</ConditionGroup>
</StopTrigger>
</Act>
</Story>
<StopTrigger>
<ConditionGroup>
<Condition name="criteria_RunningStopTest" delay="0" conditionEdge="rising">
<ByValueCondition>
<ParameterCondition parameterRef="" value="" rule="lessThan"/>
</ByValueCondition>
</Condition>
<Condition name="criteria_RunningRedLightTest" delay="0" conditionEdge="rising">
<ByValueCondition>
<ParameterCondition parameterRef="" value="" rule="lessThan"/>
</ByValueCondition>
</Condition>
<Condition name="criteria_WrongLaneTest" delay="0" conditionEdge="rising">
<ByValueCondition>
<ParameterCondition parameterRef="" value="" rule="lessThan"/>
</ByValueCondition>
</Condition>
<Condition name="criteria_OnSidewalkTest" delay="0" conditionEdge="rising">
<ByValueCondition>
<ParameterCondition parameterRef="" value="" rule="lessThan"/>
</ByValueCondition>
</Condition>
<Condition name="criteria_KeepLaneTest" delay="0" conditionEdge="rising">
<ByValueCondition>
<ParameterCondition parameterRef="" value="" rule="lessThan"/>
</ByValueCondition>
</Condition>
<Condition name="criteria_CollisionTest" delay="0" conditionEdge="rising">
<ByValueCondition>
<ParameterCondition parameterRef="" value="" rule="lessThan"/>
</ByValueCondition>
</Condition>
<Condition name="criteria_DrivenDistanceTest" delay="0" conditionEdge="rising">
<ByValueCondition>
<ParameterCondition parameterRef="distance_success" value="100" rule="lessThan"/>
</ByValueCondition>
</Condition>
</ConditionGroup>
</StopTrigger>
</Storyboard>
</OpenSCENARIO>
``` |
please add pedestrian close to adversary?
```
<?xml version="1.0" ?>
<OpenSCENARIO>
<FileHeader revMajor="1" revMinor="0" date="2020-03-24T12:00:00" description="CARLA:LaneChangeSimple" author=""/>
<ParameterDeclarations/>
<CatalogLocations/>
<RoadNetwork>
<LogicFile filepath="Town04"/>
<SceneGraphFile filepath=""/>
</RoadNetwork>
<Entities>
<ScenarioObject name="hero">
<Vehicle name="vehicle.tesla.model3" vehicleCategory="car">
<ParameterDeclarations/>
<Performance maxSpeed="69.444" maxAcceleration="200" maxDeceleration="10.0"/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2.1" length="4.5" height="1.8"/>
</BoundingBox>
<Axles>
<FrontAxle maxSteering="0.5" wheelDiameter="0.6" trackWidth="1.8" positionX="3.1" positionZ="0.3"/>
<RearAxle maxSteering="0.0" wheelDiameter="0.6" trackWidth="1.8" positionX="0.0" positionZ="0.3"/>
</Axles>
<Properties>
<Property name="type" value="ego_vehicle"/>
</Properties>
</Vehicle>
</ScenarioObject>
<ScenarioObject name="adversary">
<Vehicle name="vehicle.lincoln.mkz_2017" vehicleCategory="car">
<ParameterDeclarations/>
<Performance maxSpeed="69.444" maxAcceleration="200" maxDeceleration="10.0"/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2.1" length="4.5" height="1.8"/>
</BoundingBox>
<Axles>
<FrontAxle maxSteering="0.5" wheelDiameter="0.6" trackWidth="1.8" positionX="3.1" positionZ="0.3"/>
<RearAxle maxSteering="0.0" wheelDiameter="0.6" trackWidth="1.8" positionX="0.0" positionZ="0.3"/>
</Axles>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Vehicle>
</ScenarioObject>
<ScenarioObject name="standing">
<Vehicle name="vehicle.volkswagen.t2" vehicleCategory="car">
<ParameterDeclarations/>
<Performance maxSpeed="69.444" maxAcceleration="200" maxDeceleration="10.0"/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2.1" length="4.5" height="1.8"/>
</BoundingBox>
<Axles>
<FrontAxle maxSteering="0.5" wheelDiameter="0.6" trackWidth="1.8" positionX="3.1" positionZ="0.3"/>
<RearAxle maxSteering="0.0" wheelDiameter="0.6" trackWidth="1.8" positionX="0.0" positionZ="0.3"/>
</Axles>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Vehicle>
</ScenarioObject>
<ScenarioObject name="pedestrian_close_to_standing_26098">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_close_to_hero_26099">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_w_transform_26100">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_w_transform_26101">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_close_to_hero_26102">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_w_transform_26103">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_close_to_standing_26104">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_w_transform_26105">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_w_transform_26106">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_close_to_hero_26107">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_close_to_adversary_26108">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_w_transform_26109">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_close_to_standing_26110">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_w_transform_26111">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_w_transform_26112">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_close_to_adversary_26113">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_w_transform_26114">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_w_transform_26115">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_close_to_standing_26116">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_close_to_hero_26117">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_close_to_adversary_26118">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_close_to_standing_26120">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_w_transform_26122">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_close_to_adversary_26123">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_close_to_hero_26124">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_close_to_hero_26125">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
</Entities>
<Storyboard>
<Init>
<Actions>
<GlobalAction>
<EnvironmentAction>
<Environment name="Environment1">
<TimeOfDay animation="false" dateTime="2019-06-25T12:00:00"/>
<Weather cloudState="free">
<Sun intensity="0.85" azimuth="0" elevation="1.31"/>
<Fog visualRange="100000.0"/>
<Precipitation precipitationType="dry" intensity="0.0"/>
</Weather>
<RoadCondition frictionScaleFactor="1.0"/>
</Environment>
</EnvironmentAction>
</GlobalAction>
<Private entityRef="hero">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-9.4" y="-152.8" z="0.5" h="1.57079632679"/>
</Position>
</TeleportAction>
</PrivateAction>
<PrivateAction>
<ControllerAction>
<AssignControllerAction>
<Controller name="HeroAgent">
<Properties>
<Property name="module" value="external_control"/>
</Properties>
</Controller>
</AssignControllerAction>
<OverrideControllerValueAction>
<Throttle value="0" active="false"/>
<Brake value="0" active="false"/>
<Clutch value="0" active="false"/>
<ParkingBrake value="0" active="false"/>
<SteeringWheel value="0" active="false"/>
<Gear number="0" active="false"/>
</OverrideControllerValueAction>
</ControllerAction>
</PrivateAction>
</Private>
<Private entityRef="adversary">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-9.4" y="-71.0" z="0.5" h="1.57079632679"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="standing">
<PrivateAction>
<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_26098">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-15.997359275817871" y="37.917884826660156" z="0.0031386183109134436"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_close_to_hero_26099">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-2.7511258125305176" y="-157.12066650390625" z="0.0019445419311523438"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_w_transform_26100">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="84.62843322753906" y="93.76416015625" z="0.5"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_w_transform_26101">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="70.83850860595703" y="-18.427797317504883" z="0.5"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_close_to_hero_26102">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-5.690427303314209" y="-153.8788604736328" z="0.0019445419311523438"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_w_transform_26103">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="68.95281219482422" y="12.789289474487305" z="0.5"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_close_to_standing_26104">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-16.836711883544922" y="34.48991394042969" z="0.0031011581886559725"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_w_transform_26105">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-54.11973571777344" y="91.25381469726562" z="0.5"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_w_transform_26106">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="43.02742004394531" y="-30.736852645874023" z="0.5"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_close_to_hero_26107">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-11.305667877197266" y="-159.93275451660156" z="0.0019445419311523438"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_close_to_adversary_26108">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-19.30272674560547" y="-66.13800048828125" z="0.03386249393224716"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_w_transform_26109">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-1.7997583150863647" y="-98.63520050048828" z="0.5"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_close_to_standing_26110">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-4.701272964477539" y="30.354408264160156" z="0.003104591276496649"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_w_transform_26111">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="46.52397155761719" y="-42.63785934448242" z="0.5"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_w_transform_26112">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-74.44889831542969" y="21.64636993408203" z="0.5"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_close_to_adversary_26113">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="0.082360178232193" y="-63.50381851196289" z="0.03385055437684059"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_w_transform_26114">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="3.515336751937866" y="-88.86021423339844" z="0.5"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_w_transform_26115">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="28.156911849975586" y="-97.57743072509766" z="0.5"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_close_to_standing_26116">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-10.525482177734375" y="25.35377311706543" z="0.0030963898170739412"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_close_to_hero_26117">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-14.30272388458252" y="-157.6666717529297" z="0.0019445419311523438"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_close_to_adversary_26118">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-14.930534362792969" y="-67.26659393310547" z="0.03385379537940025"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_close_to_standing_26120">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-8.100382804870605" y="16.68031120300293" z="0.0031132507137954235"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_w_transform_26122">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="19.316696166992188" y="53.10154342651367" z="0.5"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_close_to_adversary_26123">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-1.844759225845337" y="-68.99891662597656" z="0.03386528044939041"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_close_to_hero_26124">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-5.088099479675293" y="-151.24440002441406" z="0.0019445419311523438"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_close_to_hero_26125">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-3.1107003688812256" y="-154.3217010498047" 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">
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<Performance maxSpeed="69.444" maxAcceleration="200" maxDeceleration="10.0"/>
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<Axles>
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</Axles>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Vehicle>
</ScenarioObject>
<ScenarioObject name="standing">
<Vehicle name="vehicle.volkswagen.t2" vehicleCategory="car">
<ParameterDeclarations/>
<Performance maxSpeed="69.444" maxAcceleration="200" maxDeceleration="10.0"/>
<BoundingBox>
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<Properties>
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</Properties>
</Vehicle>
</ScenarioObject>
<ScenarioObject name="pedestrian_close_to_standing_26098">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
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<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
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</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_close_to_hero_26099">
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</Pedestrian>
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<ScenarioObject name="pedestrian_w_transform_26100">
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<Storyboard>
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<StartTrigger>
<ConditionGroup>
<Condition name="StartCondition" delay="0" conditionEdge="rising">
<ByEntityCondition>
<TriggeringEntities triggeringEntitiesRule="any">
<EntityRef entityRef="hero"/>
</TriggeringEntities>
<EntityCondition>
<RelativeDistanceCondition entityRef="adversary" relativeDistanceType="cartesianDistance" value="40.0" freespace="false" rule="lessThan"/>
</EntityCondition>
</ByEntityCondition>
</Condition>
</ConditionGroup>
</StartTrigger>
</Event>
<Event name="AdversaryChangesLane" priority="overwrite">
<Action name="AdversaryChangesLane">
<PrivateAction>
<LateralAction>
<LaneChangeAction>
<LaneChangeActionDynamics dynamicsShape="linear" value="25" dynamicsDimension="distance"/>
<LaneChangeTarget>
<RelativeTargetLane entityRef="adversary" value="-1"/>
</LaneChangeTarget>
</LaneChangeAction>
</LateralAction>
</PrivateAction>
</Action>
<StartTrigger>
<ConditionGroup>
<Condition name="AfterAdversaryAccelerates" delay="0" conditionEdge="rising">
<ByValueCondition>
<StoryboardElementStateCondition storyboardElementType="action" storyboardElementRef="AdversaryAccelerates" state="completeState"/>
</ByValueCondition>
</Condition>
</ConditionGroup>
</StartTrigger>
</Event>
</Maneuver>
</ManeuverGroup>
<StartTrigger>
<ConditionGroup>
<Condition name="OverallStartCondition" delay="0" conditionEdge="rising">
<ByEntityCondition>
<TriggeringEntities triggeringEntitiesRule="any">
<EntityRef entityRef="hero"/>
</TriggeringEntities>
<EntityCondition>
<TraveledDistanceCondition value="1.0"/>
</EntityCondition>
</ByEntityCondition>
</Condition>
<Condition name="StartTime" delay="0" conditionEdge="rising">
<ByValueCondition>
<SimulationTimeCondition value="0" rule="equalTo"/>
</ByValueCondition>
</Condition>
</ConditionGroup>
</StartTrigger>
<StopTrigger>
<ConditionGroup>
<Condition name="EndCondition" delay="0" conditionEdge="rising">
<ByEntityCondition>
<TriggeringEntities triggeringEntitiesRule="any">
<EntityRef entityRef="hero"/>
</TriggeringEntities>
<EntityCondition>
<TraveledDistanceCondition value="200.0"/>
</EntityCondition>
</ByEntityCondition>
</Condition>
</ConditionGroup>
</StopTrigger>
</Act>
</Story>
<StopTrigger>
<ConditionGroup>
<Condition name="criteria_RunningStopTest" delay="0" conditionEdge="rising">
<ByValueCondition>
<ParameterCondition parameterRef="" value="" rule="lessThan"/>
</ByValueCondition>
</Condition>
<Condition name="criteria_RunningRedLightTest" delay="0" conditionEdge="rising">
<ByValueCondition>
<ParameterCondition parameterRef="" value="" rule="lessThan"/>
</ByValueCondition>
</Condition>
<Condition name="criteria_WrongLaneTest" delay="0" conditionEdge="rising">
<ByValueCondition>
<ParameterCondition parameterRef="" value="" rule="lessThan"/>
</ByValueCondition>
</Condition>
<Condition name="criteria_OnSidewalkTest" delay="0" conditionEdge="rising">
<ByValueCondition>
<ParameterCondition parameterRef="" value="" rule="lessThan"/>
</ByValueCondition>
</Condition>
<Condition name="criteria_KeepLaneTest" delay="0" conditionEdge="rising">
<ByValueCondition>
<ParameterCondition parameterRef="" value="" rule="lessThan"/>
</ByValueCondition>
</Condition>
<Condition name="criteria_CollisionTest" delay="0" conditionEdge="rising">
<ByValueCondition>
<ParameterCondition parameterRef="" value="" rule="lessThan"/>
</ByValueCondition>
</Condition>
<Condition name="criteria_DrivenDistanceTest" delay="0" conditionEdge="rising">
<ByValueCondition>
<ParameterCondition parameterRef="distance_success" value="100" rule="lessThan"/>
</ByValueCondition>
</Condition>
</ConditionGroup>
</StopTrigger>
</Storyboard>
</OpenSCENARIO>
``` |
please remove pedestrian actor named pedestrian_w_transform_23127?
```
<?xml version="1.0" ?>
<OpenSCENARIO>
<FileHeader revMajor="1" revMinor="0" date="2020-03-24T12:00:00" description="CARLA:LaneChangeSimple" author=""/>
<ParameterDeclarations/>
<CatalogLocations/>
<RoadNetwork>
<LogicFile filepath="Town04"/>
<SceneGraphFile filepath=""/>
</RoadNetwork>
<Entities>
<ScenarioObject name="hero">
<Vehicle name="vehicle.tesla.model3" vehicleCategory="car">
<ParameterDeclarations/>
<Performance maxSpeed="69.444" maxAcceleration="200" maxDeceleration="10.0"/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2.1" length="4.5" height="1.8"/>
</BoundingBox>
<Axles>
<FrontAxle maxSteering="0.5" wheelDiameter="0.6" trackWidth="1.8" positionX="3.1" positionZ="0.3"/>
<RearAxle maxSteering="0.0" wheelDiameter="0.6" trackWidth="1.8" positionX="0.0" positionZ="0.3"/>
</Axles>
<Properties>
<Property name="type" value="ego_vehicle"/>
</Properties>
</Vehicle>
</ScenarioObject>
<ScenarioObject name="adversary">
<Vehicle name="vehicle.lincoln.mkz_2017" vehicleCategory="car">
<ParameterDeclarations/>
<Performance maxSpeed="69.444" maxAcceleration="200" maxDeceleration="10.0"/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2.1" length="4.5" height="1.8"/>
</BoundingBox>
<Axles>
<FrontAxle maxSteering="0.5" wheelDiameter="0.6" trackWidth="1.8" positionX="3.1" positionZ="0.3"/>
<RearAxle maxSteering="0.0" wheelDiameter="0.6" trackWidth="1.8" positionX="0.0" positionZ="0.3"/>
</Axles>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Vehicle>
</ScenarioObject>
<ScenarioObject name="standing">
<Vehicle name="vehicle.volkswagen.t2" vehicleCategory="car">
<ParameterDeclarations/>
<Performance maxSpeed="69.444" maxAcceleration="200" maxDeceleration="10.0"/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2.1" length="4.5" height="1.8"/>
</BoundingBox>
<Axles>
<FrontAxle maxSteering="0.5" wheelDiameter="0.6" trackWidth="1.8" positionX="3.1" positionZ="0.3"/>
<RearAxle maxSteering="0.0" wheelDiameter="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_23122">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_w_transform_23123">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_w_transform_23126">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_w_transform_23127">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_w_transform_23128">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_w_transform_23129">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_close_to_hero_23130">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_w_transform_23131">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_close_to_hero_23132">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_close_to_standing_23133">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_close_to_standing_23134">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_close_to_standing_23135">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_close_to_standing_23136">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_close_to_hero_23137">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_w_transform_23138">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_w_transform_23139">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_close_to_adversary_23141">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_w_transform_23142">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_close_to_adversary_23143">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_w_transform_23144">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_w_transform_23145">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_w_transform_23147">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_w_transform_23148">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_close_to_standing_23149">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_w_transform_23150">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
</Entities>
<Storyboard>
<Init>
<Actions>
<GlobalAction>
<EnvironmentAction>
<Environment name="Environment1">
<TimeOfDay animation="false" dateTime="2019-06-25T12:00:00"/>
<Weather cloudState="free">
<Sun intensity="0.85" azimuth="0" elevation="1.31"/>
<Fog visualRange="100000.0"/>
<Precipitation precipitationType="dry" intensity="0.0"/>
</Weather>
<RoadCondition frictionScaleFactor="1.0"/>
</Environment>
</EnvironmentAction>
</GlobalAction>
<Private entityRef="hero">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-9.4" y="-152.8" z="0.5" h="1.57079632679"/>
</Position>
</TeleportAction>
</PrivateAction>
<PrivateAction>
<ControllerAction>
<AssignControllerAction>
<Controller name="HeroAgent">
<Properties>
<Property name="module" value="external_control"/>
</Properties>
</Controller>
</AssignControllerAction>
<OverrideControllerValueAction>
<Throttle value="0" active="false"/>
<Brake value="0" active="false"/>
<Clutch value="0" active="false"/>
<ParkingBrake value="0" active="false"/>
<SteeringWheel value="0" active="false"/>
<Gear number="0" active="false"/>
</OverrideControllerValueAction>
</ControllerAction>
</PrivateAction>
</Private>
<Private entityRef="adversary">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-9.4" y="-71.0" z="0.5" h="1.57079632679"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="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_23122">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="72.95136260986328" y="41.31645965576172" z="0.5"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_w_transform_23123">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-83.75857543945312" y="-72.06600189208984" z="0.5"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_w_transform_23126">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="89.27825927734375" y="-24.056034088134766" z="0.5"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_w_transform_23127">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-43.924232482910156" y="50.938438415527344" z="0.5"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_w_transform_23128">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-60.26313400268555" y="62.88301086425781" z="0.5"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_w_transform_23129">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-89.67192840576172" y="9.719314575195312" z="0.5"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_close_to_hero_23130">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-10.00690746307373" y="-156.8644256591797" z="0.0014652633108198643"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_w_transform_23131">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="26.931535720825195" y="-81.677978515625" z="0.5"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_close_to_hero_23132">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-12.600231170654297" y="-159.0564422607422" z="0.0014652633108198643"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_close_to_standing_23133">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-6.260021209716797" y="27.592884063720703" z="0.0030310440342873335"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_close_to_standing_23134">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-12.403571128845215" y="27.43378257751465" z="0.0030421828851103783"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_close_to_standing_23135">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-12.703378677368164" y="32.873741149902344" z="0.003047790378332138"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_close_to_standing_23136">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-9.864372253417969" y="28.599767684936523" z="0.0030874633230268955"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_close_to_hero_23137">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-2.081070899963379" y="-146.9430389404297" z="0.0014652633108198643"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_w_transform_23138">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="42.68387985229492" y="-5.500171661376953" z="0.5"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_w_transform_23139">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-53.295501708984375" y="80.92102813720703" z="0.5"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_close_to_adversary_23141">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-19.291921615600586" y="-63.154727935791016" z="0.0338357537984848"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_w_transform_23142">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="67.84669494628906" y="34.2794189453125" z="0.5"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_close_to_adversary_23143">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-17.068580627441406" y="-65.7576904296875" z="0.033810805529356"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_w_transform_23144">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="98.5111312866211" y="99.41525268554688" z="0.5"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_w_transform_23145">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="56.652557373046875" y="-9.37316608428955" z="0.5"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_w_transform_23147">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="39.92829132080078" y="71.4305648803711" z="0.5"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_w_transform_23148">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="73.92364501953125" y="-85.92877960205078" z="0.5"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_close_to_standing_23149">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-4.978339672088623" y="26.53006935119629" z="0.0030553818214684725"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_w_transform_23150">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="94.58136749267578" y="-51.37590408325195" 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_23122">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_w_transform_23123">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_w_transform_23126">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_w_transform_23128">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_w_transform_23129">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_close_to_hero_23130">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_w_transform_23131">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_close_to_hero_23132">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_close_to_standing_23133">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_close_to_standing_23134">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_close_to_standing_23135">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_close_to_standing_23136">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_close_to_hero_23137">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_w_transform_23138">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_w_transform_23139">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_close_to_adversary_23141">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_w_transform_23142">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_close_to_adversary_23143">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_w_transform_23144">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_w_transform_23145">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_w_transform_23147">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_w_transform_23148">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_close_to_standing_23149">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_w_transform_23150">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
</Entities>
<Storyboard>
<Init>
<Actions>
<GlobalAction>
<EnvironmentAction>
<Environment name="Environment1">
<TimeOfDay animation="false" dateTime="2019-06-25T12:00:00"/>
<Weather cloudState="free">
<Sun intensity="0.85" azimuth="0" elevation="1.31"/>
<Fog visualRange="100000.0"/>
<Precipitation precipitationType="dry" intensity="0.0"/>
</Weather>
<RoadCondition frictionScaleFactor="1.0"/>
</Environment>
</EnvironmentAction>
</GlobalAction>
<Private entityRef="hero">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-9.4" y="-152.8" z="0.5" h="1.57079632679"/>
</Position>
</TeleportAction>
</PrivateAction>
<PrivateAction>
<ControllerAction>
<AssignControllerAction>
<Controller name="HeroAgent">
<Properties>
<Property name="module" value="external_control"/>
</Properties>
</Controller>
</AssignControllerAction>
<OverrideControllerValueAction>
<Throttle value="0" active="false"/>
<Brake value="0" active="false"/>
<Clutch value="0" active="false"/>
<ParkingBrake value="0" active="false"/>
<SteeringWheel value="0" active="false"/>
<Gear number="0" active="false"/>
</OverrideControllerValueAction>
</ControllerAction>
</PrivateAction>
</Private>
<Private entityRef="adversary">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-9.4" y="-71.0" z="0.5" h="1.57079632679"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="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_23122">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="72.95136260986328" y="41.31645965576172" z="0.5"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_w_transform_23123">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-83.75857543945312" y="-72.06600189208984" z="0.5"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_w_transform_23126">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="89.27825927734375" y="-24.056034088134766" z="0.5"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_w_transform_23128">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-60.26313400268555" y="62.88301086425781" z="0.5"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_w_transform_23129">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-89.67192840576172" y="9.719314575195312" z="0.5"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_close_to_hero_23130">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-10.00690746307373" y="-156.8644256591797" z="0.0014652633108198643"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_w_transform_23131">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="26.931535720825195" y="-81.677978515625" z="0.5"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_close_to_hero_23132">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-12.600231170654297" y="-159.0564422607422" z="0.0014652633108198643"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_close_to_standing_23133">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-6.260021209716797" y="27.592884063720703" z="0.0030310440342873335"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_close_to_standing_23134">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-12.403571128845215" y="27.43378257751465" z="0.0030421828851103783"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_close_to_standing_23135">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-12.703378677368164" y="32.873741149902344" z="0.003047790378332138"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_close_to_standing_23136">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-9.864372253417969" y="28.599767684936523" z="0.0030874633230268955"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_close_to_hero_23137">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-2.081070899963379" y="-146.9430389404297" z="0.0014652633108198643"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_w_transform_23138">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="42.68387985229492" y="-5.500171661376953" z="0.5"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_w_transform_23139">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-53.295501708984375" y="80.92102813720703" z="0.5"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_close_to_adversary_23141">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-19.291921615600586" y="-63.154727935791016" z="0.0338357537984848"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_w_transform_23142">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="67.84669494628906" y="34.2794189453125" z="0.5"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_close_to_adversary_23143">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-17.068580627441406" y="-65.7576904296875" z="0.033810805529356"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_w_transform_23144">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="98.5111312866211" y="99.41525268554688" z="0.5"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_w_transform_23145">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="56.652557373046875" y="-9.37316608428955" z="0.5"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_w_transform_23147">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="39.92829132080078" y="71.4305648803711" z="0.5"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_w_transform_23148">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="73.92364501953125" y="-85.92877960205078" z="0.5"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_close_to_standing_23149">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-4.978339672088623" y="26.53006935119629" z="0.0030553818214684725"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_w_transform_23150">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="94.58136749267578" y="-51.37590408325195" z="0.5"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
</Actions>
</Init>
<Story name="MyStory">
<Act name="Behavior">
<ManeuverGroup maximumExecutionCount="1" name="ManeuverSequence">
<Actors selectTriggeringEntities="false">
<EntityRef entityRef="adversary"/>
</Actors>
<Maneuver name="LaneChangeSimpleManeuver">
<Event name="AdversaryAccelerates" priority="overwrite">
<Action name="AdversaryAccelerates">
<PrivateAction>
<LongitudinalAction>
<SpeedAction>
<SpeedActionDynamics dynamicsShape="step" value="50" dynamicsDimension="distance"/>
<SpeedActionTarget>
<AbsoluteTargetSpeed value="5.0"/>
</SpeedActionTarget>
</SpeedAction>
</LongitudinalAction>
</PrivateAction>
</Action>
<StartTrigger>
<ConditionGroup>
<Condition name="StartCondition" delay="0" conditionEdge="rising">
<ByEntityCondition>
<TriggeringEntities triggeringEntitiesRule="any">
<EntityRef entityRef="hero"/>
</TriggeringEntities>
<EntityCondition>
<RelativeDistanceCondition entityRef="adversary" relativeDistanceType="cartesianDistance" value="40.0" freespace="false" rule="lessThan"/>
</EntityCondition>
</ByEntityCondition>
</Condition>
</ConditionGroup>
</StartTrigger>
</Event>
<Event name="AdversaryChangesLane" priority="overwrite">
<Action name="AdversaryChangesLane">
<PrivateAction>
<LateralAction>
<LaneChangeAction>
<LaneChangeActionDynamics dynamicsShape="linear" value="25" dynamicsDimension="distance"/>
<LaneChangeTarget>
<RelativeTargetLane entityRef="adversary" value="-1"/>
</LaneChangeTarget>
</LaneChangeAction>
</LateralAction>
</PrivateAction>
</Action>
<StartTrigger>
<ConditionGroup>
<Condition name="AfterAdversaryAccelerates" delay="0" conditionEdge="rising">
<ByValueCondition>
<StoryboardElementStateCondition storyboardElementType="action" storyboardElementRef="AdversaryAccelerates" state="completeState"/>
</ByValueCondition>
</Condition>
</ConditionGroup>
</StartTrigger>
</Event>
</Maneuver>
</ManeuverGroup>
<StartTrigger>
<ConditionGroup>
<Condition name="OverallStartCondition" delay="0" conditionEdge="rising">
<ByEntityCondition>
<TriggeringEntities triggeringEntitiesRule="any">
<EntityRef entityRef="hero"/>
</TriggeringEntities>
<EntityCondition>
<TraveledDistanceCondition value="1.0"/>
</EntityCondition>
</ByEntityCondition>
</Condition>
<Condition name="StartTime" delay="0" conditionEdge="rising">
<ByValueCondition>
<SimulationTimeCondition value="0" rule="equalTo"/>
</ByValueCondition>
</Condition>
</ConditionGroup>
</StartTrigger>
<StopTrigger>
<ConditionGroup>
<Condition name="EndCondition" delay="0" conditionEdge="rising">
<ByEntityCondition>
<TriggeringEntities triggeringEntitiesRule="any">
<EntityRef entityRef="hero"/>
</TriggeringEntities>
<EntityCondition>
<TraveledDistanceCondition value="200.0"/>
</EntityCondition>
</ByEntityCondition>
</Condition>
</ConditionGroup>
</StopTrigger>
</Act>
</Story>
<StopTrigger>
<ConditionGroup>
<Condition name="criteria_RunningStopTest" delay="0" conditionEdge="rising">
<ByValueCondition>
<ParameterCondition parameterRef="" value="" rule="lessThan"/>
</ByValueCondition>
</Condition>
<Condition name="criteria_RunningRedLightTest" delay="0" conditionEdge="rising">
<ByValueCondition>
<ParameterCondition parameterRef="" value="" rule="lessThan"/>
</ByValueCondition>
</Condition>
<Condition name="criteria_WrongLaneTest" delay="0" conditionEdge="rising">
<ByValueCondition>
<ParameterCondition parameterRef="" value="" rule="lessThan"/>
</ByValueCondition>
</Condition>
<Condition name="criteria_OnSidewalkTest" delay="0" conditionEdge="rising">
<ByValueCondition>
<ParameterCondition parameterRef="" value="" rule="lessThan"/>
</ByValueCondition>
</Condition>
<Condition name="criteria_KeepLaneTest" delay="0" conditionEdge="rising">
<ByValueCondition>
<ParameterCondition parameterRef="" value="" rule="lessThan"/>
</ByValueCondition>
</Condition>
<Condition name="criteria_CollisionTest" delay="0" conditionEdge="rising">
<ByValueCondition>
<ParameterCondition parameterRef="" value="" rule="lessThan"/>
</ByValueCondition>
</Condition>
<Condition name="criteria_DrivenDistanceTest" delay="0" conditionEdge="rising">
<ByValueCondition>
<ParameterCondition parameterRef="distance_success" value="100" rule="lessThan"/>
</ByValueCondition>
</Condition>
</ConditionGroup>
</StopTrigger>
</Storyboard>
</OpenSCENARIO>
``` |
i would like to command you to remove pedestrian close to hero?
```
<?xml version="1.0" ?>
<OpenSCENARIO>
<FileHeader revMajor="1" revMinor="0" date="2020-03-24T12:00:00" description="CARLA:LaneChangeSimple" author=""/>
<ParameterDeclarations/>
<CatalogLocations/>
<RoadNetwork>
<LogicFile filepath="Town04"/>
<SceneGraphFile filepath=""/>
</RoadNetwork>
<Entities>
<ScenarioObject name="hero">
<Vehicle name="vehicle.tesla.model3" vehicleCategory="car">
<ParameterDeclarations/>
<Performance maxSpeed="69.444" maxAcceleration="200" maxDeceleration="10.0"/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2.1" length="4.5" height="1.8"/>
</BoundingBox>
<Axles>
<FrontAxle maxSteering="0.5" wheelDiameter="0.6" trackWidth="1.8" positionX="3.1" positionZ="0.3"/>
<RearAxle maxSteering="0.0" wheelDiameter="0.6" trackWidth="1.8" positionX="0.0" positionZ="0.3"/>
</Axles>
<Properties>
<Property name="type" value="ego_vehicle"/>
</Properties>
</Vehicle>
</ScenarioObject>
<ScenarioObject name="adversary">
<Vehicle name="vehicle.lincoln.mkz_2017" vehicleCategory="car">
<ParameterDeclarations/>
<Performance maxSpeed="69.444" maxAcceleration="200" maxDeceleration="10.0"/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2.1" length="4.5" height="1.8"/>
</BoundingBox>
<Axles>
<FrontAxle maxSteering="0.5" wheelDiameter="0.6" trackWidth="1.8" positionX="3.1" positionZ="0.3"/>
<RearAxle maxSteering="0.0" wheelDiameter="0.6" trackWidth="1.8" positionX="0.0" positionZ="0.3"/>
</Axles>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Vehicle>
</ScenarioObject>
<ScenarioObject name="standing">
<Vehicle name="vehicle.volkswagen.t2" vehicleCategory="car">
<ParameterDeclarations/>
<Performance maxSpeed="69.444" maxAcceleration="200" maxDeceleration="10.0"/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2.1" length="4.5" height="1.8"/>
</BoundingBox>
<Axles>
<FrontAxle maxSteering="0.5" wheelDiameter="0.6" trackWidth="1.8" positionX="3.1" positionZ="0.3"/>
<RearAxle maxSteering="0.0" wheelDiameter="0.6" trackWidth="1.8" positionX="0.0" positionZ="0.3"/>
</Axles>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Vehicle>
</ScenarioObject>
<ScenarioObject name="pedestrian_close_to_standing_20075">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_w_transform_20076">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_w_transform_20077">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_close_to_standing_20078">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_w_transform_20079">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_w_transform_20080">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_close_to_adversary_20081">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_w_transform_20082">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_w_transform_20083">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_w_transform_20084">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_close_to_adversary_20085">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_close_to_adversary_20086">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_close_to_adversary_20087">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_w_transform_20088">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_w_transform_20089">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_w_transform_20090">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_close_to_hero_20091">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_w_transform_20092">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_w_transform_20093">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_close_to_standing_20094">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_close_to_hero_20095">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_close_to_adversary_20096">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_w_transform_20097">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_close_to_hero_20098">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_close_to_hero_20099">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_close_to_standing_20100">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_w_transform_20102">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
</Entities>
<Storyboard>
<Init>
<Actions>
<GlobalAction>
<EnvironmentAction>
<Environment name="Environment1">
<TimeOfDay animation="false" dateTime="2019-06-25T12:00:00"/>
<Weather cloudState="free">
<Sun intensity="0.85" azimuth="0" elevation="1.31"/>
<Fog visualRange="100000.0"/>
<Precipitation precipitationType="dry" intensity="0.0"/>
</Weather>
<RoadCondition frictionScaleFactor="1.0"/>
</Environment>
</EnvironmentAction>
</GlobalAction>
<Private entityRef="hero">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-9.4" y="-152.8" z="0.5" h="1.57079632679"/>
</Position>
</TeleportAction>
</PrivateAction>
<PrivateAction>
<ControllerAction>
<AssignControllerAction>
<Controller name="HeroAgent">
<Properties>
<Property name="module" value="external_control"/>
</Properties>
</Controller>
</AssignControllerAction>
<OverrideControllerValueAction>
<Throttle value="0" active="false"/>
<Brake value="0" active="false"/>
<Clutch value="0" active="false"/>
<ParkingBrake value="0" active="false"/>
<SteeringWheel value="0" active="false"/>
<Gear number="0" active="false"/>
</OverrideControllerValueAction>
</ControllerAction>
</PrivateAction>
</Private>
<Private entityRef="adversary">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-9.4" y="-71.0" z="0.5" h="1.57079632679"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="standing">
<PrivateAction>
<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_20075">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-10.901142120361328" y="22.45433235168457" z="0.0030173873528838158"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_w_transform_20076">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="41.23975372314453" y="83.30878448486328" z="0.5"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_w_transform_20077">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-13.000706672668457" y="-21.93995475769043" z="0.5"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_close_to_standing_20078">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-9.41305923461914" y="32.20178985595703" z="0.0030173873528838158"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_w_transform_20079">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="70.35427856445312" y="37.86028289794922" z="0.5"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_w_transform_20080">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="46.290523529052734" y="8.978901863098145" z="0.5"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_close_to_adversary_20081">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-11.273504257202148" y="-66.55594635009766" z="0.03375793248414993"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_w_transform_20082">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-48.19599151611328" y="-6.544838905334473" z="0.5"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_w_transform_20083">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="65.9034423828125" y="65.4175033569336" z="0.5"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_w_transform_20084">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="69.76551055908203" y="12.327895164489746" z="0.5"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_close_to_adversary_20085">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-6.414778709411621" y="-77.1242904663086" z="0.03375793248414993"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_close_to_adversary_20086">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-18.83685302734375" y="-79.0326919555664" z="0.03375793248414993"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_close_to_adversary_20087">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-16.132347106933594" y="-67.67081451416016" z="0.03375793248414993"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_w_transform_20088">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-53.437503814697266" y="-33.7310676574707" z="0.5"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_w_transform_20089">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-93.59405517578125" y="-37.19918441772461" z="0.5"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_w_transform_20090">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="22.82288360595703" y="10.370189666748047" z="0.5"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_close_to_hero_20091">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-14.185656547546387" y="-153.16110229492188" z="0.0013734435196965933"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_w_transform_20092">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="1.8583751916885376" y="39.92516326904297" z="0.5"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_w_transform_20093">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="26.160856246948242" y="-0.5955845713615417" z="0.5"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_close_to_standing_20094">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-5.49608850479126" y="35.230323791503906" z="0.0030173873528838158"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_close_to_hero_20095">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-9.333219528198242" y="-159.12289428710938" z="0.0013734435196965933"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_close_to_adversary_20096">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-16.353971481323242" y="-74.29594421386719" z="0.03375793248414993"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_w_transform_20097">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="12.037103652954102" y="63.4445686340332" z="0.5"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_close_to_hero_20098">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="5.114190578460693" y="-160.4586639404297" z="0.0013734435196965933"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_close_to_hero_20099">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-7.388298034667969" y="-143.4219207763672" z="0.0013734435196965933"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_close_to_standing_20100">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-1.0708249807357788" y="24.108753204345703" z="0.0030173873528838158"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_w_transform_20102">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="34.25310134887695" y="38.21555709838867" 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_20075">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_w_transform_20076">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_w_transform_20077">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_close_to_standing_20078">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_w_transform_20079">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_w_transform_20080">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_close_to_adversary_20081">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_w_transform_20082">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_w_transform_20083">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_w_transform_20084">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_close_to_adversary_20085">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_close_to_adversary_20086">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_close_to_adversary_20087">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_w_transform_20088">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_w_transform_20089">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_w_transform_20090">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_close_to_hero_20091">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_w_transform_20092">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_w_transform_20093">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_close_to_standing_20094">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_close_to_hero_20095">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_close_to_adversary_20096">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_w_transform_20097">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_close_to_hero_20098">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_close_to_standing_20100">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_w_transform_20102">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
</Entities>
<Storyboard>
<Init>
<Actions>
<GlobalAction>
<EnvironmentAction>
<Environment name="Environment1">
<TimeOfDay animation="false" dateTime="2019-06-25T12:00:00"/>
<Weather cloudState="free">
<Sun intensity="0.85" azimuth="0" elevation="1.31"/>
<Fog visualRange="100000.0"/>
<Precipitation precipitationType="dry" intensity="0.0"/>
</Weather>
<RoadCondition frictionScaleFactor="1.0"/>
</Environment>
</EnvironmentAction>
</GlobalAction>
<Private entityRef="hero">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-9.4" y="-152.8" z="0.5" h="1.57079632679"/>
</Position>
</TeleportAction>
</PrivateAction>
<PrivateAction>
<ControllerAction>
<AssignControllerAction>
<Controller name="HeroAgent">
<Properties>
<Property name="module" value="external_control"/>
</Properties>
</Controller>
</AssignControllerAction>
<OverrideControllerValueAction>
<Throttle value="0" active="false"/>
<Brake value="0" active="false"/>
<Clutch value="0" active="false"/>
<ParkingBrake value="0" active="false"/>
<SteeringWheel value="0" active="false"/>
<Gear number="0" active="false"/>
</OverrideControllerValueAction>
</ControllerAction>
</PrivateAction>
</Private>
<Private entityRef="adversary">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-9.4" y="-71.0" z="0.5" h="1.57079632679"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="standing">
<PrivateAction>
<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_20075">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-10.901142120361328" y="22.45433235168457" z="0.0030173873528838158"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_w_transform_20076">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="41.23975372314453" y="83.30878448486328" z="0.5"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_w_transform_20077">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-13.000706672668457" y="-21.93995475769043" z="0.5"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_close_to_standing_20078">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-9.41305923461914" y="32.20178985595703" z="0.0030173873528838158"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_w_transform_20079">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="70.35427856445312" y="37.86028289794922" z="0.5"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_w_transform_20080">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="46.290523529052734" y="8.978901863098145" z="0.5"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_close_to_adversary_20081">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-11.273504257202148" y="-66.55594635009766" z="0.03375793248414993"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_w_transform_20082">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-48.19599151611328" y="-6.544838905334473" z="0.5"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_w_transform_20083">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="65.9034423828125" y="65.4175033569336" z="0.5"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_w_transform_20084">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="69.76551055908203" y="12.327895164489746" z="0.5"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_close_to_adversary_20085">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-6.414778709411621" y="-77.1242904663086" z="0.03375793248414993"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_close_to_adversary_20086">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-18.83685302734375" y="-79.0326919555664" z="0.03375793248414993"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_close_to_adversary_20087">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-16.132347106933594" y="-67.67081451416016" z="0.03375793248414993"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_w_transform_20088">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-53.437503814697266" y="-33.7310676574707" z="0.5"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_w_transform_20089">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-93.59405517578125" y="-37.19918441772461" z="0.5"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_w_transform_20090">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="22.82288360595703" y="10.370189666748047" z="0.5"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_close_to_hero_20091">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-14.185656547546387" y="-153.16110229492188" z="0.0013734435196965933"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_w_transform_20092">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="1.8583751916885376" y="39.92516326904297" z="0.5"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_w_transform_20093">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="26.160856246948242" y="-0.5955845713615417" z="0.5"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_close_to_standing_20094">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-5.49608850479126" y="35.230323791503906" z="0.0030173873528838158"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_close_to_hero_20095">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-9.333219528198242" y="-159.12289428710938" z="0.0013734435196965933"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_close_to_adversary_20096">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-16.353971481323242" y="-74.29594421386719" z="0.03375793248414993"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_w_transform_20097">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="12.037103652954102" y="63.4445686340332" z="0.5"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_close_to_hero_20098">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="5.114190578460693" y="-160.4586639404297" z="0.0013734435196965933"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_close_to_standing_20100">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-1.0708249807357788" y="24.108753204345703" z="0.0030173873528838158"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_w_transform_20102">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="34.25310134887695" y="38.21555709838867" z="0.5"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
</Actions>
</Init>
<Story name="MyStory">
<Act name="Behavior">
<ManeuverGroup maximumExecutionCount="1" name="ManeuverSequence">
<Actors selectTriggeringEntities="false">
<EntityRef entityRef="adversary"/>
</Actors>
<Maneuver name="LaneChangeSimpleManeuver">
<Event name="AdversaryAccelerates" priority="overwrite">
<Action name="AdversaryAccelerates">
<PrivateAction>
<LongitudinalAction>
<SpeedAction>
<SpeedActionDynamics dynamicsShape="step" value="50" dynamicsDimension="distance"/>
<SpeedActionTarget>
<AbsoluteTargetSpeed value="5.0"/>
</SpeedActionTarget>
</SpeedAction>
</LongitudinalAction>
</PrivateAction>
</Action>
<StartTrigger>
<ConditionGroup>
<Condition name="StartCondition" delay="0" conditionEdge="rising">
<ByEntityCondition>
<TriggeringEntities triggeringEntitiesRule="any">
<EntityRef entityRef="hero"/>
</TriggeringEntities>
<EntityCondition>
<RelativeDistanceCondition entityRef="adversary" relativeDistanceType="cartesianDistance" value="40.0" freespace="false" rule="lessThan"/>
</EntityCondition>
</ByEntityCondition>
</Condition>
</ConditionGroup>
</StartTrigger>
</Event>
<Event name="AdversaryChangesLane" priority="overwrite">
<Action name="AdversaryChangesLane">
<PrivateAction>
<LateralAction>
<LaneChangeAction>
<LaneChangeActionDynamics dynamicsShape="linear" value="25" dynamicsDimension="distance"/>
<LaneChangeTarget>
<RelativeTargetLane entityRef="adversary" value="-1"/>
</LaneChangeTarget>
</LaneChangeAction>
</LateralAction>
</PrivateAction>
</Action>
<StartTrigger>
<ConditionGroup>
<Condition name="AfterAdversaryAccelerates" delay="0" conditionEdge="rising">
<ByValueCondition>
<StoryboardElementStateCondition storyboardElementType="action" storyboardElementRef="AdversaryAccelerates" state="completeState"/>
</ByValueCondition>
</Condition>
</ConditionGroup>
</StartTrigger>
</Event>
</Maneuver>
</ManeuverGroup>
<StartTrigger>
<ConditionGroup>
<Condition name="OverallStartCondition" delay="0" conditionEdge="rising">
<ByEntityCondition>
<TriggeringEntities triggeringEntitiesRule="any">
<EntityRef entityRef="hero"/>
</TriggeringEntities>
<EntityCondition>
<TraveledDistanceCondition value="1.0"/>
</EntityCondition>
</ByEntityCondition>
</Condition>
<Condition name="StartTime" delay="0" conditionEdge="rising">
<ByValueCondition>
<SimulationTimeCondition value="0" rule="equalTo"/>
</ByValueCondition>
</Condition>
</ConditionGroup>
</StartTrigger>
<StopTrigger>
<ConditionGroup>
<Condition name="EndCondition" delay="0" conditionEdge="rising">
<ByEntityCondition>
<TriggeringEntities triggeringEntitiesRule="any">
<EntityRef entityRef="hero"/>
</TriggeringEntities>
<EntityCondition>
<TraveledDistanceCondition value="200.0"/>
</EntityCondition>
</ByEntityCondition>
</Condition>
</ConditionGroup>
</StopTrigger>
</Act>
</Story>
<StopTrigger>
<ConditionGroup>
<Condition name="criteria_RunningStopTest" delay="0" conditionEdge="rising">
<ByValueCondition>
<ParameterCondition parameterRef="" value="" rule="lessThan"/>
</ByValueCondition>
</Condition>
<Condition name="criteria_RunningRedLightTest" delay="0" conditionEdge="rising">
<ByValueCondition>
<ParameterCondition parameterRef="" value="" rule="lessThan"/>
</ByValueCondition>
</Condition>
<Condition name="criteria_WrongLaneTest" delay="0" conditionEdge="rising">
<ByValueCondition>
<ParameterCondition parameterRef="" value="" rule="lessThan"/>
</ByValueCondition>
</Condition>
<Condition name="criteria_OnSidewalkTest" delay="0" conditionEdge="rising">
<ByValueCondition>
<ParameterCondition parameterRef="" value="" rule="lessThan"/>
</ByValueCondition>
</Condition>
<Condition name="criteria_KeepLaneTest" delay="0" conditionEdge="rising">
<ByValueCondition>
<ParameterCondition parameterRef="" value="" rule="lessThan"/>
</ByValueCondition>
</Condition>
<Condition name="criteria_CollisionTest" delay="0" conditionEdge="rising">
<ByValueCondition>
<ParameterCondition parameterRef="" value="" rule="lessThan"/>
</ByValueCondition>
</Condition>
<Condition name="criteria_DrivenDistanceTest" delay="0" conditionEdge="rising">
<ByValueCondition>
<ParameterCondition parameterRef="distance_success" value="100" rule="lessThan"/>
</ByValueCondition>
</Condition>
</ConditionGroup>
</StopTrigger>
</Storyboard>
</OpenSCENARIO>
``` |
would you add pedestrian at location (72.27, -65.54, 0.5)?
```
<?xml version="1.0" ?>
<OpenSCENARIO>
<FileHeader revMajor="1" revMinor="0" date="2020-03-24T12:00:00" description="CARLA:LaneChangeSimple" author=""/>
<ParameterDeclarations/>
<CatalogLocations/>
<RoadNetwork>
<LogicFile filepath="Town04"/>
<SceneGraphFile filepath=""/>
</RoadNetwork>
<Entities>
<ScenarioObject name="hero">
<Vehicle name="vehicle.tesla.model3" vehicleCategory="car">
<ParameterDeclarations/>
<Performance maxSpeed="69.444" maxAcceleration="200" maxDeceleration="10.0"/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2.1" length="4.5" height="1.8"/>
</BoundingBox>
<Axles>
<FrontAxle maxSteering="0.5" wheelDiameter="0.6" trackWidth="1.8" positionX="3.1" positionZ="0.3"/>
<RearAxle maxSteering="0.0" wheelDiameter="0.6" trackWidth="1.8" positionX="0.0" positionZ="0.3"/>
</Axles>
<Properties>
<Property name="type" value="ego_vehicle"/>
</Properties>
</Vehicle>
</ScenarioObject>
<ScenarioObject name="adversary">
<Vehicle name="vehicle.lincoln.mkz_2017" vehicleCategory="car">
<ParameterDeclarations/>
<Performance maxSpeed="69.444" maxAcceleration="200" maxDeceleration="10.0"/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2.1" length="4.5" height="1.8"/>
</BoundingBox>
<Axles>
<FrontAxle maxSteering="0.5" wheelDiameter="0.6" trackWidth="1.8" positionX="3.1" positionZ="0.3"/>
<RearAxle maxSteering="0.0" wheelDiameter="0.6" trackWidth="1.8" positionX="0.0" positionZ="0.3"/>
</Axles>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Vehicle>
</ScenarioObject>
<ScenarioObject name="standing">
<Vehicle name="vehicle.volkswagen.t2" vehicleCategory="car">
<ParameterDeclarations/>
<Performance maxSpeed="69.444" maxAcceleration="200" maxDeceleration="10.0"/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2.1" length="4.5" height="1.8"/>
</BoundingBox>
<Axles>
<FrontAxle maxSteering="0.5" wheelDiameter="0.6" trackWidth="1.8" positionX="3.1" positionZ="0.3"/>
<RearAxle maxSteering="0.0" wheelDiameter="0.6" trackWidth="1.8" positionX="0.0" positionZ="0.3"/>
</Axles>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Vehicle>
</ScenarioObject>
<ScenarioObject name="pedestrian_close_to_standing_12067">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_close_to_hero_12068">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_close_to_adversary_12069">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_close_to_standing_12070">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_w_transform_12071">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_close_to_standing_12073">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_close_to_adversary_12074">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_w_transform_12076">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_close_to_standing_12078">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_close_to_adversary_12079">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_close_to_standing_12080">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_w_transform_12081">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
</Entities>
<Storyboard>
<Init>
<Actions>
<GlobalAction>
<EnvironmentAction>
<Environment name="Environment1">
<TimeOfDay animation="false" dateTime="2019-06-25T12:00:00"/>
<Weather cloudState="free">
<Sun intensity="0.85" azimuth="0" elevation="1.31"/>
<Fog visualRange="100000.0"/>
<Precipitation precipitationType="dry" intensity="0.0"/>
</Weather>
<RoadCondition frictionScaleFactor="1.0"/>
</Environment>
</EnvironmentAction>
</GlobalAction>
<Private entityRef="hero">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-9.4" y="-152.8" z="0.5" h="1.57079632679"/>
</Position>
</TeleportAction>
</PrivateAction>
<PrivateAction>
<ControllerAction>
<AssignControllerAction>
<Controller name="HeroAgent">
<Properties>
<Property name="module" value="external_control"/>
</Properties>
</Controller>
</AssignControllerAction>
<OverrideControllerValueAction>
<Throttle value="0" active="false"/>
<Brake value="0" active="false"/>
<Clutch value="0" active="false"/>
<ParkingBrake value="0" active="false"/>
<SteeringWheel value="0" active="false"/>
<Gear number="0" active="false"/>
</OverrideControllerValueAction>
</ControllerAction>
</PrivateAction>
</Private>
<Private entityRef="adversary">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-9.4" y="-71.0" z="0.5" h="1.57079632679"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="standing">
<PrivateAction>
<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_12067">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-5.396606922149658" y="35.03916931152344" z="0.0030440138652920723"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_close_to_hero_12068">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-9.661169052124023" y="-149.26834106445312" z="0.0014652633108198643"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_close_to_adversary_12069">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="5.1836371421813965" y="-78.32135009765625" z="0.03378951922059059"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_close_to_standing_12070">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-13.37602424621582" y="36.06081771850586" z="0.0030749510042369366"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_w_transform_12071">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-83.50868225097656" y="-3.9700894355773926" z="0.5"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_close_to_standing_12073">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-13.411432266235352" y="24.316591262817383" z="0.0031285095028579235"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_close_to_adversary_12074">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-8.881559371948242" y="-61.01987838745117" z="0.03386935964226723"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_w_transform_12076">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="4.633732795715332" y="26.358810424804688" z="0.5"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_close_to_standing_12078">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-9.673919677734375" y="31.475305557250977" z="0.00310173025354743"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_close_to_adversary_12079">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-12.195155143737793" y="-76.7641830444336" z="0.033846817910671234"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_close_to_standing_12080">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="8.256491661071777" y="27.686439514160156" z="0.0031072997953742743"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_w_transform_12081">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="54.418331146240234" y="-70.35888671875" 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_12067">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_close_to_hero_12068">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_close_to_adversary_12069">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_close_to_standing_12070">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_w_transform_12071">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_close_to_standing_12073">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_close_to_adversary_12074">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_w_transform_12076">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_close_to_standing_12078">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_close_to_adversary_12079">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_close_to_standing_12080">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_w_transform_12081">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_w_transform_12082">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
</Entities>
<Storyboard>
<Init>
<Actions>
<GlobalAction>
<EnvironmentAction>
<Environment name="Environment1">
<TimeOfDay animation="false" dateTime="2019-06-25T12:00:00"/>
<Weather cloudState="free">
<Sun intensity="0.85" azimuth="0" elevation="1.31"/>
<Fog visualRange="100000.0"/>
<Precipitation precipitationType="dry" intensity="0.0"/>
</Weather>
<RoadCondition frictionScaleFactor="1.0"/>
</Environment>
</EnvironmentAction>
</GlobalAction>
<Private entityRef="hero">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-9.4" y="-152.8" z="0.5" h="1.57079632679"/>
</Position>
</TeleportAction>
</PrivateAction>
<PrivateAction>
<ControllerAction>
<AssignControllerAction>
<Controller name="HeroAgent">
<Properties>
<Property name="module" value="external_control"/>
</Properties>
</Controller>
</AssignControllerAction>
<OverrideControllerValueAction>
<Throttle value="0" active="false"/>
<Brake value="0" active="false"/>
<Clutch value="0" active="false"/>
<ParkingBrake value="0" active="false"/>
<SteeringWheel value="0" active="false"/>
<Gear number="0" active="false"/>
</OverrideControllerValueAction>
</ControllerAction>
</PrivateAction>
</Private>
<Private entityRef="adversary">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-9.4" y="-71.0" z="0.5" h="1.57079632679"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="standing">
<PrivateAction>
<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_12067">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-5.396606922149658" y="35.03916931152344" z="0.0030440138652920723"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_close_to_hero_12068">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-9.661169052124023" y="-149.26834106445312" z="0.0014652633108198643"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_close_to_adversary_12069">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="5.1836371421813965" y="-78.32135009765625" z="0.03378951922059059"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_close_to_standing_12070">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-13.37602424621582" y="36.06081771850586" z="0.0030749510042369366"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_w_transform_12071">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-83.50868225097656" y="-3.9700894355773926" z="0.5"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_close_to_standing_12073">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-13.411432266235352" y="24.316591262817383" z="0.0031285095028579235"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_close_to_adversary_12074">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-8.881559371948242" y="-61.01987838745117" z="0.03386935964226723"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_w_transform_12076">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="4.633732795715332" y="26.358810424804688" z="0.5"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_close_to_standing_12078">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-9.673919677734375" y="31.475305557250977" z="0.00310173025354743"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_close_to_adversary_12079">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-12.195155143737793" y="-76.7641830444336" z="0.033846817910671234"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_close_to_standing_12080">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="8.256491661071777" y="27.686439514160156" z="0.0031072997953742743"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_w_transform_12081">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="54.418331146240234" y="-70.35888671875" z="0.5"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_w_transform_12082">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="72.26983642578125" y="-65.53630065917969" 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_adversary_14780">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_w_transform_14781">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_w_transform_14782">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_w_transform_14783">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_w_transform_14784">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_close_to_hero_14785">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
</Entities>
<Storyboard>
<Init>
<Actions>
<GlobalAction>
<EnvironmentAction>
<Environment name="Environment1">
<TimeOfDay animation="false" dateTime="2019-06-25T12:00:00"/>
<Weather cloudState="free">
<Sun intensity="0.85" azimuth="0" elevation="1.31"/>
<Fog visualRange="100000.0"/>
<Precipitation precipitationType="dry" intensity="0.0"/>
</Weather>
<RoadCondition frictionScaleFactor="1.0"/>
</Environment>
</EnvironmentAction>
</GlobalAction>
<Private entityRef="hero">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-9.4" y="-152.8" z="0.5" h="1.57079632679"/>
</Position>
</TeleportAction>
</PrivateAction>
<PrivateAction>
<ControllerAction>
<AssignControllerAction>
<Controller name="HeroAgent">
<Properties>
<Property name="module" value="external_control"/>
</Properties>
</Controller>
</AssignControllerAction>
<OverrideControllerValueAction>
<Throttle value="0" active="false"/>
<Brake value="0" active="false"/>
<Clutch value="0" active="false"/>
<ParkingBrake value="0" active="false"/>
<SteeringWheel value="0" active="false"/>
<Gear number="0" active="false"/>
</OverrideControllerValueAction>
</ControllerAction>
</PrivateAction>
</Private>
<Private entityRef="adversary">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-9.4" y="-71.0" z="0.5" h="1.57079632679"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="standing">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-8.2" y="29.2" z="0.5" h="1.57079632679"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_close_to_adversary_14780">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-6.636351585388184" y="-69.21683502197266" z="0.03376632556319237"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_w_transform_14781">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="85.51498413085938" y="73.50438690185547" z="0.5"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_w_transform_14782">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="7.8906354904174805" y="-90.28650665283203" z="0.5"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_w_transform_14783">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="47.42213439941406" y="84.11427307128906" z="0.5"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_w_transform_14784">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="2.072089195251465" y="-50.19244384765625" z="0.5"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_close_to_hero_14785">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-15.63731575012207" y="-138.2128448486328" z="0.0014652633108198643"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
</Actions>
</Init>
<Story name="MyStory">
<Act name="Behavior">
<ManeuverGroup maximumExecutionCount="1" name="ManeuverSequence">
<Actors selectTriggeringEntities="false">
<EntityRef entityRef="adversary"/>
</Actors>
<Maneuver name="LaneChangeSimpleManeuver">
<Event name="AdversaryAccelerates" priority="overwrite">
<Action name="AdversaryAccelerates">
<PrivateAction>
<LongitudinalAction>
<SpeedAction>
<SpeedActionDynamics dynamicsShape="step" value="50" dynamicsDimension="distance"/>
<SpeedActionTarget>
<AbsoluteTargetSpeed value="5.0"/>
</SpeedActionTarget>
</SpeedAction>
</LongitudinalAction>
</PrivateAction>
</Action>
<StartTrigger>
<ConditionGroup>
<Condition name="StartCondition" delay="0" conditionEdge="rising">
<ByEntityCondition>
<TriggeringEntities triggeringEntitiesRule="any">
<EntityRef entityRef="hero"/>
</TriggeringEntities>
<EntityCondition>
<RelativeDistanceCondition entityRef="adversary" relativeDistanceType="cartesianDistance" value="40.0" freespace="false" rule="lessThan"/>
</EntityCondition>
</ByEntityCondition>
</Condition>
</ConditionGroup>
</StartTrigger>
</Event>
<Event name="AdversaryChangesLane" priority="overwrite">
<Action name="AdversaryChangesLane">
<PrivateAction>
<LateralAction>
<LaneChangeAction>
<LaneChangeActionDynamics dynamicsShape="linear" value="25" dynamicsDimension="distance"/>
<LaneChangeTarget>
<RelativeTargetLane entityRef="adversary" value="-1"/>
</LaneChangeTarget>
</LaneChangeAction>
</LateralAction>
</PrivateAction>
</Action>
<StartTrigger>
<ConditionGroup>
<Condition name="AfterAdversaryAccelerates" delay="0" conditionEdge="rising">
<ByValueCondition>
<StoryboardElementStateCondition storyboardElementType="action" storyboardElementRef="AdversaryAccelerates" state="completeState"/>
</ByValueCondition>
</Condition>
</ConditionGroup>
</StartTrigger>
</Event>
</Maneuver>
</ManeuverGroup>
<StartTrigger>
<ConditionGroup>
<Condition name="OverallStartCondition" delay="0" conditionEdge="rising">
<ByEntityCondition>
<TriggeringEntities triggeringEntitiesRule="any">
<EntityRef entityRef="hero"/>
</TriggeringEntities>
<EntityCondition>
<TraveledDistanceCondition value="1.0"/>
</EntityCondition>
</ByEntityCondition>
</Condition>
<Condition name="StartTime" delay="0" conditionEdge="rising">
<ByValueCondition>
<SimulationTimeCondition value="0" rule="equalTo"/>
</ByValueCondition>
</Condition>
</ConditionGroup>
</StartTrigger>
<StopTrigger>
<ConditionGroup>
<Condition name="EndCondition" delay="0" conditionEdge="rising">
<ByEntityCondition>
<TriggeringEntities triggeringEntitiesRule="any">
<EntityRef entityRef="hero"/>
</TriggeringEntities>
<EntityCondition>
<TraveledDistanceCondition value="200.0"/>
</EntityCondition>
</ByEntityCondition>
</Condition>
</ConditionGroup>
</StopTrigger>
</Act>
</Story>
<StopTrigger>
<ConditionGroup>
<Condition name="criteria_RunningStopTest" delay="0" conditionEdge="rising">
<ByValueCondition>
<ParameterCondition parameterRef="" value="" rule="lessThan"/>
</ByValueCondition>
</Condition>
<Condition name="criteria_RunningRedLightTest" delay="0" conditionEdge="rising">
<ByValueCondition>
<ParameterCondition parameterRef="" value="" rule="lessThan"/>
</ByValueCondition>
</Condition>
<Condition name="criteria_WrongLaneTest" delay="0" conditionEdge="rising">
<ByValueCondition>
<ParameterCondition parameterRef="" value="" rule="lessThan"/>
</ByValueCondition>
</Condition>
<Condition name="criteria_OnSidewalkTest" delay="0" conditionEdge="rising">
<ByValueCondition>
<ParameterCondition parameterRef="" value="" rule="lessThan"/>
</ByValueCondition>
</Condition>
<Condition name="criteria_KeepLaneTest" delay="0" conditionEdge="rising">
<ByValueCondition>
<ParameterCondition parameterRef="" value="" rule="lessThan"/>
</ByValueCondition>
</Condition>
<Condition name="criteria_CollisionTest" delay="0" conditionEdge="rising">
<ByValueCondition>
<ParameterCondition parameterRef="" value="" rule="lessThan"/>
</ByValueCondition>
</Condition>
<Condition name="criteria_DrivenDistanceTest" delay="0" conditionEdge="rising">
<ByValueCondition>
<ParameterCondition parameterRef="distance_success" value="100" rule="lessThan"/>
</ByValueCondition>
</Condition>
</ConditionGroup>
</StopTrigger>
</Storyboard>
</OpenSCENARIO>
``` | Here is the result:
```
<?xml version="1.0" ?>
<OpenSCENARIO>
<FileHeader revMajor="1" revMinor="0" date="2020-03-24T12:00:00" description="CARLA:LaneChangeSimple" author=""/>
<ParameterDeclarations/>
<CatalogLocations/>
<RoadNetwork>
<LogicFile filepath="Town04"/>
<SceneGraphFile filepath=""/>
</RoadNetwork>
<Entities>
<ScenarioObject name="hero">
<Vehicle name="vehicle.tesla.model3" vehicleCategory="car">
<ParameterDeclarations/>
<Performance maxSpeed="69.444" maxAcceleration="200" maxDeceleration="10.0"/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2.1" length="4.5" height="1.8"/>
</BoundingBox>
<Axles>
<FrontAxle maxSteering="0.5" wheelDiameter="0.6" trackWidth="1.8" positionX="3.1" positionZ="0.3"/>
<RearAxle maxSteering="0.0" wheelDiameter="0.6" trackWidth="1.8" positionX="0.0" positionZ="0.3"/>
</Axles>
<Properties>
<Property name="type" value="ego_vehicle"/>
</Properties>
</Vehicle>
</ScenarioObject>
<ScenarioObject name="adversary">
<Vehicle name="vehicle.lincoln.mkz_2017" vehicleCategory="car">
<ParameterDeclarations/>
<Performance maxSpeed="69.444" maxAcceleration="200" maxDeceleration="10.0"/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2.1" length="4.5" height="1.8"/>
</BoundingBox>
<Axles>
<FrontAxle maxSteering="0.5" wheelDiameter="0.6" trackWidth="1.8" positionX="3.1" positionZ="0.3"/>
<RearAxle maxSteering="0.0" wheelDiameter="0.6" trackWidth="1.8" positionX="0.0" positionZ="0.3"/>
</Axles>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Vehicle>
</ScenarioObject>
<ScenarioObject name="standing">
<Vehicle name="vehicle.volkswagen.t2" vehicleCategory="car">
<ParameterDeclarations/>
<Performance maxSpeed="69.444" maxAcceleration="200" maxDeceleration="10.0"/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2.1" length="4.5" height="1.8"/>
</BoundingBox>
<Axles>
<FrontAxle maxSteering="0.5" wheelDiameter="0.6" trackWidth="1.8" positionX="3.1" positionZ="0.3"/>
<RearAxle maxSteering="0.0" wheelDiameter="0.6" trackWidth="1.8" positionX="0.0" positionZ="0.3"/>
</Axles>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Vehicle>
</ScenarioObject>
<ScenarioObject name="pedestrian_close_to_adversary_14780">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_w_transform_14781">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_w_transform_14782">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_w_transform_14783">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_w_transform_14784">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_close_to_hero_14785">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_close_to_standing_14786">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
</Entities>
<Storyboard>
<Init>
<Actions>
<GlobalAction>
<EnvironmentAction>
<Environment name="Environment1">
<TimeOfDay animation="false" dateTime="2019-06-25T12:00:00"/>
<Weather cloudState="free">
<Sun intensity="0.85" azimuth="0" elevation="1.31"/>
<Fog visualRange="100000.0"/>
<Precipitation precipitationType="dry" intensity="0.0"/>
</Weather>
<RoadCondition frictionScaleFactor="1.0"/>
</Environment>
</EnvironmentAction>
</GlobalAction>
<Private entityRef="hero">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-9.4" y="-152.8" z="0.5" h="1.57079632679"/>
</Position>
</TeleportAction>
</PrivateAction>
<PrivateAction>
<ControllerAction>
<AssignControllerAction>
<Controller name="HeroAgent">
<Properties>
<Property name="module" value="external_control"/>
</Properties>
</Controller>
</AssignControllerAction>
<OverrideControllerValueAction>
<Throttle value="0" active="false"/>
<Brake value="0" active="false"/>
<Clutch value="0" active="false"/>
<ParkingBrake value="0" active="false"/>
<SteeringWheel value="0" active="false"/>
<Gear number="0" active="false"/>
</OverrideControllerValueAction>
</ControllerAction>
</PrivateAction>
</Private>
<Private entityRef="adversary">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-9.4" y="-71.0" z="0.5" h="1.57079632679"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="standing">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-8.2" y="29.2" z="0.5" h="1.57079632679"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_close_to_adversary_14780">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-6.636351585388184" y="-69.21683502197266" z="0.03376632556319237"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_w_transform_14781">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="85.51498413085938" y="73.50438690185547" z="0.5"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_w_transform_14782">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="7.8906354904174805" y="-90.28650665283203" z="0.5"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_w_transform_14783">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="47.42213439941406" y="84.11427307128906" z="0.5"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_w_transform_14784">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="2.072089195251465" y="-50.19244384765625" z="0.5"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_close_to_hero_14785">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-15.63731575012207" y="-138.2128448486328" z="0.0014652633108198643"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_close_to_standing_14786">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="5.349359035491943" y="18.49359893798828" z="0.0030901336576789618"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
</Actions>
</Init>
<Story name="MyStory">
<Act name="Behavior">
<ManeuverGroup maximumExecutionCount="1" name="ManeuverSequence">
<Actors selectTriggeringEntities="false">
<EntityRef entityRef="adversary"/>
</Actors>
<Maneuver name="LaneChangeSimpleManeuver">
<Event name="AdversaryAccelerates" priority="overwrite">
<Action name="AdversaryAccelerates">
<PrivateAction>
<LongitudinalAction>
<SpeedAction>
<SpeedActionDynamics dynamicsShape="step" value="50" dynamicsDimension="distance"/>
<SpeedActionTarget>
<AbsoluteTargetSpeed value="5.0"/>
</SpeedActionTarget>
</SpeedAction>
</LongitudinalAction>
</PrivateAction>
</Action>
<StartTrigger>
<ConditionGroup>
<Condition name="StartCondition" delay="0" conditionEdge="rising">
<ByEntityCondition>
<TriggeringEntities triggeringEntitiesRule="any">
<EntityRef entityRef="hero"/>
</TriggeringEntities>
<EntityCondition>
<RelativeDistanceCondition entityRef="adversary" relativeDistanceType="cartesianDistance" value="40.0" freespace="false" rule="lessThan"/>
</EntityCondition>
</ByEntityCondition>
</Condition>
</ConditionGroup>
</StartTrigger>
</Event>
<Event name="AdversaryChangesLane" priority="overwrite">
<Action name="AdversaryChangesLane">
<PrivateAction>
<LateralAction>
<LaneChangeAction>
<LaneChangeActionDynamics dynamicsShape="linear" value="25" dynamicsDimension="distance"/>
<LaneChangeTarget>
<RelativeTargetLane entityRef="adversary" value="-1"/>
</LaneChangeTarget>
</LaneChangeAction>
</LateralAction>
</PrivateAction>
</Action>
<StartTrigger>
<ConditionGroup>
<Condition name="AfterAdversaryAccelerates" delay="0" conditionEdge="rising">
<ByValueCondition>
<StoryboardElementStateCondition storyboardElementType="action" storyboardElementRef="AdversaryAccelerates" state="completeState"/>
</ByValueCondition>
</Condition>
</ConditionGroup>
</StartTrigger>
</Event>
</Maneuver>
</ManeuverGroup>
<StartTrigger>
<ConditionGroup>
<Condition name="OverallStartCondition" delay="0" conditionEdge="rising">
<ByEntityCondition>
<TriggeringEntities triggeringEntitiesRule="any">
<EntityRef entityRef="hero"/>
</TriggeringEntities>
<EntityCondition>
<TraveledDistanceCondition value="1.0"/>
</EntityCondition>
</ByEntityCondition>
</Condition>
<Condition name="StartTime" delay="0" conditionEdge="rising">
<ByValueCondition>
<SimulationTimeCondition value="0" rule="equalTo"/>
</ByValueCondition>
</Condition>
</ConditionGroup>
</StartTrigger>
<StopTrigger>
<ConditionGroup>
<Condition name="EndCondition" delay="0" conditionEdge="rising">
<ByEntityCondition>
<TriggeringEntities triggeringEntitiesRule="any">
<EntityRef entityRef="hero"/>
</TriggeringEntities>
<EntityCondition>
<TraveledDistanceCondition value="200.0"/>
</EntityCondition>
</ByEntityCondition>
</Condition>
</ConditionGroup>
</StopTrigger>
</Act>
</Story>
<StopTrigger>
<ConditionGroup>
<Condition name="criteria_RunningStopTest" delay="0" conditionEdge="rising">
<ByValueCondition>
<ParameterCondition parameterRef="" value="" rule="lessThan"/>
</ByValueCondition>
</Condition>
<Condition name="criteria_RunningRedLightTest" delay="0" conditionEdge="rising">
<ByValueCondition>
<ParameterCondition parameterRef="" value="" rule="lessThan"/>
</ByValueCondition>
</Condition>
<Condition name="criteria_WrongLaneTest" delay="0" conditionEdge="rising">
<ByValueCondition>
<ParameterCondition parameterRef="" value="" rule="lessThan"/>
</ByValueCondition>
</Condition>
<Condition name="criteria_OnSidewalkTest" delay="0" conditionEdge="rising">
<ByValueCondition>
<ParameterCondition parameterRef="" value="" rule="lessThan"/>
</ByValueCondition>
</Condition>
<Condition name="criteria_KeepLaneTest" delay="0" conditionEdge="rising">
<ByValueCondition>
<ParameterCondition parameterRef="" value="" rule="lessThan"/>
</ByValueCondition>
</Condition>
<Condition name="criteria_CollisionTest" delay="0" conditionEdge="rising">
<ByValueCondition>
<ParameterCondition parameterRef="" value="" rule="lessThan"/>
</ByValueCondition>
</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 actor named pedestrian_w_transform_25410?
```
<?xml version="1.0" ?>
<OpenSCENARIO>
<FileHeader revMajor="1" revMinor="0" date="2020-03-24T12:00:00" description="CARLA:LaneChangeSimple" author=""/>
<ParameterDeclarations/>
<CatalogLocations/>
<RoadNetwork>
<LogicFile filepath="Town04"/>
<SceneGraphFile filepath=""/>
</RoadNetwork>
<Entities>
<ScenarioObject name="hero">
<Vehicle name="vehicle.tesla.model3" vehicleCategory="car">
<ParameterDeclarations/>
<Performance maxSpeed="69.444" maxAcceleration="200" maxDeceleration="10.0"/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2.1" length="4.5" height="1.8"/>
</BoundingBox>
<Axles>
<FrontAxle maxSteering="0.5" wheelDiameter="0.6" trackWidth="1.8" positionX="3.1" positionZ="0.3"/>
<RearAxle maxSteering="0.0" wheelDiameter="0.6" trackWidth="1.8" positionX="0.0" positionZ="0.3"/>
</Axles>
<Properties>
<Property name="type" value="ego_vehicle"/>
</Properties>
</Vehicle>
</ScenarioObject>
<ScenarioObject name="adversary">
<Vehicle name="vehicle.lincoln.mkz_2017" vehicleCategory="car">
<ParameterDeclarations/>
<Performance maxSpeed="69.444" maxAcceleration="200" maxDeceleration="10.0"/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2.1" length="4.5" height="1.8"/>
</BoundingBox>
<Axles>
<FrontAxle maxSteering="0.5" wheelDiameter="0.6" trackWidth="1.8" positionX="3.1" positionZ="0.3"/>
<RearAxle maxSteering="0.0" wheelDiameter="0.6" trackWidth="1.8" positionX="0.0" positionZ="0.3"/>
</Axles>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Vehicle>
</ScenarioObject>
<ScenarioObject name="standing">
<Vehicle name="vehicle.volkswagen.t2" vehicleCategory="car">
<ParameterDeclarations/>
<Performance maxSpeed="69.444" maxAcceleration="200" maxDeceleration="10.0"/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2.1" length="4.5" height="1.8"/>
</BoundingBox>
<Axles>
<FrontAxle maxSteering="0.5" wheelDiameter="0.6" trackWidth="1.8" positionX="3.1" positionZ="0.3"/>
<RearAxle maxSteering="0.0" wheelDiameter="0.6" 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_25408">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_w_transform_25409">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_w_transform_25410">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_w_transform_25411">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_w_transform_25412">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_w_transform_25413">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_w_transform_25414">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_w_transform_25415">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_close_to_standing_25416">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
</Entities>
<Storyboard>
<Init>
<Actions>
<GlobalAction>
<EnvironmentAction>
<Environment name="Environment1">
<TimeOfDay animation="false" dateTime="2019-06-25T12:00:00"/>
<Weather cloudState="free">
<Sun intensity="0.85" azimuth="0" elevation="1.31"/>
<Fog visualRange="100000.0"/>
<Precipitation precipitationType="dry" intensity="0.0"/>
</Weather>
<RoadCondition frictionScaleFactor="1.0"/>
</Environment>
</EnvironmentAction>
</GlobalAction>
<Private entityRef="hero">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-9.4" y="-152.8" z="0.5" h="1.57079632679"/>
</Position>
</TeleportAction>
</PrivateAction>
<PrivateAction>
<ControllerAction>
<AssignControllerAction>
<Controller name="HeroAgent">
<Properties>
<Property name="module" value="external_control"/>
</Properties>
</Controller>
</AssignControllerAction>
<OverrideControllerValueAction>
<Throttle value="0" active="false"/>
<Brake value="0" active="false"/>
<Clutch value="0" active="false"/>
<ParkingBrake value="0" active="false"/>
<SteeringWheel value="0" active="false"/>
<Gear number="0" active="false"/>
</OverrideControllerValueAction>
</ControllerAction>
</PrivateAction>
</Private>
<Private entityRef="adversary">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-9.4" y="-71.0" z="0.5" h="1.57079632679"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="standing">
<PrivateAction>
<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_25408">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-14.263712882995605" y="-79.75975799560547" z="0.03385288268327713"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_w_transform_25409">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-83.3265151977539" y="19.6922664642334" z="0.5"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_w_transform_25410">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-13.851014137268066" y="23.852027893066406" z="0.5"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_w_transform_25411">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="6.118962287902832" y="33.292728424072266" z="0.5"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_w_transform_25412">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="6.991647720336914" y="-88.38440704345703" z="0.5"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_w_transform_25413">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="12.062777519226074" y="-1.9690241813659668" z="0.5"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_w_transform_25414">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-93.85317993164062" y="42.887474060058594" z="0.5"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_w_transform_25415">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="71.48844146728516" y="97.9011001586914" z="0.5"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_close_to_standing_25416">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-13.811351776123047" y="29.843311309814453" z="0.00312042236328125"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
</Actions>
</Init>
<Story name="MyStory">
<Act name="Behavior">
<ManeuverGroup maximumExecutionCount="1" name="ManeuverSequence">
<Actors selectTriggeringEntities="false">
<EntityRef entityRef="adversary"/>
</Actors>
<Maneuver name="LaneChangeSimpleManeuver">
<Event name="AdversaryAccelerates" priority="overwrite">
<Action name="AdversaryAccelerates">
<PrivateAction>
<LongitudinalAction>
<SpeedAction>
<SpeedActionDynamics dynamicsShape="step" value="50" dynamicsDimension="distance"/>
<SpeedActionTarget>
<AbsoluteTargetSpeed value="5.0"/>
</SpeedActionTarget>
</SpeedAction>
</LongitudinalAction>
</PrivateAction>
</Action>
<StartTrigger>
<ConditionGroup>
<Condition name="StartCondition" delay="0" conditionEdge="rising">
<ByEntityCondition>
<TriggeringEntities triggeringEntitiesRule="any">
<EntityRef entityRef="hero"/>
</TriggeringEntities>
<EntityCondition>
<RelativeDistanceCondition entityRef="adversary" relativeDistanceType="cartesianDistance" value="40.0" freespace="false" rule="lessThan"/>
</EntityCondition>
</ByEntityCondition>
</Condition>
</ConditionGroup>
</StartTrigger>
</Event>
<Event name="AdversaryChangesLane" priority="overwrite">
<Action name="AdversaryChangesLane">
<PrivateAction>
<LateralAction>
<LaneChangeAction>
<LaneChangeActionDynamics dynamicsShape="linear" value="25" dynamicsDimension="distance"/>
<LaneChangeTarget>
<RelativeTargetLane entityRef="adversary" value="-1"/>
</LaneChangeTarget>
</LaneChangeAction>
</LateralAction>
</PrivateAction>
</Action>
<StartTrigger>
<ConditionGroup>
<Condition name="AfterAdversaryAccelerates" delay="0" conditionEdge="rising">
<ByValueCondition>
<StoryboardElementStateCondition storyboardElementType="action" storyboardElementRef="AdversaryAccelerates" state="completeState"/>
</ByValueCondition>
</Condition>
</ConditionGroup>
</StartTrigger>
</Event>
</Maneuver>
</ManeuverGroup>
<StartTrigger>
<ConditionGroup>
<Condition name="OverallStartCondition" delay="0" conditionEdge="rising">
<ByEntityCondition>
<TriggeringEntities triggeringEntitiesRule="any">
<EntityRef entityRef="hero"/>
</TriggeringEntities>
<EntityCondition>
<TraveledDistanceCondition value="1.0"/>
</EntityCondition>
</ByEntityCondition>
</Condition>
<Condition name="StartTime" delay="0" conditionEdge="rising">
<ByValueCondition>
<SimulationTimeCondition value="0" rule="equalTo"/>
</ByValueCondition>
</Condition>
</ConditionGroup>
</StartTrigger>
<StopTrigger>
<ConditionGroup>
<Condition name="EndCondition" delay="0" conditionEdge="rising">
<ByEntityCondition>
<TriggeringEntities triggeringEntitiesRule="any">
<EntityRef entityRef="hero"/>
</TriggeringEntities>
<EntityCondition>
<TraveledDistanceCondition value="200.0"/>
</EntityCondition>
</ByEntityCondition>
</Condition>
</ConditionGroup>
</StopTrigger>
</Act>
</Story>
<StopTrigger>
<ConditionGroup>
<Condition name="criteria_RunningStopTest" delay="0" conditionEdge="rising">
<ByValueCondition>
<ParameterCondition parameterRef="" value="" rule="lessThan"/>
</ByValueCondition>
</Condition>
<Condition name="criteria_RunningRedLightTest" delay="0" conditionEdge="rising">
<ByValueCondition>
<ParameterCondition parameterRef="" value="" rule="lessThan"/>
</ByValueCondition>
</Condition>
<Condition name="criteria_WrongLaneTest" delay="0" conditionEdge="rising">
<ByValueCondition>
<ParameterCondition parameterRef="" value="" rule="lessThan"/>
</ByValueCondition>
</Condition>
<Condition name="criteria_OnSidewalkTest" delay="0" conditionEdge="rising">
<ByValueCondition>
<ParameterCondition parameterRef="" value="" rule="lessThan"/>
</ByValueCondition>
</Condition>
<Condition name="criteria_KeepLaneTest" delay="0" conditionEdge="rising">
<ByValueCondition>
<ParameterCondition parameterRef="" value="" rule="lessThan"/>
</ByValueCondition>
</Condition>
<Condition name="criteria_CollisionTest" delay="0" conditionEdge="rising">
<ByValueCondition>
<ParameterCondition parameterRef="" value="" rule="lessThan"/>
</ByValueCondition>
</Condition>
<Condition name="criteria_DrivenDistanceTest" delay="0" conditionEdge="rising">
<ByValueCondition>
<ParameterCondition parameterRef="distance_success" value="100" rule="lessThan"/>
</ByValueCondition>
</Condition>
</ConditionGroup>
</StopTrigger>
</Storyboard>
</OpenSCENARIO>
``` | Here is the result:
```
<?xml version="1.0" ?>
<OpenSCENARIO>
<FileHeader revMajor="1" revMinor="0" date="2020-03-24T12:00:00" description="CARLA:LaneChangeSimple" author=""/>
<ParameterDeclarations/>
<CatalogLocations/>
<RoadNetwork>
<LogicFile filepath="Town04"/>
<SceneGraphFile filepath=""/>
</RoadNetwork>
<Entities>
<ScenarioObject name="hero">
<Vehicle name="vehicle.tesla.model3" vehicleCategory="car">
<ParameterDeclarations/>
<Performance maxSpeed="69.444" maxAcceleration="200" maxDeceleration="10.0"/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2.1" length="4.5" height="1.8"/>
</BoundingBox>
<Axles>
<FrontAxle maxSteering="0.5" wheelDiameter="0.6" trackWidth="1.8" positionX="3.1" positionZ="0.3"/>
<RearAxle maxSteering="0.0" wheelDiameter="0.6" trackWidth="1.8" positionX="0.0" positionZ="0.3"/>
</Axles>
<Properties>
<Property name="type" value="ego_vehicle"/>
</Properties>
</Vehicle>
</ScenarioObject>
<ScenarioObject name="adversary">
<Vehicle name="vehicle.lincoln.mkz_2017" vehicleCategory="car">
<ParameterDeclarations/>
<Performance maxSpeed="69.444" maxAcceleration="200" maxDeceleration="10.0"/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2.1" length="4.5" height="1.8"/>
</BoundingBox>
<Axles>
<FrontAxle maxSteering="0.5" wheelDiameter="0.6" trackWidth="1.8" positionX="3.1" positionZ="0.3"/>
<RearAxle maxSteering="0.0" wheelDiameter="0.6" trackWidth="1.8" positionX="0.0" positionZ="0.3"/>
</Axles>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Vehicle>
</ScenarioObject>
<ScenarioObject name="standing">
<Vehicle name="vehicle.volkswagen.t2" vehicleCategory="car">
<ParameterDeclarations/>
<Performance maxSpeed="69.444" maxAcceleration="200" maxDeceleration="10.0"/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2.1" length="4.5" height="1.8"/>
</BoundingBox>
<Axles>
<FrontAxle maxSteering="0.5" wheelDiameter="0.6" trackWidth="1.8" positionX="3.1" positionZ="0.3"/>
<RearAxle maxSteering="0.0" wheelDiameter="0.6" 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_25408">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_w_transform_25409">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_w_transform_25411">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_w_transform_25412">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_w_transform_25413">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_w_transform_25414">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_w_transform_25415">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_close_to_standing_25416">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
</Entities>
<Storyboard>
<Init>
<Actions>
<GlobalAction>
<EnvironmentAction>
<Environment name="Environment1">
<TimeOfDay animation="false" dateTime="2019-06-25T12:00:00"/>
<Weather cloudState="free">
<Sun intensity="0.85" azimuth="0" elevation="1.31"/>
<Fog visualRange="100000.0"/>
<Precipitation precipitationType="dry" intensity="0.0"/>
</Weather>
<RoadCondition frictionScaleFactor="1.0"/>
</Environment>
</EnvironmentAction>
</GlobalAction>
<Private entityRef="hero">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-9.4" y="-152.8" z="0.5" h="1.57079632679"/>
</Position>
</TeleportAction>
</PrivateAction>
<PrivateAction>
<ControllerAction>
<AssignControllerAction>
<Controller name="HeroAgent">
<Properties>
<Property name="module" value="external_control"/>
</Properties>
</Controller>
</AssignControllerAction>
<OverrideControllerValueAction>
<Throttle value="0" active="false"/>
<Brake value="0" active="false"/>
<Clutch value="0" active="false"/>
<ParkingBrake value="0" active="false"/>
<SteeringWheel value="0" active="false"/>
<Gear number="0" active="false"/>
</OverrideControllerValueAction>
</ControllerAction>
</PrivateAction>
</Private>
<Private entityRef="adversary">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-9.4" y="-71.0" z="0.5" h="1.57079632679"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="standing">
<PrivateAction>
<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_25408">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-14.263712882995605" y="-79.75975799560547" z="0.03385288268327713"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_w_transform_25409">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-83.3265151977539" y="19.6922664642334" z="0.5"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_w_transform_25411">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="6.118962287902832" y="33.292728424072266" z="0.5"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_w_transform_25412">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="6.991647720336914" y="-88.38440704345703" z="0.5"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_w_transform_25413">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="12.062777519226074" y="-1.9690241813659668" z="0.5"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_w_transform_25414">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-93.85317993164062" y="42.887474060058594" z="0.5"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_w_transform_25415">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="71.48844146728516" y="97.9011001586914" z="0.5"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_close_to_standing_25416">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-13.811351776123047" y="29.843311309814453" z="0.00312042236328125"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
</Actions>
</Init>
<Story name="MyStory">
<Act name="Behavior">
<ManeuverGroup maximumExecutionCount="1" name="ManeuverSequence">
<Actors selectTriggeringEntities="false">
<EntityRef entityRef="adversary"/>
</Actors>
<Maneuver name="LaneChangeSimpleManeuver">
<Event name="AdversaryAccelerates" priority="overwrite">
<Action name="AdversaryAccelerates">
<PrivateAction>
<LongitudinalAction>
<SpeedAction>
<SpeedActionDynamics dynamicsShape="step" value="50" dynamicsDimension="distance"/>
<SpeedActionTarget>
<AbsoluteTargetSpeed value="5.0"/>
</SpeedActionTarget>
</SpeedAction>
</LongitudinalAction>
</PrivateAction>
</Action>
<StartTrigger>
<ConditionGroup>
<Condition name="StartCondition" delay="0" conditionEdge="rising">
<ByEntityCondition>
<TriggeringEntities triggeringEntitiesRule="any">
<EntityRef entityRef="hero"/>
</TriggeringEntities>
<EntityCondition>
<RelativeDistanceCondition entityRef="adversary" relativeDistanceType="cartesianDistance" value="40.0" freespace="false" rule="lessThan"/>
</EntityCondition>
</ByEntityCondition>
</Condition>
</ConditionGroup>
</StartTrigger>
</Event>
<Event name="AdversaryChangesLane" priority="overwrite">
<Action name="AdversaryChangesLane">
<PrivateAction>
<LateralAction>
<LaneChangeAction>
<LaneChangeActionDynamics dynamicsShape="linear" value="25" dynamicsDimension="distance"/>
<LaneChangeTarget>
<RelativeTargetLane entityRef="adversary" value="-1"/>
</LaneChangeTarget>
</LaneChangeAction>
</LateralAction>
</PrivateAction>
</Action>
<StartTrigger>
<ConditionGroup>
<Condition name="AfterAdversaryAccelerates" delay="0" conditionEdge="rising">
<ByValueCondition>
<StoryboardElementStateCondition storyboardElementType="action" storyboardElementRef="AdversaryAccelerates" state="completeState"/>
</ByValueCondition>
</Condition>
</ConditionGroup>
</StartTrigger>
</Event>
</Maneuver>
</ManeuverGroup>
<StartTrigger>
<ConditionGroup>
<Condition name="OverallStartCondition" delay="0" conditionEdge="rising">
<ByEntityCondition>
<TriggeringEntities triggeringEntitiesRule="any">
<EntityRef entityRef="hero"/>
</TriggeringEntities>
<EntityCondition>
<TraveledDistanceCondition value="1.0"/>
</EntityCondition>
</ByEntityCondition>
</Condition>
<Condition name="StartTime" delay="0" conditionEdge="rising">
<ByValueCondition>
<SimulationTimeCondition value="0" rule="equalTo"/>
</ByValueCondition>
</Condition>
</ConditionGroup>
</StartTrigger>
<StopTrigger>
<ConditionGroup>
<Condition name="EndCondition" delay="0" conditionEdge="rising">
<ByEntityCondition>
<TriggeringEntities triggeringEntitiesRule="any">
<EntityRef entityRef="hero"/>
</TriggeringEntities>
<EntityCondition>
<TraveledDistanceCondition value="200.0"/>
</EntityCondition>
</ByEntityCondition>
</Condition>
</ConditionGroup>
</StopTrigger>
</Act>
</Story>
<StopTrigger>
<ConditionGroup>
<Condition name="criteria_RunningStopTest" delay="0" conditionEdge="rising">
<ByValueCondition>
<ParameterCondition parameterRef="" value="" rule="lessThan"/>
</ByValueCondition>
</Condition>
<Condition name="criteria_RunningRedLightTest" delay="0" conditionEdge="rising">
<ByValueCondition>
<ParameterCondition parameterRef="" value="" rule="lessThan"/>
</ByValueCondition>
</Condition>
<Condition name="criteria_WrongLaneTest" delay="0" conditionEdge="rising">
<ByValueCondition>
<ParameterCondition parameterRef="" value="" rule="lessThan"/>
</ByValueCondition>
</Condition>
<Condition name="criteria_OnSidewalkTest" delay="0" conditionEdge="rising">
<ByValueCondition>
<ParameterCondition parameterRef="" value="" rule="lessThan"/>
</ByValueCondition>
</Condition>
<Condition name="criteria_KeepLaneTest" delay="0" conditionEdge="rising">
<ByValueCondition>
<ParameterCondition parameterRef="" value="" rule="lessThan"/>
</ByValueCondition>
</Condition>
<Condition name="criteria_CollisionTest" delay="0" conditionEdge="rising">
<ByValueCondition>
<ParameterCondition parameterRef="" value="" rule="lessThan"/>
</ByValueCondition>
</Condition>
<Condition name="criteria_DrivenDistanceTest" delay="0" conditionEdge="rising">
<ByValueCondition>
<ParameterCondition parameterRef="distance_success" value="100" rule="lessThan"/>
</ByValueCondition>
</Condition>
</ConditionGroup>
</StopTrigger>
</Storyboard>
</OpenSCENARIO>
``` |
can you remove pedestrian close to hero?
```
<?xml version="1.0" ?>
<OpenSCENARIO>
<FileHeader revMajor="1" revMinor="0" date="2020-03-24T12:00:00" description="CARLA:LaneChangeSimple" author=""/>
<ParameterDeclarations/>
<CatalogLocations/>
<RoadNetwork>
<LogicFile filepath="Town04"/>
<SceneGraphFile filepath=""/>
</RoadNetwork>
<Entities>
<ScenarioObject name="hero">
<Vehicle name="vehicle.tesla.model3" vehicleCategory="car">
<ParameterDeclarations/>
<Performance maxSpeed="69.444" maxAcceleration="200" maxDeceleration="10.0"/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2.1" length="4.5" height="1.8"/>
</BoundingBox>
<Axles>
<FrontAxle maxSteering="0.5" wheelDiameter="0.6" trackWidth="1.8" positionX="3.1" positionZ="0.3"/>
<RearAxle maxSteering="0.0" wheelDiameter="0.6" trackWidth="1.8" positionX="0.0" positionZ="0.3"/>
</Axles>
<Properties>
<Property name="type" value="ego_vehicle"/>
</Properties>
</Vehicle>
</ScenarioObject>
<ScenarioObject name="adversary">
<Vehicle name="vehicle.lincoln.mkz_2017" vehicleCategory="car">
<ParameterDeclarations/>
<Performance maxSpeed="69.444" maxAcceleration="200" maxDeceleration="10.0"/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2.1" length="4.5" height="1.8"/>
</BoundingBox>
<Axles>
<FrontAxle maxSteering="0.5" wheelDiameter="0.6" trackWidth="1.8" positionX="3.1" positionZ="0.3"/>
<RearAxle maxSteering="0.0" wheelDiameter="0.6" trackWidth="1.8" positionX="0.0" positionZ="0.3"/>
</Axles>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Vehicle>
</ScenarioObject>
<ScenarioObject name="standing">
<Vehicle name="vehicle.volkswagen.t2" vehicleCategory="car">
<ParameterDeclarations/>
<Performance maxSpeed="69.444" maxAcceleration="200" maxDeceleration="10.0"/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2.1" length="4.5" height="1.8"/>
</BoundingBox>
<Axles>
<FrontAxle maxSteering="0.5" wheelDiameter="0.6" trackWidth="1.8" positionX="3.1" positionZ="0.3"/>
<RearAxle maxSteering="0.0" wheelDiameter="0.6" trackWidth="1.8" positionX="0.0" positionZ="0.3"/>
</Axles>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Vehicle>
</ScenarioObject>
<ScenarioObject name="pedestrian_close_to_hero_9139">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_close_to_adversary_9140">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_close_to_adversary_9141">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_w_transform_9142">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_close_to_hero_9143">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_close_to_standing_9144">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_w_transform_9146">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_close_to_standing_9147">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_close_to_adversary_9151">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
</Entities>
<Storyboard>
<Init>
<Actions>
<GlobalAction>
<EnvironmentAction>
<Environment name="Environment1">
<TimeOfDay animation="false" dateTime="2019-06-25T12:00:00"/>
<Weather cloudState="free">
<Sun intensity="0.85" azimuth="0" elevation="1.31"/>
<Fog visualRange="100000.0"/>
<Precipitation precipitationType="dry" intensity="0.0"/>
</Weather>
<RoadCondition frictionScaleFactor="1.0"/>
</Environment>
</EnvironmentAction>
</GlobalAction>
<Private entityRef="hero">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-9.4" y="-152.8" z="0.5" h="1.57079632679"/>
</Position>
</TeleportAction>
</PrivateAction>
<PrivateAction>
<ControllerAction>
<AssignControllerAction>
<Controller name="HeroAgent">
<Properties>
<Property name="module" value="external_control"/>
</Properties>
</Controller>
</AssignControllerAction>
<OverrideControllerValueAction>
<Throttle value="0" active="false"/>
<Brake value="0" active="false"/>
<Clutch value="0" active="false"/>
<ParkingBrake value="0" active="false"/>
<SteeringWheel value="0" active="false"/>
<Gear number="0" active="false"/>
</OverrideControllerValueAction>
</ControllerAction>
</PrivateAction>
</Private>
<Private entityRef="adversary">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-9.4" y="-71.0" z="0.5" h="1.57079632679"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="standing">
<PrivateAction>
<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_9139">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-12.585434913635254" y="-152.0654754638672" z="0.0018838500836864114"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_close_to_adversary_9140">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-14.24223518371582" y="-62.084625244140625" z="0.033877868205308914"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_close_to_adversary_9141">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-12.585945129394531" y="-73.86249542236328" z="0.033869706094264984"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_w_transform_9142">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-91.05167388916016" y="54.48925018310547" z="0.5"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_close_to_hero_9143">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-16.185890197753906" y="-148.40167236328125" z="0.0018838500836864114"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_close_to_standing_9144">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-16.509737014770508" y="30.3277587890625" z="0.0031128311529755592"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_w_transform_9146">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="92.1982650756836" y="76.00609588623047" z="0.5"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_close_to_standing_9147">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-16.05246925354004" y="23.99342155456543" z="0.0031077193561941385"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_close_to_adversary_9151">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-17.403963088989258" y="-63.066986083984375" z="0.033847350627183914"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
</Actions>
</Init>
<Story name="MyStory">
<Act name="Behavior">
<ManeuverGroup maximumExecutionCount="1" name="ManeuverSequence">
<Actors selectTriggeringEntities="false">
<EntityRef entityRef="adversary"/>
</Actors>
<Maneuver name="LaneChangeSimpleManeuver">
<Event name="AdversaryAccelerates" priority="overwrite">
<Action name="AdversaryAccelerates">
<PrivateAction>
<LongitudinalAction>
<SpeedAction>
<SpeedActionDynamics dynamicsShape="step" value="50" dynamicsDimension="distance"/>
<SpeedActionTarget>
<AbsoluteTargetSpeed value="5.0"/>
</SpeedActionTarget>
</SpeedAction>
</LongitudinalAction>
</PrivateAction>
</Action>
<StartTrigger>
<ConditionGroup>
<Condition name="StartCondition" delay="0" conditionEdge="rising">
<ByEntityCondition>
<TriggeringEntities triggeringEntitiesRule="any">
<EntityRef entityRef="hero"/>
</TriggeringEntities>
<EntityCondition>
<RelativeDistanceCondition entityRef="adversary" relativeDistanceType="cartesianDistance" value="40.0" freespace="false" rule="lessThan"/>
</EntityCondition>
</ByEntityCondition>
</Condition>
</ConditionGroup>
</StartTrigger>
</Event>
<Event name="AdversaryChangesLane" priority="overwrite">
<Action name="AdversaryChangesLane">
<PrivateAction>
<LateralAction>
<LaneChangeAction>
<LaneChangeActionDynamics dynamicsShape="linear" value="25" dynamicsDimension="distance"/>
<LaneChangeTarget>
<RelativeTargetLane entityRef="adversary" value="-1"/>
</LaneChangeTarget>
</LaneChangeAction>
</LateralAction>
</PrivateAction>
</Action>
<StartTrigger>
<ConditionGroup>
<Condition name="AfterAdversaryAccelerates" delay="0" conditionEdge="rising">
<ByValueCondition>
<StoryboardElementStateCondition storyboardElementType="action" storyboardElementRef="AdversaryAccelerates" state="completeState"/>
</ByValueCondition>
</Condition>
</ConditionGroup>
</StartTrigger>
</Event>
</Maneuver>
</ManeuverGroup>
<StartTrigger>
<ConditionGroup>
<Condition name="OverallStartCondition" delay="0" conditionEdge="rising">
<ByEntityCondition>
<TriggeringEntities triggeringEntitiesRule="any">
<EntityRef entityRef="hero"/>
</TriggeringEntities>
<EntityCondition>
<TraveledDistanceCondition value="1.0"/>
</EntityCondition>
</ByEntityCondition>
</Condition>
<Condition name="StartTime" delay="0" conditionEdge="rising">
<ByValueCondition>
<SimulationTimeCondition value="0" rule="equalTo"/>
</ByValueCondition>
</Condition>
</ConditionGroup>
</StartTrigger>
<StopTrigger>
<ConditionGroup>
<Condition name="EndCondition" delay="0" conditionEdge="rising">
<ByEntityCondition>
<TriggeringEntities triggeringEntitiesRule="any">
<EntityRef entityRef="hero"/>
</TriggeringEntities>
<EntityCondition>
<TraveledDistanceCondition value="200.0"/>
</EntityCondition>
</ByEntityCondition>
</Condition>
</ConditionGroup>
</StopTrigger>
</Act>
</Story>
<StopTrigger>
<ConditionGroup>
<Condition name="criteria_RunningStopTest" delay="0" conditionEdge="rising">
<ByValueCondition>
<ParameterCondition parameterRef="" value="" rule="lessThan"/>
</ByValueCondition>
</Condition>
<Condition name="criteria_RunningRedLightTest" delay="0" conditionEdge="rising">
<ByValueCondition>
<ParameterCondition parameterRef="" value="" rule="lessThan"/>
</ByValueCondition>
</Condition>
<Condition name="criteria_WrongLaneTest" delay="0" conditionEdge="rising">
<ByValueCondition>
<ParameterCondition parameterRef="" value="" rule="lessThan"/>
</ByValueCondition>
</Condition>
<Condition name="criteria_OnSidewalkTest" delay="0" conditionEdge="rising">
<ByValueCondition>
<ParameterCondition parameterRef="" value="" rule="lessThan"/>
</ByValueCondition>
</Condition>
<Condition name="criteria_KeepLaneTest" delay="0" conditionEdge="rising">
<ByValueCondition>
<ParameterCondition parameterRef="" value="" rule="lessThan"/>
</ByValueCondition>
</Condition>
<Condition name="criteria_CollisionTest" delay="0" conditionEdge="rising">
<ByValueCondition>
<ParameterCondition parameterRef="" value="" rule="lessThan"/>
</ByValueCondition>
</Condition>
<Condition name="criteria_DrivenDistanceTest" delay="0" conditionEdge="rising">
<ByValueCondition>
<ParameterCondition parameterRef="distance_success" value="100" rule="lessThan"/>
</ByValueCondition>
</Condition>
</ConditionGroup>
</StopTrigger>
</Storyboard>
</OpenSCENARIO>
``` | Here is the result:
```
<?xml version="1.0" ?>
<OpenSCENARIO>
<FileHeader revMajor="1" revMinor="0" date="2020-03-24T12:00:00" description="CARLA:LaneChangeSimple" author=""/>
<ParameterDeclarations/>
<CatalogLocations/>
<RoadNetwork>
<LogicFile filepath="Town04"/>
<SceneGraphFile filepath=""/>
</RoadNetwork>
<Entities>
<ScenarioObject name="hero">
<Vehicle name="vehicle.tesla.model3" vehicleCategory="car">
<ParameterDeclarations/>
<Performance maxSpeed="69.444" maxAcceleration="200" maxDeceleration="10.0"/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2.1" length="4.5" height="1.8"/>
</BoundingBox>
<Axles>
<FrontAxle maxSteering="0.5" wheelDiameter="0.6" trackWidth="1.8" positionX="3.1" positionZ="0.3"/>
<RearAxle maxSteering="0.0" wheelDiameter="0.6" trackWidth="1.8" positionX="0.0" positionZ="0.3"/>
</Axles>
<Properties>
<Property name="type" value="ego_vehicle"/>
</Properties>
</Vehicle>
</ScenarioObject>
<ScenarioObject name="adversary">
<Vehicle name="vehicle.lincoln.mkz_2017" vehicleCategory="car">
<ParameterDeclarations/>
<Performance maxSpeed="69.444" maxAcceleration="200" maxDeceleration="10.0"/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2.1" length="4.5" height="1.8"/>
</BoundingBox>
<Axles>
<FrontAxle maxSteering="0.5" wheelDiameter="0.6" trackWidth="1.8" positionX="3.1" positionZ="0.3"/>
<RearAxle maxSteering="0.0" wheelDiameter="0.6" trackWidth="1.8" positionX="0.0" positionZ="0.3"/>
</Axles>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Vehicle>
</ScenarioObject>
<ScenarioObject name="standing">
<Vehicle name="vehicle.volkswagen.t2" vehicleCategory="car">
<ParameterDeclarations/>
<Performance maxSpeed="69.444" maxAcceleration="200" maxDeceleration="10.0"/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2.1" length="4.5" height="1.8"/>
</BoundingBox>
<Axles>
<FrontAxle maxSteering="0.5" wheelDiameter="0.6" trackWidth="1.8" positionX="3.1" positionZ="0.3"/>
<RearAxle maxSteering="0.0" wheelDiameter="0.6" 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_9139">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_close_to_adversary_9140">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_close_to_adversary_9141">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_w_transform_9142">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_close_to_standing_9144">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_w_transform_9146">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_close_to_standing_9147">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_close_to_adversary_9151">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
</Entities>
<Storyboard>
<Init>
<Actions>
<GlobalAction>
<EnvironmentAction>
<Environment name="Environment1">
<TimeOfDay animation="false" dateTime="2019-06-25T12:00:00"/>
<Weather cloudState="free">
<Sun intensity="0.85" azimuth="0" elevation="1.31"/>
<Fog visualRange="100000.0"/>
<Precipitation precipitationType="dry" intensity="0.0"/>
</Weather>
<RoadCondition frictionScaleFactor="1.0"/>
</Environment>
</EnvironmentAction>
</GlobalAction>
<Private entityRef="hero">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-9.4" y="-152.8" z="0.5" h="1.57079632679"/>
</Position>
</TeleportAction>
</PrivateAction>
<PrivateAction>
<ControllerAction>
<AssignControllerAction>
<Controller name="HeroAgent">
<Properties>
<Property name="module" value="external_control"/>
</Properties>
</Controller>
</AssignControllerAction>
<OverrideControllerValueAction>
<Throttle value="0" active="false"/>
<Brake value="0" active="false"/>
<Clutch value="0" active="false"/>
<ParkingBrake value="0" active="false"/>
<SteeringWheel value="0" active="false"/>
<Gear number="0" active="false"/>
</OverrideControllerValueAction>
</ControllerAction>
</PrivateAction>
</Private>
<Private entityRef="adversary">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-9.4" y="-71.0" z="0.5" h="1.57079632679"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="standing">
<PrivateAction>
<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_9139">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-12.585434913635254" y="-152.0654754638672" z="0.0018838500836864114"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_close_to_adversary_9140">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-14.24223518371582" y="-62.084625244140625" z="0.033877868205308914"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_close_to_adversary_9141">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-12.585945129394531" y="-73.86249542236328" z="0.033869706094264984"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_w_transform_9142">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-91.05167388916016" y="54.48925018310547" z="0.5"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_close_to_standing_9144">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-16.509737014770508" y="30.3277587890625" z="0.0031128311529755592"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_w_transform_9146">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="92.1982650756836" y="76.00609588623047" z="0.5"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_close_to_standing_9147">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-16.05246925354004" y="23.99342155456543" z="0.0031077193561941385"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_close_to_adversary_9151">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-17.403963088989258" y="-63.066986083984375" z="0.033847350627183914"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
</Actions>
</Init>
<Story name="MyStory">
<Act name="Behavior">
<ManeuverGroup maximumExecutionCount="1" name="ManeuverSequence">
<Actors selectTriggeringEntities="false">
<EntityRef entityRef="adversary"/>
</Actors>
<Maneuver name="LaneChangeSimpleManeuver">
<Event name="AdversaryAccelerates" priority="overwrite">
<Action name="AdversaryAccelerates">
<PrivateAction>
<LongitudinalAction>
<SpeedAction>
<SpeedActionDynamics dynamicsShape="step" value="50" dynamicsDimension="distance"/>
<SpeedActionTarget>
<AbsoluteTargetSpeed value="5.0"/>
</SpeedActionTarget>
</SpeedAction>
</LongitudinalAction>
</PrivateAction>
</Action>
<StartTrigger>
<ConditionGroup>
<Condition name="StartCondition" delay="0" conditionEdge="rising">
<ByEntityCondition>
<TriggeringEntities triggeringEntitiesRule="any">
<EntityRef entityRef="hero"/>
</TriggeringEntities>
<EntityCondition>
<RelativeDistanceCondition entityRef="adversary" relativeDistanceType="cartesianDistance" value="40.0" freespace="false" rule="lessThan"/>
</EntityCondition>
</ByEntityCondition>
</Condition>
</ConditionGroup>
</StartTrigger>
</Event>
<Event name="AdversaryChangesLane" priority="overwrite">
<Action name="AdversaryChangesLane">
<PrivateAction>
<LateralAction>
<LaneChangeAction>
<LaneChangeActionDynamics dynamicsShape="linear" value="25" dynamicsDimension="distance"/>
<LaneChangeTarget>
<RelativeTargetLane entityRef="adversary" value="-1"/>
</LaneChangeTarget>
</LaneChangeAction>
</LateralAction>
</PrivateAction>
</Action>
<StartTrigger>
<ConditionGroup>
<Condition name="AfterAdversaryAccelerates" delay="0" conditionEdge="rising">
<ByValueCondition>
<StoryboardElementStateCondition storyboardElementType="action" storyboardElementRef="AdversaryAccelerates" state="completeState"/>
</ByValueCondition>
</Condition>
</ConditionGroup>
</StartTrigger>
</Event>
</Maneuver>
</ManeuverGroup>
<StartTrigger>
<ConditionGroup>
<Condition name="OverallStartCondition" delay="0" conditionEdge="rising">
<ByEntityCondition>
<TriggeringEntities triggeringEntitiesRule="any">
<EntityRef entityRef="hero"/>
</TriggeringEntities>
<EntityCondition>
<TraveledDistanceCondition value="1.0"/>
</EntityCondition>
</ByEntityCondition>
</Condition>
<Condition name="StartTime" delay="0" conditionEdge="rising">
<ByValueCondition>
<SimulationTimeCondition value="0" rule="equalTo"/>
</ByValueCondition>
</Condition>
</ConditionGroup>
</StartTrigger>
<StopTrigger>
<ConditionGroup>
<Condition name="EndCondition" delay="0" conditionEdge="rising">
<ByEntityCondition>
<TriggeringEntities triggeringEntitiesRule="any">
<EntityRef entityRef="hero"/>
</TriggeringEntities>
<EntityCondition>
<TraveledDistanceCondition value="200.0"/>
</EntityCondition>
</ByEntityCondition>
</Condition>
</ConditionGroup>
</StopTrigger>
</Act>
</Story>
<StopTrigger>
<ConditionGroup>
<Condition name="criteria_RunningStopTest" delay="0" conditionEdge="rising">
<ByValueCondition>
<ParameterCondition parameterRef="" value="" rule="lessThan"/>
</ByValueCondition>
</Condition>
<Condition name="criteria_RunningRedLightTest" delay="0" conditionEdge="rising">
<ByValueCondition>
<ParameterCondition parameterRef="" value="" rule="lessThan"/>
</ByValueCondition>
</Condition>
<Condition name="criteria_WrongLaneTest" delay="0" conditionEdge="rising">
<ByValueCondition>
<ParameterCondition parameterRef="" value="" rule="lessThan"/>
</ByValueCondition>
</Condition>
<Condition name="criteria_OnSidewalkTest" delay="0" conditionEdge="rising">
<ByValueCondition>
<ParameterCondition parameterRef="" value="" rule="lessThan"/>
</ByValueCondition>
</Condition>
<Condition name="criteria_KeepLaneTest" delay="0" conditionEdge="rising">
<ByValueCondition>
<ParameterCondition parameterRef="" value="" rule="lessThan"/>
</ByValueCondition>
</Condition>
<Condition name="criteria_CollisionTest" delay="0" conditionEdge="rising">
<ByValueCondition>
<ParameterCondition parameterRef="" value="" rule="lessThan"/>
</ByValueCondition>
</Condition>
<Condition name="criteria_DrivenDistanceTest" delay="0" conditionEdge="rising">
<ByValueCondition>
<ParameterCondition parameterRef="distance_success" value="100" rule="lessThan"/>
</ByValueCondition>
</Condition>
</ConditionGroup>
</StopTrigger>
</Storyboard>
</OpenSCENARIO>
``` |
i would like to instruct you to add pedestrian at location (7.65, 67.11, 0.5)?
```
<?xml version="1.0" ?>
<OpenSCENARIO>
<FileHeader revMajor="1" revMinor="0" date="2020-03-24T12:00:00" description="CARLA:LaneChangeSimple" author=""/>
<ParameterDeclarations/>
<CatalogLocations/>
<RoadNetwork>
<LogicFile filepath="Town04"/>
<SceneGraphFile filepath=""/>
</RoadNetwork>
<Entities>
<ScenarioObject name="hero">
<Vehicle name="vehicle.tesla.model3" vehicleCategory="car">
<ParameterDeclarations/>
<Performance maxSpeed="69.444" maxAcceleration="200" maxDeceleration="10.0"/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2.1" length="4.5" height="1.8"/>
</BoundingBox>
<Axles>
<FrontAxle maxSteering="0.5" wheelDiameter="0.6" trackWidth="1.8" positionX="3.1" positionZ="0.3"/>
<RearAxle maxSteering="0.0" wheelDiameter="0.6" trackWidth="1.8" positionX="0.0" positionZ="0.3"/>
</Axles>
<Properties>
<Property name="type" value="ego_vehicle"/>
</Properties>
</Vehicle>
</ScenarioObject>
<ScenarioObject name="adversary">
<Vehicle name="vehicle.lincoln.mkz_2017" vehicleCategory="car">
<ParameterDeclarations/>
<Performance maxSpeed="69.444" maxAcceleration="200" maxDeceleration="10.0"/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2.1" length="4.5" height="1.8"/>
</BoundingBox>
<Axles>
<FrontAxle maxSteering="0.5" wheelDiameter="0.6" trackWidth="1.8" positionX="3.1" positionZ="0.3"/>
<RearAxle maxSteering="0.0" wheelDiameter="0.6" trackWidth="1.8" positionX="0.0" positionZ="0.3"/>
</Axles>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Vehicle>
</ScenarioObject>
<ScenarioObject name="standing">
<Vehicle name="vehicle.volkswagen.t2" vehicleCategory="car">
<ParameterDeclarations/>
<Performance maxSpeed="69.444" maxAcceleration="200" maxDeceleration="10.0"/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2.1" length="4.5" height="1.8"/>
</BoundingBox>
<Axles>
<FrontAxle maxSteering="0.5" wheelDiameter="0.6" trackWidth="1.8" positionX="3.1" positionZ="0.3"/>
<RearAxle maxSteering="0.0" wheelDiameter="0.6" trackWidth="1.8" positionX="0.0" positionZ="0.3"/>
</Axles>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Vehicle>
</ScenarioObject>
<ScenarioObject name="pedestrian_close_to_hero_5883">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_w_transform_5884">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_close_to_standing_5885">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_w_transform_5886">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_w_transform_5887">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_w_transform_5888">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_close_to_hero_5889">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_close_to_adversary_5890">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_close_to_standing_5891">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_close_to_hero_5892">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_close_to_hero_5893">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_w_transform_5894">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_close_to_adversary_5895">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_close_to_standing_5896">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
</Entities>
<Storyboard>
<Init>
<Actions>
<GlobalAction>
<EnvironmentAction>
<Environment name="Environment1">
<TimeOfDay animation="false" dateTime="2019-06-25T12:00:00"/>
<Weather cloudState="free">
<Sun intensity="0.85" azimuth="0" elevation="1.31"/>
<Fog visualRange="100000.0"/>
<Precipitation precipitationType="dry" intensity="0.0"/>
</Weather>
<RoadCondition frictionScaleFactor="1.0"/>
</Environment>
</EnvironmentAction>
</GlobalAction>
<Private entityRef="hero">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-9.4" y="-152.8" z="0.5" h="1.57079632679"/>
</Position>
</TeleportAction>
</PrivateAction>
<PrivateAction>
<ControllerAction>
<AssignControllerAction>
<Controller name="HeroAgent">
<Properties>
<Property name="module" value="external_control"/>
</Properties>
</Controller>
</AssignControllerAction>
<OverrideControllerValueAction>
<Throttle value="0" active="false"/>
<Brake value="0" active="false"/>
<Clutch value="0" active="false"/>
<ParkingBrake value="0" active="false"/>
<SteeringWheel value="0" active="false"/>
<Gear number="0" active="false"/>
</OverrideControllerValueAction>
</ControllerAction>
</PrivateAction>
</Private>
<Private entityRef="adversary">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-9.4" y="-71.0" z="0.5" h="1.57079632679"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="standing">
<PrivateAction>
<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_5883">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-9.279906272888184" y="-158.331298828125" z="0.0015143966302275658"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_w_transform_5884">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="59.64934539794922" y="42.068729400634766" z="0.5"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_close_to_standing_5885">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-6.524749755859375" y="30.350563049316406" z="0.0030853652860969305"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_w_transform_5886">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="40.11453628540039" y="-84.30272674560547" z="0.5"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_w_transform_5887">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-72.69554901123047" y="-59.09566116333008" z="0.5"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_w_transform_5888">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-4.563665866851807" y="82.64964294433594" z="0.5"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_close_to_hero_5889">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-2.771904706954956" y="-156.1595916748047" z="0.0015143966302275658"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_close_to_adversary_5890">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-15.623130798339844" y="-72.30329895019531" z="0.033799782395362854"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_close_to_standing_5891">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-8.084449768066406" y="21.76462173461914" z="0.003035049419850111"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_close_to_hero_5892">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-13.099397659301758" y="-151.7095947265625" z="0.0015143966302275658"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_close_to_hero_5893">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-6.292068958282471" y="-154.4767303466797" z="0.0015143966302275658"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_w_transform_5894">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-66.55338287353516" y="-67.54591369628906" z="0.5"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_close_to_adversary_5895">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-8.903157234191895" y="-80.29196166992188" z="0.03377120941877365"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_close_to_standing_5896">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-5.215741157531738" y="22.133455276489258" z="0.0030625532381236553"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
</Actions>
</Init>
<Story name="MyStory">
<Act name="Behavior">
<ManeuverGroup maximumExecutionCount="1" name="ManeuverSequence">
<Actors selectTriggeringEntities="false">
<EntityRef entityRef="adversary"/>
</Actors>
<Maneuver name="LaneChangeSimpleManeuver">
<Event name="AdversaryAccelerates" priority="overwrite">
<Action name="AdversaryAccelerates">
<PrivateAction>
<LongitudinalAction>
<SpeedAction>
<SpeedActionDynamics dynamicsShape="step" value="50" dynamicsDimension="distance"/>
<SpeedActionTarget>
<AbsoluteTargetSpeed value="5.0"/>
</SpeedActionTarget>
</SpeedAction>
</LongitudinalAction>
</PrivateAction>
</Action>
<StartTrigger>
<ConditionGroup>
<Condition name="StartCondition" delay="0" conditionEdge="rising">
<ByEntityCondition>
<TriggeringEntities triggeringEntitiesRule="any">
<EntityRef entityRef="hero"/>
</TriggeringEntities>
<EntityCondition>
<RelativeDistanceCondition entityRef="adversary" relativeDistanceType="cartesianDistance" value="40.0" freespace="false" rule="lessThan"/>
</EntityCondition>
</ByEntityCondition>
</Condition>
</ConditionGroup>
</StartTrigger>
</Event>
<Event name="AdversaryChangesLane" priority="overwrite">
<Action name="AdversaryChangesLane">
<PrivateAction>
<LateralAction>
<LaneChangeAction>
<LaneChangeActionDynamics dynamicsShape="linear" value="25" dynamicsDimension="distance"/>
<LaneChangeTarget>
<RelativeTargetLane entityRef="adversary" value="-1"/>
</LaneChangeTarget>
</LaneChangeAction>
</LateralAction>
</PrivateAction>
</Action>
<StartTrigger>
<ConditionGroup>
<Condition name="AfterAdversaryAccelerates" delay="0" conditionEdge="rising">
<ByValueCondition>
<StoryboardElementStateCondition storyboardElementType="action" storyboardElementRef="AdversaryAccelerates" state="completeState"/>
</ByValueCondition>
</Condition>
</ConditionGroup>
</StartTrigger>
</Event>
</Maneuver>
</ManeuverGroup>
<StartTrigger>
<ConditionGroup>
<Condition name="OverallStartCondition" delay="0" conditionEdge="rising">
<ByEntityCondition>
<TriggeringEntities triggeringEntitiesRule="any">
<EntityRef entityRef="hero"/>
</TriggeringEntities>
<EntityCondition>
<TraveledDistanceCondition value="1.0"/>
</EntityCondition>
</ByEntityCondition>
</Condition>
<Condition name="StartTime" delay="0" conditionEdge="rising">
<ByValueCondition>
<SimulationTimeCondition value="0" rule="equalTo"/>
</ByValueCondition>
</Condition>
</ConditionGroup>
</StartTrigger>
<StopTrigger>
<ConditionGroup>
<Condition name="EndCondition" delay="0" conditionEdge="rising">
<ByEntityCondition>
<TriggeringEntities triggeringEntitiesRule="any">
<EntityRef entityRef="hero"/>
</TriggeringEntities>
<EntityCondition>
<TraveledDistanceCondition value="200.0"/>
</EntityCondition>
</ByEntityCondition>
</Condition>
</ConditionGroup>
</StopTrigger>
</Act>
</Story>
<StopTrigger>
<ConditionGroup>
<Condition name="criteria_RunningStopTest" delay="0" conditionEdge="rising">
<ByValueCondition>
<ParameterCondition parameterRef="" value="" rule="lessThan"/>
</ByValueCondition>
</Condition>
<Condition name="criteria_RunningRedLightTest" delay="0" conditionEdge="rising">
<ByValueCondition>
<ParameterCondition parameterRef="" value="" rule="lessThan"/>
</ByValueCondition>
</Condition>
<Condition name="criteria_WrongLaneTest" delay="0" conditionEdge="rising">
<ByValueCondition>
<ParameterCondition parameterRef="" value="" rule="lessThan"/>
</ByValueCondition>
</Condition>
<Condition name="criteria_OnSidewalkTest" delay="0" conditionEdge="rising">
<ByValueCondition>
<ParameterCondition parameterRef="" value="" rule="lessThan"/>
</ByValueCondition>
</Condition>
<Condition name="criteria_KeepLaneTest" delay="0" conditionEdge="rising">
<ByValueCondition>
<ParameterCondition parameterRef="" value="" rule="lessThan"/>
</ByValueCondition>
</Condition>
<Condition name="criteria_CollisionTest" delay="0" conditionEdge="rising">
<ByValueCondition>
<ParameterCondition parameterRef="" value="" rule="lessThan"/>
</ByValueCondition>
</Condition>
<Condition name="criteria_DrivenDistanceTest" delay="0" conditionEdge="rising">
<ByValueCondition>
<ParameterCondition parameterRef="distance_success" value="100" rule="lessThan"/>
</ByValueCondition>
</Condition>
</ConditionGroup>
</StopTrigger>
</Storyboard>
</OpenSCENARIO>
``` | Here is the result:
```
<?xml version="1.0" ?>
<OpenSCENARIO>
<FileHeader revMajor="1" revMinor="0" date="2020-03-24T12:00:00" description="CARLA:LaneChangeSimple" author=""/>
<ParameterDeclarations/>
<CatalogLocations/>
<RoadNetwork>
<LogicFile filepath="Town04"/>
<SceneGraphFile filepath=""/>
</RoadNetwork>
<Entities>
<ScenarioObject name="hero">
<Vehicle name="vehicle.tesla.model3" vehicleCategory="car">
<ParameterDeclarations/>
<Performance maxSpeed="69.444" maxAcceleration="200" maxDeceleration="10.0"/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2.1" length="4.5" height="1.8"/>
</BoundingBox>
<Axles>
<FrontAxle maxSteering="0.5" wheelDiameter="0.6" trackWidth="1.8" positionX="3.1" positionZ="0.3"/>
<RearAxle maxSteering="0.0" wheelDiameter="0.6" trackWidth="1.8" positionX="0.0" positionZ="0.3"/>
</Axles>
<Properties>
<Property name="type" value="ego_vehicle"/>
</Properties>
</Vehicle>
</ScenarioObject>
<ScenarioObject name="adversary">
<Vehicle name="vehicle.lincoln.mkz_2017" vehicleCategory="car">
<ParameterDeclarations/>
<Performance maxSpeed="69.444" maxAcceleration="200" maxDeceleration="10.0"/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2.1" length="4.5" height="1.8"/>
</BoundingBox>
<Axles>
<FrontAxle maxSteering="0.5" wheelDiameter="0.6" trackWidth="1.8" positionX="3.1" positionZ="0.3"/>
<RearAxle maxSteering="0.0" wheelDiameter="0.6" trackWidth="1.8" positionX="0.0" positionZ="0.3"/>
</Axles>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Vehicle>
</ScenarioObject>
<ScenarioObject name="standing">
<Vehicle name="vehicle.volkswagen.t2" vehicleCategory="car">
<ParameterDeclarations/>
<Performance maxSpeed="69.444" maxAcceleration="200" maxDeceleration="10.0"/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2.1" length="4.5" height="1.8"/>
</BoundingBox>
<Axles>
<FrontAxle maxSteering="0.5" wheelDiameter="0.6" trackWidth="1.8" positionX="3.1" positionZ="0.3"/>
<RearAxle maxSteering="0.0" wheelDiameter="0.6" 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_5883">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_w_transform_5884">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_close_to_standing_5885">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_w_transform_5886">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_w_transform_5887">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_w_transform_5888">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_close_to_hero_5889">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_close_to_adversary_5890">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_close_to_standing_5891">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_close_to_hero_5892">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_close_to_hero_5893">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_w_transform_5894">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_close_to_adversary_5895">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_close_to_standing_5896">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_w_transform_5897">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
</Entities>
<Storyboard>
<Init>
<Actions>
<GlobalAction>
<EnvironmentAction>
<Environment name="Environment1">
<TimeOfDay animation="false" dateTime="2019-06-25T12:00:00"/>
<Weather cloudState="free">
<Sun intensity="0.85" azimuth="0" elevation="1.31"/>
<Fog visualRange="100000.0"/>
<Precipitation precipitationType="dry" intensity="0.0"/>
</Weather>
<RoadCondition frictionScaleFactor="1.0"/>
</Environment>
</EnvironmentAction>
</GlobalAction>
<Private entityRef="hero">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-9.4" y="-152.8" z="0.5" h="1.57079632679"/>
</Position>
</TeleportAction>
</PrivateAction>
<PrivateAction>
<ControllerAction>
<AssignControllerAction>
<Controller name="HeroAgent">
<Properties>
<Property name="module" value="external_control"/>
</Properties>
</Controller>
</AssignControllerAction>
<OverrideControllerValueAction>
<Throttle value="0" active="false"/>
<Brake value="0" active="false"/>
<Clutch value="0" active="false"/>
<ParkingBrake value="0" active="false"/>
<SteeringWheel value="0" active="false"/>
<Gear number="0" active="false"/>
</OverrideControllerValueAction>
</ControllerAction>
</PrivateAction>
</Private>
<Private entityRef="adversary">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-9.4" y="-71.0" z="0.5" h="1.57079632679"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="standing">
<PrivateAction>
<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_5883">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-9.279906272888184" y="-158.331298828125" z="0.0015143966302275658"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_w_transform_5884">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="59.64934539794922" y="42.068729400634766" z="0.5"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_close_to_standing_5885">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-6.524749755859375" y="30.350563049316406" z="0.0030853652860969305"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_w_transform_5886">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="40.11453628540039" y="-84.30272674560547" z="0.5"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_w_transform_5887">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-72.69554901123047" y="-59.09566116333008" z="0.5"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_w_transform_5888">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-4.563665866851807" y="82.64964294433594" z="0.5"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_close_to_hero_5889">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-2.771904706954956" y="-156.1595916748047" z="0.0015143966302275658"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_close_to_adversary_5890">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-15.623130798339844" y="-72.30329895019531" z="0.033799782395362854"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_close_to_standing_5891">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-8.084449768066406" y="21.76462173461914" z="0.003035049419850111"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_close_to_hero_5892">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-13.099397659301758" y="-151.7095947265625" z="0.0015143966302275658"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_close_to_hero_5893">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-6.292068958282471" y="-154.4767303466797" z="0.0015143966302275658"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_w_transform_5894">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-66.55338287353516" y="-67.54591369628906" z="0.5"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_close_to_adversary_5895">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-8.903157234191895" y="-80.29196166992188" z="0.03377120941877365"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_close_to_standing_5896">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-5.215741157531738" y="22.133455276489258" z="0.0030625532381236553"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_w_transform_5897">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="7.6457343101501465" y="67.10958862304688" 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_w_transform_27717?
```
<?xml version="1.0" ?>
<OpenSCENARIO>
<FileHeader revMajor="1" revMinor="0" date="2020-03-24T12:00:00" description="CARLA:LaneChangeSimple" author=""/>
<ParameterDeclarations/>
<CatalogLocations/>
<RoadNetwork>
<LogicFile filepath="Town04"/>
<SceneGraphFile filepath=""/>
</RoadNetwork>
<Entities>
<ScenarioObject name="hero">
<Vehicle name="vehicle.tesla.model3" vehicleCategory="car">
<ParameterDeclarations/>
<Performance maxSpeed="69.444" maxAcceleration="200" maxDeceleration="10.0"/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2.1" length="4.5" height="1.8"/>
</BoundingBox>
<Axles>
<FrontAxle maxSteering="0.5" wheelDiameter="0.6" trackWidth="1.8" positionX="3.1" positionZ="0.3"/>
<RearAxle maxSteering="0.0" wheelDiameter="0.6" trackWidth="1.8" positionX="0.0" positionZ="0.3"/>
</Axles>
<Properties>
<Property name="type" value="ego_vehicle"/>
</Properties>
</Vehicle>
</ScenarioObject>
<ScenarioObject name="adversary">
<Vehicle name="vehicle.lincoln.mkz_2017" vehicleCategory="car">
<ParameterDeclarations/>
<Performance maxSpeed="69.444" maxAcceleration="200" maxDeceleration="10.0"/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2.1" length="4.5" height="1.8"/>
</BoundingBox>
<Axles>
<FrontAxle maxSteering="0.5" wheelDiameter="0.6" trackWidth="1.8" positionX="3.1" positionZ="0.3"/>
<RearAxle maxSteering="0.0" wheelDiameter="0.6" trackWidth="1.8" positionX="0.0" positionZ="0.3"/>
</Axles>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Vehicle>
</ScenarioObject>
<ScenarioObject name="standing">
<Vehicle name="vehicle.volkswagen.t2" vehicleCategory="car">
<ParameterDeclarations/>
<Performance maxSpeed="69.444" maxAcceleration="200" maxDeceleration="10.0"/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2.1" length="4.5" height="1.8"/>
</BoundingBox>
<Axles>
<FrontAxle maxSteering="0.5" wheelDiameter="0.6" trackWidth="1.8" positionX="3.1" positionZ="0.3"/>
<RearAxle maxSteering="0.0" wheelDiameter="0.6" 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_27697">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_w_transform_27698">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_w_transform_27699">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_close_to_standing_27700">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_close_to_standing_27701">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_close_to_adversary_27706">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_close_to_adversary_27707">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_w_transform_27708">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_w_transform_27711">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_close_to_adversary_27712">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_close_to_hero_27713">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_close_to_standing_27714">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_w_transform_27715">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_w_transform_27717">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_close_to_adversary_27718">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
</Entities>
<Storyboard>
<Init>
<Actions>
<GlobalAction>
<EnvironmentAction>
<Environment name="Environment1">
<TimeOfDay animation="false" dateTime="2019-06-25T12:00:00"/>
<Weather cloudState="free">
<Sun intensity="0.85" azimuth="0" elevation="1.31"/>
<Fog visualRange="100000.0"/>
<Precipitation precipitationType="dry" intensity="0.0"/>
</Weather>
<RoadCondition frictionScaleFactor="1.0"/>
</Environment>
</EnvironmentAction>
</GlobalAction>
<Private entityRef="hero">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-9.4" y="-152.8" z="0.5" h="1.57079632679"/>
</Position>
</TeleportAction>
</PrivateAction>
<PrivateAction>
<ControllerAction>
<AssignControllerAction>
<Controller name="HeroAgent">
<Properties>
<Property name="module" value="external_control"/>
</Properties>
</Controller>
</AssignControllerAction>
<OverrideControllerValueAction>
<Throttle value="0" active="false"/>
<Brake value="0" active="false"/>
<Clutch value="0" active="false"/>
<ParkingBrake value="0" active="false"/>
<SteeringWheel value="0" active="false"/>
<Gear number="0" active="false"/>
</OverrideControllerValueAction>
</ControllerAction>
</PrivateAction>
</Private>
<Private entityRef="adversary">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-9.4" y="-71.0" z="0.5" h="1.57079632679"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="standing">
<PrivateAction>
<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_27697">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-11.640483856201172" y="-153.47866821289062" z="0.0015143966302275658"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_w_transform_27698">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="35.33489227294922" y="73.50436401367188" z="0.5"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_w_transform_27699">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-48.36935043334961" y="46.72095489501953" z="0.5"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_close_to_standing_27700">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-4.651144981384277" y="24.696199417114258" z="0.0030487061012536287"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_close_to_standing_27701">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-18.179340362548828" y="24.997419357299805" z="0.0030271911527961493"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_close_to_adversary_27706">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-8.000734329223633" y="-70.12397003173828" z="0.0337614044547081"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_close_to_adversary_27707">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-5.121148586273193" y="-64.82074737548828" z="0.03378341719508171"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_w_transform_27708">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="1.5054612159729004" y="86.69589233398438" z="0.5"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_w_transform_27711">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-64.42788696289062" y="-33.94889831542969" z="0.5"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_close_to_adversary_27712">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-8.875130653381348" y="-60.06229782104492" z="0.03378196805715561"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_close_to_hero_27713">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-15.837851524353027" y="-162.69956970214844" z="0.0015143966302275658"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_close_to_standing_27714">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-10.380202293395996" y="25.199764251708984" z="0.003065681317821145"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_w_transform_27715">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-37.99204635620117" y="70.26797485351562" z="0.5"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_w_transform_27717">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-95.88212585449219" y="-7.764759063720703" z="0.5"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_close_to_adversary_27718">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-4.9173054695129395" y="-62.12535095214844" z="0.03377281129360199"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
</Actions>
</Init>
<Story name="MyStory">
<Act name="Behavior">
<ManeuverGroup maximumExecutionCount="1" name="ManeuverSequence">
<Actors selectTriggeringEntities="false">
<EntityRef entityRef="adversary"/>
</Actors>
<Maneuver name="LaneChangeSimpleManeuver">
<Event name="AdversaryAccelerates" priority="overwrite">
<Action name="AdversaryAccelerates">
<PrivateAction>
<LongitudinalAction>
<SpeedAction>
<SpeedActionDynamics dynamicsShape="step" value="50" dynamicsDimension="distance"/>
<SpeedActionTarget>
<AbsoluteTargetSpeed value="5.0"/>
</SpeedActionTarget>
</SpeedAction>
</LongitudinalAction>
</PrivateAction>
</Action>
<StartTrigger>
<ConditionGroup>
<Condition name="StartCondition" delay="0" conditionEdge="rising">
<ByEntityCondition>
<TriggeringEntities triggeringEntitiesRule="any">
<EntityRef entityRef="hero"/>
</TriggeringEntities>
<EntityCondition>
<RelativeDistanceCondition entityRef="adversary" relativeDistanceType="cartesianDistance" value="40.0" freespace="false" rule="lessThan"/>
</EntityCondition>
</ByEntityCondition>
</Condition>
</ConditionGroup>
</StartTrigger>
</Event>
<Event name="AdversaryChangesLane" priority="overwrite">
<Action name="AdversaryChangesLane">
<PrivateAction>
<LateralAction>
<LaneChangeAction>
<LaneChangeActionDynamics dynamicsShape="linear" value="25" dynamicsDimension="distance"/>
<LaneChangeTarget>
<RelativeTargetLane entityRef="adversary" value="-1"/>
</LaneChangeTarget>
</LaneChangeAction>
</LateralAction>
</PrivateAction>
</Action>
<StartTrigger>
<ConditionGroup>
<Condition name="AfterAdversaryAccelerates" delay="0" conditionEdge="rising">
<ByValueCondition>
<StoryboardElementStateCondition storyboardElementType="action" storyboardElementRef="AdversaryAccelerates" state="completeState"/>
</ByValueCondition>
</Condition>
</ConditionGroup>
</StartTrigger>
</Event>
</Maneuver>
</ManeuverGroup>
<StartTrigger>
<ConditionGroup>
<Condition name="OverallStartCondition" delay="0" conditionEdge="rising">
<ByEntityCondition>
<TriggeringEntities triggeringEntitiesRule="any">
<EntityRef entityRef="hero"/>
</TriggeringEntities>
<EntityCondition>
<TraveledDistanceCondition value="1.0"/>
</EntityCondition>
</ByEntityCondition>
</Condition>
<Condition name="StartTime" delay="0" conditionEdge="rising">
<ByValueCondition>
<SimulationTimeCondition value="0" rule="equalTo"/>
</ByValueCondition>
</Condition>
</ConditionGroup>
</StartTrigger>
<StopTrigger>
<ConditionGroup>
<Condition name="EndCondition" delay="0" conditionEdge="rising">
<ByEntityCondition>
<TriggeringEntities triggeringEntitiesRule="any">
<EntityRef entityRef="hero"/>
</TriggeringEntities>
<EntityCondition>
<TraveledDistanceCondition value="200.0"/>
</EntityCondition>
</ByEntityCondition>
</Condition>
</ConditionGroup>
</StopTrigger>
</Act>
</Story>
<StopTrigger>
<ConditionGroup>
<Condition name="criteria_RunningStopTest" delay="0" conditionEdge="rising">
<ByValueCondition>
<ParameterCondition parameterRef="" value="" rule="lessThan"/>
</ByValueCondition>
</Condition>
<Condition name="criteria_RunningRedLightTest" delay="0" conditionEdge="rising">
<ByValueCondition>
<ParameterCondition parameterRef="" value="" rule="lessThan"/>
</ByValueCondition>
</Condition>
<Condition name="criteria_WrongLaneTest" delay="0" conditionEdge="rising">
<ByValueCondition>
<ParameterCondition parameterRef="" value="" rule="lessThan"/>
</ByValueCondition>
</Condition>
<Condition name="criteria_OnSidewalkTest" delay="0" conditionEdge="rising">
<ByValueCondition>
<ParameterCondition parameterRef="" value="" rule="lessThan"/>
</ByValueCondition>
</Condition>
<Condition name="criteria_KeepLaneTest" delay="0" conditionEdge="rising">
<ByValueCondition>
<ParameterCondition parameterRef="" value="" rule="lessThan"/>
</ByValueCondition>
</Condition>
<Condition name="criteria_CollisionTest" delay="0" conditionEdge="rising">
<ByValueCondition>
<ParameterCondition parameterRef="" value="" rule="lessThan"/>
</ByValueCondition>
</Condition>
<Condition name="criteria_DrivenDistanceTest" delay="0" conditionEdge="rising">
<ByValueCondition>
<ParameterCondition parameterRef="distance_success" value="100" rule="lessThan"/>
</ByValueCondition>
</Condition>
</ConditionGroup>
</StopTrigger>
</Storyboard>
</OpenSCENARIO>
``` | Here is the result:
```
<?xml version="1.0" ?>
<OpenSCENARIO>
<FileHeader revMajor="1" revMinor="0" date="2020-03-24T12:00:00" description="CARLA:LaneChangeSimple" author=""/>
<ParameterDeclarations/>
<CatalogLocations/>
<RoadNetwork>
<LogicFile filepath="Town04"/>
<SceneGraphFile filepath=""/>
</RoadNetwork>
<Entities>
<ScenarioObject name="hero">
<Vehicle name="vehicle.tesla.model3" vehicleCategory="car">
<ParameterDeclarations/>
<Performance maxSpeed="69.444" maxAcceleration="200" maxDeceleration="10.0"/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2.1" length="4.5" height="1.8"/>
</BoundingBox>
<Axles>
<FrontAxle maxSteering="0.5" wheelDiameter="0.6" trackWidth="1.8" positionX="3.1" positionZ="0.3"/>
<RearAxle maxSteering="0.0" wheelDiameter="0.6" trackWidth="1.8" positionX="0.0" positionZ="0.3"/>
</Axles>
<Properties>
<Property name="type" value="ego_vehicle"/>
</Properties>
</Vehicle>
</ScenarioObject>
<ScenarioObject name="adversary">
<Vehicle name="vehicle.lincoln.mkz_2017" vehicleCategory="car">
<ParameterDeclarations/>
<Performance maxSpeed="69.444" maxAcceleration="200" maxDeceleration="10.0"/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2.1" length="4.5" height="1.8"/>
</BoundingBox>
<Axles>
<FrontAxle maxSteering="0.5" wheelDiameter="0.6" trackWidth="1.8" positionX="3.1" positionZ="0.3"/>
<RearAxle maxSteering="0.0" wheelDiameter="0.6" trackWidth="1.8" positionX="0.0" positionZ="0.3"/>
</Axles>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Vehicle>
</ScenarioObject>
<ScenarioObject name="standing">
<Vehicle name="vehicle.volkswagen.t2" vehicleCategory="car">
<ParameterDeclarations/>
<Performance maxSpeed="69.444" maxAcceleration="200" maxDeceleration="10.0"/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2.1" length="4.5" height="1.8"/>
</BoundingBox>
<Axles>
<FrontAxle maxSteering="0.5" wheelDiameter="0.6" trackWidth="1.8" positionX="3.1" positionZ="0.3"/>
<RearAxle maxSteering="0.0" wheelDiameter="0.6" 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_27697">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_w_transform_27698">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_w_transform_27699">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_close_to_standing_27700">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_close_to_standing_27701">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_close_to_adversary_27706">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_close_to_adversary_27707">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_w_transform_27708">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_w_transform_27711">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_close_to_adversary_27712">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_close_to_hero_27713">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_close_to_standing_27714">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_w_transform_27715">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_close_to_adversary_27718">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
</Entities>
<Storyboard>
<Init>
<Actions>
<GlobalAction>
<EnvironmentAction>
<Environment name="Environment1">
<TimeOfDay animation="false" dateTime="2019-06-25T12:00:00"/>
<Weather cloudState="free">
<Sun intensity="0.85" azimuth="0" elevation="1.31"/>
<Fog visualRange="100000.0"/>
<Precipitation precipitationType="dry" intensity="0.0"/>
</Weather>
<RoadCondition frictionScaleFactor="1.0"/>
</Environment>
</EnvironmentAction>
</GlobalAction>
<Private entityRef="hero">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-9.4" y="-152.8" z="0.5" h="1.57079632679"/>
</Position>
</TeleportAction>
</PrivateAction>
<PrivateAction>
<ControllerAction>
<AssignControllerAction>
<Controller name="HeroAgent">
<Properties>
<Property name="module" value="external_control"/>
</Properties>
</Controller>
</AssignControllerAction>
<OverrideControllerValueAction>
<Throttle value="0" active="false"/>
<Brake value="0" active="false"/>
<Clutch value="0" active="false"/>
<ParkingBrake value="0" active="false"/>
<SteeringWheel value="0" active="false"/>
<Gear number="0" active="false"/>
</OverrideControllerValueAction>
</ControllerAction>
</PrivateAction>
</Private>
<Private entityRef="adversary">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-9.4" y="-71.0" z="0.5" h="1.57079632679"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="standing">
<PrivateAction>
<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_27697">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-11.640483856201172" y="-153.47866821289062" z="0.0015143966302275658"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_w_transform_27698">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="35.33489227294922" y="73.50436401367188" z="0.5"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_w_transform_27699">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-48.36935043334961" y="46.72095489501953" z="0.5"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_close_to_standing_27700">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-4.651144981384277" y="24.696199417114258" z="0.0030487061012536287"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_close_to_standing_27701">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-18.179340362548828" y="24.997419357299805" z="0.0030271911527961493"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_close_to_adversary_27706">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-8.000734329223633" y="-70.12397003173828" z="0.0337614044547081"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_close_to_adversary_27707">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-5.121148586273193" y="-64.82074737548828" z="0.03378341719508171"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_w_transform_27708">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="1.5054612159729004" y="86.69589233398438" z="0.5"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_w_transform_27711">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-64.42788696289062" y="-33.94889831542969" z="0.5"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_close_to_adversary_27712">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-8.875130653381348" y="-60.06229782104492" z="0.03378196805715561"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_close_to_hero_27713">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-15.837851524353027" y="-162.69956970214844" z="0.0015143966302275658"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_close_to_standing_27714">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-10.380202293395996" y="25.199764251708984" z="0.003065681317821145"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_w_transform_27715">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-37.99204635620117" y="70.26797485351562" z="0.5"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_close_to_adversary_27718">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-4.9173054695129395" y="-62.12535095214844" z="0.03377281129360199"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
</Actions>
</Init>
<Story name="MyStory">
<Act name="Behavior">
<ManeuverGroup maximumExecutionCount="1" name="ManeuverSequence">
<Actors selectTriggeringEntities="false">
<EntityRef entityRef="adversary"/>
</Actors>
<Maneuver name="LaneChangeSimpleManeuver">
<Event name="AdversaryAccelerates" priority="overwrite">
<Action name="AdversaryAccelerates">
<PrivateAction>
<LongitudinalAction>
<SpeedAction>
<SpeedActionDynamics dynamicsShape="step" value="50" dynamicsDimension="distance"/>
<SpeedActionTarget>
<AbsoluteTargetSpeed value="5.0"/>
</SpeedActionTarget>
</SpeedAction>
</LongitudinalAction>
</PrivateAction>
</Action>
<StartTrigger>
<ConditionGroup>
<Condition name="StartCondition" delay="0" conditionEdge="rising">
<ByEntityCondition>
<TriggeringEntities triggeringEntitiesRule="any">
<EntityRef entityRef="hero"/>
</TriggeringEntities>
<EntityCondition>
<RelativeDistanceCondition entityRef="adversary" relativeDistanceType="cartesianDistance" value="40.0" freespace="false" rule="lessThan"/>
</EntityCondition>
</ByEntityCondition>
</Condition>
</ConditionGroup>
</StartTrigger>
</Event>
<Event name="AdversaryChangesLane" priority="overwrite">
<Action name="AdversaryChangesLane">
<PrivateAction>
<LateralAction>
<LaneChangeAction>
<LaneChangeActionDynamics dynamicsShape="linear" value="25" dynamicsDimension="distance"/>
<LaneChangeTarget>
<RelativeTargetLane entityRef="adversary" value="-1"/>
</LaneChangeTarget>
</LaneChangeAction>
</LateralAction>
</PrivateAction>
</Action>
<StartTrigger>
<ConditionGroup>
<Condition name="AfterAdversaryAccelerates" delay="0" conditionEdge="rising">
<ByValueCondition>
<StoryboardElementStateCondition storyboardElementType="action" storyboardElementRef="AdversaryAccelerates" state="completeState"/>
</ByValueCondition>
</Condition>
</ConditionGroup>
</StartTrigger>
</Event>
</Maneuver>
</ManeuverGroup>
<StartTrigger>
<ConditionGroup>
<Condition name="OverallStartCondition" delay="0" conditionEdge="rising">
<ByEntityCondition>
<TriggeringEntities triggeringEntitiesRule="any">
<EntityRef entityRef="hero"/>
</TriggeringEntities>
<EntityCondition>
<TraveledDistanceCondition value="1.0"/>
</EntityCondition>
</ByEntityCondition>
</Condition>
<Condition name="StartTime" delay="0" conditionEdge="rising">
<ByValueCondition>
<SimulationTimeCondition value="0" rule="equalTo"/>
</ByValueCondition>
</Condition>
</ConditionGroup>
</StartTrigger>
<StopTrigger>
<ConditionGroup>
<Condition name="EndCondition" delay="0" conditionEdge="rising">
<ByEntityCondition>
<TriggeringEntities triggeringEntitiesRule="any">
<EntityRef entityRef="hero"/>
</TriggeringEntities>
<EntityCondition>
<TraveledDistanceCondition value="200.0"/>
</EntityCondition>
</ByEntityCondition>
</Condition>
</ConditionGroup>
</StopTrigger>
</Act>
</Story>
<StopTrigger>
<ConditionGroup>
<Condition name="criteria_RunningStopTest" delay="0" conditionEdge="rising">
<ByValueCondition>
<ParameterCondition parameterRef="" value="" rule="lessThan"/>
</ByValueCondition>
</Condition>
<Condition name="criteria_RunningRedLightTest" delay="0" conditionEdge="rising">
<ByValueCondition>
<ParameterCondition parameterRef="" value="" rule="lessThan"/>
</ByValueCondition>
</Condition>
<Condition name="criteria_WrongLaneTest" delay="0" conditionEdge="rising">
<ByValueCondition>
<ParameterCondition parameterRef="" value="" rule="lessThan"/>
</ByValueCondition>
</Condition>
<Condition name="criteria_OnSidewalkTest" delay="0" conditionEdge="rising">
<ByValueCondition>
<ParameterCondition parameterRef="" value="" rule="lessThan"/>
</ByValueCondition>
</Condition>
<Condition name="criteria_KeepLaneTest" delay="0" conditionEdge="rising">
<ByValueCondition>
<ParameterCondition parameterRef="" value="" rule="lessThan"/>
</ByValueCondition>
</Condition>
<Condition name="criteria_CollisionTest" delay="0" conditionEdge="rising">
<ByValueCondition>
<ParameterCondition parameterRef="" value="" rule="lessThan"/>
</ByValueCondition>
</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_standing_9001?
```
<?xml version="1.0" ?>
<OpenSCENARIO>
<FileHeader revMajor="1" revMinor="0" date="2020-03-24T12:00:00" description="CARLA:LaneChangeSimple" author=""/>
<ParameterDeclarations/>
<CatalogLocations/>
<RoadNetwork>
<LogicFile filepath="Town04"/>
<SceneGraphFile filepath=""/>
</RoadNetwork>
<Entities>
<ScenarioObject name="hero">
<Vehicle name="vehicle.tesla.model3" vehicleCategory="car">
<ParameterDeclarations/>
<Performance maxSpeed="69.444" maxAcceleration="200" maxDeceleration="10.0"/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2.1" length="4.5" height="1.8"/>
</BoundingBox>
<Axles>
<FrontAxle maxSteering="0.5" wheelDiameter="0.6" trackWidth="1.8" positionX="3.1" positionZ="0.3"/>
<RearAxle maxSteering="0.0" wheelDiameter="0.6" trackWidth="1.8" positionX="0.0" positionZ="0.3"/>
</Axles>
<Properties>
<Property name="type" value="ego_vehicle"/>
</Properties>
</Vehicle>
</ScenarioObject>
<ScenarioObject name="adversary">
<Vehicle name="vehicle.lincoln.mkz_2017" vehicleCategory="car">
<ParameterDeclarations/>
<Performance maxSpeed="69.444" maxAcceleration="200" maxDeceleration="10.0"/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2.1" length="4.5" height="1.8"/>
</BoundingBox>
<Axles>
<FrontAxle maxSteering="0.5" wheelDiameter="0.6" trackWidth="1.8" positionX="3.1" positionZ="0.3"/>
<RearAxle maxSteering="0.0" wheelDiameter="0.6" trackWidth="1.8" positionX="0.0" positionZ="0.3"/>
</Axles>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Vehicle>
</ScenarioObject>
<ScenarioObject name="standing">
<Vehicle name="vehicle.volkswagen.t2" vehicleCategory="car">
<ParameterDeclarations/>
<Performance maxSpeed="69.444" maxAcceleration="200" maxDeceleration="10.0"/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2.1" length="4.5" height="1.8"/>
</BoundingBox>
<Axles>
<FrontAxle maxSteering="0.5" wheelDiameter="0.6" trackWidth="1.8" positionX="3.1" positionZ="0.3"/>
<RearAxle maxSteering="0.0" wheelDiameter="0.6" 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_8997">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_w_transform_8998">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_w_transform_8999">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_w_transform_9000">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_close_to_standing_9001">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_w_transform_9005">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_close_to_adversary_9006">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_w_transform_9011">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_w_transform_9012">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_w_transform_9013">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
</Entities>
<Storyboard>
<Init>
<Actions>
<GlobalAction>
<EnvironmentAction>
<Environment name="Environment1">
<TimeOfDay animation="false" dateTime="2019-06-25T12:00:00"/>
<Weather cloudState="free">
<Sun intensity="0.85" azimuth="0" elevation="1.31"/>
<Fog visualRange="100000.0"/>
<Precipitation precipitationType="dry" intensity="0.0"/>
</Weather>
<RoadCondition frictionScaleFactor="1.0"/>
</Environment>
</EnvironmentAction>
</GlobalAction>
<Private entityRef="hero">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-9.4" y="-152.8" z="0.5" h="1.57079632679"/>
</Position>
</TeleportAction>
</PrivateAction>
<PrivateAction>
<ControllerAction>
<AssignControllerAction>
<Controller name="HeroAgent">
<Properties>
<Property name="module" value="external_control"/>
</Properties>
</Controller>
</AssignControllerAction>
<OverrideControllerValueAction>
<Throttle value="0" active="false"/>
<Brake value="0" active="false"/>
<Clutch value="0" active="false"/>
<ParkingBrake value="0" active="false"/>
<SteeringWheel value="0" active="false"/>
<Gear number="0" active="false"/>
</OverrideControllerValueAction>
</ControllerAction>
</PrivateAction>
</Private>
<Private entityRef="adversary">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-9.4" y="-71.0" z="0.5" h="1.57079632679"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="standing">
<PrivateAction>
<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_8997">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="4.431758880615234" y="-77.0322036743164" z="0.03375354781746864"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_w_transform_8998">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="70.48290252685547" y="84.12677764892578" z="0.5"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_w_transform_8999">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-72.95267486572266" y="-62.871952056884766" z="0.5"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_w_transform_9000">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-1.3602321147918701" y="-18.93489646911621" z="0.5"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_close_to_standing_9001">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-7.245917320251465" y="36.684078216552734" z="0.003025321988388896"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_w_transform_9005">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="74.53255462646484" y="-11.836429595947266" z="0.5"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_close_to_adversary_9006">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-6.9922685623168945" y="-72.2618179321289" z="0.033825185149908066"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_w_transform_9011">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-45.711219787597656" y="74.19556427001953" z="0.5"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_w_transform_9012">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="79.87609100341797" y="-70.02796936035156" z="0.5"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_w_transform_9013">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="68.78965759277344" y="-4.384745121002197" 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_8997">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_w_transform_8998">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_w_transform_8999">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_w_transform_9000">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_w_transform_9005">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_close_to_adversary_9006">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_w_transform_9011">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_w_transform_9012">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_w_transform_9013">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
</Entities>
<Storyboard>
<Init>
<Actions>
<GlobalAction>
<EnvironmentAction>
<Environment name="Environment1">
<TimeOfDay animation="false" dateTime="2019-06-25T12:00:00"/>
<Weather cloudState="free">
<Sun intensity="0.85" azimuth="0" elevation="1.31"/>
<Fog visualRange="100000.0"/>
<Precipitation precipitationType="dry" intensity="0.0"/>
</Weather>
<RoadCondition frictionScaleFactor="1.0"/>
</Environment>
</EnvironmentAction>
</GlobalAction>
<Private entityRef="hero">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-9.4" y="-152.8" z="0.5" h="1.57079632679"/>
</Position>
</TeleportAction>
</PrivateAction>
<PrivateAction>
<ControllerAction>
<AssignControllerAction>
<Controller name="HeroAgent">
<Properties>
<Property name="module" value="external_control"/>
</Properties>
</Controller>
</AssignControllerAction>
<OverrideControllerValueAction>
<Throttle value="0" active="false"/>
<Brake value="0" active="false"/>
<Clutch value="0" active="false"/>
<ParkingBrake value="0" active="false"/>
<SteeringWheel value="0" active="false"/>
<Gear number="0" active="false"/>
</OverrideControllerValueAction>
</ControllerAction>
</PrivateAction>
</Private>
<Private entityRef="adversary">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-9.4" y="-71.0" z="0.5" h="1.57079632679"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="standing">
<PrivateAction>
<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_8997">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="4.431758880615234" y="-77.0322036743164" z="0.03375354781746864"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_w_transform_8998">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="70.48290252685547" y="84.12677764892578" z="0.5"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_w_transform_8999">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-72.95267486572266" y="-62.871952056884766" z="0.5"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_w_transform_9000">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-1.3602321147918701" y="-18.93489646911621" z="0.5"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_w_transform_9005">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="74.53255462646484" y="-11.836429595947266" z="0.5"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_close_to_adversary_9006">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-6.9922685623168945" y="-72.2618179321289" z="0.033825185149908066"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_w_transform_9011">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-45.711219787597656" y="74.19556427001953" z="0.5"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_w_transform_9012">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="79.87609100341797" y="-70.02796936035156" z="0.5"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_w_transform_9013">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="68.78965759277344" y="-4.384745121002197" z="0.5"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
</Actions>
</Init>
<Story name="MyStory">
<Act name="Behavior">
<ManeuverGroup maximumExecutionCount="1" name="ManeuverSequence">
<Actors selectTriggeringEntities="false">
<EntityRef entityRef="adversary"/>
</Actors>
<Maneuver name="LaneChangeSimpleManeuver">
<Event name="AdversaryAccelerates" priority="overwrite">
<Action name="AdversaryAccelerates">
<PrivateAction>
<LongitudinalAction>
<SpeedAction>
<SpeedActionDynamics dynamicsShape="step" value="50" dynamicsDimension="distance"/>
<SpeedActionTarget>
<AbsoluteTargetSpeed value="5.0"/>
</SpeedActionTarget>
</SpeedAction>
</LongitudinalAction>
</PrivateAction>
</Action>
<StartTrigger>
<ConditionGroup>
<Condition name="StartCondition" delay="0" conditionEdge="rising">
<ByEntityCondition>
<TriggeringEntities triggeringEntitiesRule="any">
<EntityRef entityRef="hero"/>
</TriggeringEntities>
<EntityCondition>
<RelativeDistanceCondition entityRef="adversary" relativeDistanceType="cartesianDistance" value="40.0" freespace="false" rule="lessThan"/>
</EntityCondition>
</ByEntityCondition>
</Condition>
</ConditionGroup>
</StartTrigger>
</Event>
<Event name="AdversaryChangesLane" priority="overwrite">
<Action name="AdversaryChangesLane">
<PrivateAction>
<LateralAction>
<LaneChangeAction>
<LaneChangeActionDynamics dynamicsShape="linear" value="25" dynamicsDimension="distance"/>
<LaneChangeTarget>
<RelativeTargetLane entityRef="adversary" value="-1"/>
</LaneChangeTarget>
</LaneChangeAction>
</LateralAction>
</PrivateAction>
</Action>
<StartTrigger>
<ConditionGroup>
<Condition name="AfterAdversaryAccelerates" delay="0" conditionEdge="rising">
<ByValueCondition>
<StoryboardElementStateCondition storyboardElementType="action" storyboardElementRef="AdversaryAccelerates" state="completeState"/>
</ByValueCondition>
</Condition>
</ConditionGroup>
</StartTrigger>
</Event>
</Maneuver>
</ManeuverGroup>
<StartTrigger>
<ConditionGroup>
<Condition name="OverallStartCondition" delay="0" conditionEdge="rising">
<ByEntityCondition>
<TriggeringEntities triggeringEntitiesRule="any">
<EntityRef entityRef="hero"/>
</TriggeringEntities>
<EntityCondition>
<TraveledDistanceCondition value="1.0"/>
</EntityCondition>
</ByEntityCondition>
</Condition>
<Condition name="StartTime" delay="0" conditionEdge="rising">
<ByValueCondition>
<SimulationTimeCondition value="0" rule="equalTo"/>
</ByValueCondition>
</Condition>
</ConditionGroup>
</StartTrigger>
<StopTrigger>
<ConditionGroup>
<Condition name="EndCondition" delay="0" conditionEdge="rising">
<ByEntityCondition>
<TriggeringEntities triggeringEntitiesRule="any">
<EntityRef entityRef="hero"/>
</TriggeringEntities>
<EntityCondition>
<TraveledDistanceCondition value="200.0"/>
</EntityCondition>
</ByEntityCondition>
</Condition>
</ConditionGroup>
</StopTrigger>
</Act>
</Story>
<StopTrigger>
<ConditionGroup>
<Condition name="criteria_RunningStopTest" delay="0" conditionEdge="rising">
<ByValueCondition>
<ParameterCondition parameterRef="" value="" rule="lessThan"/>
</ByValueCondition>
</Condition>
<Condition name="criteria_RunningRedLightTest" delay="0" conditionEdge="rising">
<ByValueCondition>
<ParameterCondition parameterRef="" value="" rule="lessThan"/>
</ByValueCondition>
</Condition>
<Condition name="criteria_WrongLaneTest" delay="0" conditionEdge="rising">
<ByValueCondition>
<ParameterCondition parameterRef="" value="" rule="lessThan"/>
</ByValueCondition>
</Condition>
<Condition name="criteria_OnSidewalkTest" delay="0" conditionEdge="rising">
<ByValueCondition>
<ParameterCondition parameterRef="" value="" rule="lessThan"/>
</ByValueCondition>
</Condition>
<Condition name="criteria_KeepLaneTest" delay="0" conditionEdge="rising">
<ByValueCondition>
<ParameterCondition parameterRef="" value="" rule="lessThan"/>
</ByValueCondition>
</Condition>
<Condition name="criteria_CollisionTest" delay="0" conditionEdge="rising">
<ByValueCondition>
<ParameterCondition parameterRef="" value="" rule="lessThan"/>
</ByValueCondition>
</Condition>
<Condition name="criteria_DrivenDistanceTest" delay="0" conditionEdge="rising">
<ByValueCondition>
<ParameterCondition parameterRef="distance_success" value="100" rule="lessThan"/>
</ByValueCondition>
</Condition>
</ConditionGroup>
</StopTrigger>
</Storyboard>
</OpenSCENARIO>
``` |
i would like to lead you to remove pedestrian close to 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_8702">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_w_transform_8703">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_w_transform_8704">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_close_to_standing_8705">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_close_to_hero_8707">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_close_to_hero_8708">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_close_to_hero_8709">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_close_to_hero_8710">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_w_transform_8711">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_close_to_hero_8712">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_close_to_hero_8713">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_w_transform_8714">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_close_to_standing_8715">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_w_transform_8716">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_w_transform_8717">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_close_to_standing_8718">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_close_to_adversary_8719">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_close_to_hero_8721">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_close_to_hero_8722">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
</Entities>
<Storyboard>
<Init>
<Actions>
<GlobalAction>
<EnvironmentAction>
<Environment name="Environment1">
<TimeOfDay animation="false" dateTime="2019-06-25T12:00:00"/>
<Weather cloudState="free">
<Sun intensity="0.85" azimuth="0" elevation="1.31"/>
<Fog visualRange="100000.0"/>
<Precipitation precipitationType="dry" intensity="0.0"/>
</Weather>
<RoadCondition frictionScaleFactor="1.0"/>
</Environment>
</EnvironmentAction>
</GlobalAction>
<Private entityRef="hero">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-9.4" y="-152.8" z="0.5" h="1.57079632679"/>
</Position>
</TeleportAction>
</PrivateAction>
<PrivateAction>
<ControllerAction>
<AssignControllerAction>
<Controller name="HeroAgent">
<Properties>
<Property name="module" value="external_control"/>
</Properties>
</Controller>
</AssignControllerAction>
<OverrideControllerValueAction>
<Throttle value="0" active="false"/>
<Brake value="0" active="false"/>
<Clutch value="0" active="false"/>
<ParkingBrake value="0" active="false"/>
<SteeringWheel value="0" active="false"/>
<Gear number="0" active="false"/>
</OverrideControllerValueAction>
</ControllerAction>
</PrivateAction>
</Private>
<Private entityRef="adversary">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-9.4" y="-71.0" z="0.5" h="1.57079632679"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="standing">
<PrivateAction>
<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_8702">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-11.971524238586426" y="-160.03358459472656" z="0.0016471862327307463"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_w_transform_8703">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-43.556373596191406" y="0.24656926095485687" z="0.5"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_w_transform_8704">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-85.70134735107422" y="39.6866455078125" z="0.5"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_close_to_standing_8705">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-15.87919807434082" y="27.26386260986328" z="0.0030842588748782873"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_close_to_hero_8707">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-13.879140853881836" y="-144.128662109375" z="0.0016471862327307463"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_close_to_hero_8708">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-11.1187744140625" y="-145.1653594970703" z="0.0016471862327307463"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_close_to_hero_8709">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-17.806589126586914" y="-145.5269317626953" z="0.0016471862327307463"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_close_to_hero_8710">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-19.25018310546875" y="-162.19752502441406" z="0.0016471862327307463"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_w_transform_8711">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="46.42290496826172" y="74.69103240966797" z="0.5"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_close_to_hero_8712">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-12.070992469787598" y="-150.8752899169922" z="0.0016471862327307463"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_close_to_hero_8713">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-12.850601196289062" y="-156.41041564941406" z="0.0016471862327307463"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_w_transform_8714">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="98.83524322509766" y="-70.71053314208984" z="0.5"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_close_to_standing_8715">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="1.3394681215286255" y="36.69745635986328" z="0.0030884933657944202"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_w_transform_8716">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="47.81904220581055" y="5.13032341003418" z="0.5"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_w_transform_8717">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="48.6653938293457" y="-72.77952575683594" z="0.5"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_close_to_standing_8718">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-12.934211730957031" y="22.12433433532715" z="0.0030743025708943605"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_close_to_adversary_8719">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-23.23583221435547" y="-81.82823944091797" z="0.033818550407886505"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_close_to_hero_8721">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-2.4932644367218018" y="-155.01547241210938" z="0.0016471862327307463"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_close_to_hero_8722">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="3.203803300857544" y="-146.3536834716797" z="0.0016471862327307463"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
</Actions>
</Init>
<Story name="MyStory">
<Act name="Behavior">
<ManeuverGroup maximumExecutionCount="1" name="ManeuverSequence">
<Actors selectTriggeringEntities="false">
<EntityRef entityRef="adversary"/>
</Actors>
<Maneuver name="LaneChangeSimpleManeuver">
<Event name="AdversaryAccelerates" priority="overwrite">
<Action name="AdversaryAccelerates">
<PrivateAction>
<LongitudinalAction>
<SpeedAction>
<SpeedActionDynamics dynamicsShape="step" value="50" dynamicsDimension="distance"/>
<SpeedActionTarget>
<AbsoluteTargetSpeed value="5.0"/>
</SpeedActionTarget>
</SpeedAction>
</LongitudinalAction>
</PrivateAction>
</Action>
<StartTrigger>
<ConditionGroup>
<Condition name="StartCondition" delay="0" conditionEdge="rising">
<ByEntityCondition>
<TriggeringEntities triggeringEntitiesRule="any">
<EntityRef entityRef="hero"/>
</TriggeringEntities>
<EntityCondition>
<RelativeDistanceCondition entityRef="adversary" relativeDistanceType="cartesianDistance" value="40.0" freespace="false" rule="lessThan"/>
</EntityCondition>
</ByEntityCondition>
</Condition>
</ConditionGroup>
</StartTrigger>
</Event>
<Event name="AdversaryChangesLane" priority="overwrite">
<Action name="AdversaryChangesLane">
<PrivateAction>
<LateralAction>
<LaneChangeAction>
<LaneChangeActionDynamics dynamicsShape="linear" value="25" dynamicsDimension="distance"/>
<LaneChangeTarget>
<RelativeTargetLane entityRef="adversary" value="-1"/>
</LaneChangeTarget>
</LaneChangeAction>
</LateralAction>
</PrivateAction>
</Action>
<StartTrigger>
<ConditionGroup>
<Condition name="AfterAdversaryAccelerates" delay="0" conditionEdge="rising">
<ByValueCondition>
<StoryboardElementStateCondition storyboardElementType="action" storyboardElementRef="AdversaryAccelerates" state="completeState"/>
</ByValueCondition>
</Condition>
</ConditionGroup>
</StartTrigger>
</Event>
</Maneuver>
</ManeuverGroup>
<StartTrigger>
<ConditionGroup>
<Condition name="OverallStartCondition" delay="0" conditionEdge="rising">
<ByEntityCondition>
<TriggeringEntities triggeringEntitiesRule="any">
<EntityRef entityRef="hero"/>
</TriggeringEntities>
<EntityCondition>
<TraveledDistanceCondition value="1.0"/>
</EntityCondition>
</ByEntityCondition>
</Condition>
<Condition name="StartTime" delay="0" conditionEdge="rising">
<ByValueCondition>
<SimulationTimeCondition value="0" rule="equalTo"/>
</ByValueCondition>
</Condition>
</ConditionGroup>
</StartTrigger>
<StopTrigger>
<ConditionGroup>
<Condition name="EndCondition" delay="0" conditionEdge="rising">
<ByEntityCondition>
<TriggeringEntities triggeringEntitiesRule="any">
<EntityRef entityRef="hero"/>
</TriggeringEntities>
<EntityCondition>
<TraveledDistanceCondition value="200.0"/>
</EntityCondition>
</ByEntityCondition>
</Condition>
</ConditionGroup>
</StopTrigger>
</Act>
</Story>
<StopTrigger>
<ConditionGroup>
<Condition name="criteria_RunningStopTest" delay="0" conditionEdge="rising">
<ByValueCondition>
<ParameterCondition parameterRef="" value="" rule="lessThan"/>
</ByValueCondition>
</Condition>
<Condition name="criteria_RunningRedLightTest" delay="0" conditionEdge="rising">
<ByValueCondition>
<ParameterCondition parameterRef="" value="" rule="lessThan"/>
</ByValueCondition>
</Condition>
<Condition name="criteria_WrongLaneTest" delay="0" conditionEdge="rising">
<ByValueCondition>
<ParameterCondition parameterRef="" value="" rule="lessThan"/>
</ByValueCondition>
</Condition>
<Condition name="criteria_OnSidewalkTest" delay="0" conditionEdge="rising">
<ByValueCondition>
<ParameterCondition parameterRef="" value="" rule="lessThan"/>
</ByValueCondition>
</Condition>
<Condition name="criteria_KeepLaneTest" delay="0" conditionEdge="rising">
<ByValueCondition>
<ParameterCondition parameterRef="" value="" rule="lessThan"/>
</ByValueCondition>
</Condition>
<Condition name="criteria_CollisionTest" delay="0" conditionEdge="rising">
<ByValueCondition>
<ParameterCondition parameterRef="" value="" rule="lessThan"/>
</ByValueCondition>
</Condition>
<Condition name="criteria_DrivenDistanceTest" delay="0" conditionEdge="rising">
<ByValueCondition>
<ParameterCondition parameterRef="distance_success" value="100" rule="lessThan"/>
</ByValueCondition>
</Condition>
</ConditionGroup>
</StopTrigger>
</Storyboard>
</OpenSCENARIO>
``` | Here is the result:
```
<?xml version="1.0" ?>
<OpenSCENARIO>
<FileHeader revMajor="1" revMinor="0" date="2020-03-24T12:00:00" description="CARLA:LaneChangeSimple" author=""/>
<ParameterDeclarations/>
<CatalogLocations/>
<RoadNetwork>
<LogicFile filepath="Town04"/>
<SceneGraphFile filepath=""/>
</RoadNetwork>
<Entities>
<ScenarioObject name="hero">
<Vehicle name="vehicle.tesla.model3" vehicleCategory="car">
<ParameterDeclarations/>
<Performance maxSpeed="69.444" maxAcceleration="200" maxDeceleration="10.0"/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2.1" length="4.5" height="1.8"/>
</BoundingBox>
<Axles>
<FrontAxle maxSteering="0.5" wheelDiameter="0.6" trackWidth="1.8" positionX="3.1" positionZ="0.3"/>
<RearAxle maxSteering="0.0" wheelDiameter="0.6" trackWidth="1.8" positionX="0.0" positionZ="0.3"/>
</Axles>
<Properties>
<Property name="type" value="ego_vehicle"/>
</Properties>
</Vehicle>
</ScenarioObject>
<ScenarioObject name="adversary">
<Vehicle name="vehicle.lincoln.mkz_2017" vehicleCategory="car">
<ParameterDeclarations/>
<Performance maxSpeed="69.444" maxAcceleration="200" maxDeceleration="10.0"/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2.1" length="4.5" height="1.8"/>
</BoundingBox>
<Axles>
<FrontAxle maxSteering="0.5" wheelDiameter="0.6" trackWidth="1.8" positionX="3.1" positionZ="0.3"/>
<RearAxle maxSteering="0.0" wheelDiameter="0.6" trackWidth="1.8" positionX="0.0" positionZ="0.3"/>
</Axles>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Vehicle>
</ScenarioObject>
<ScenarioObject name="standing">
<Vehicle name="vehicle.volkswagen.t2" vehicleCategory="car">
<ParameterDeclarations/>
<Performance maxSpeed="69.444" maxAcceleration="200" maxDeceleration="10.0"/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2.1" length="4.5" height="1.8"/>
</BoundingBox>
<Axles>
<FrontAxle maxSteering="0.5" wheelDiameter="0.6" trackWidth="1.8" positionX="3.1" positionZ="0.3"/>
<RearAxle maxSteering="0.0" wheelDiameter="0.6" trackWidth="1.8" positionX="0.0" positionZ="0.3"/>
</Axles>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Vehicle>
</ScenarioObject>
<ScenarioObject name="pedestrian_close_to_hero_8702">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_w_transform_8703">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_w_transform_8704">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_close_to_standing_8705">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_close_to_hero_8707">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_close_to_hero_8708">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_close_to_hero_8709">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_close_to_hero_8710">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_w_transform_8711">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_close_to_hero_8712">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_close_to_hero_8713">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_w_transform_8714">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_close_to_standing_8715">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_w_transform_8716">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_w_transform_8717">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_close_to_adversary_8719">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_close_to_hero_8721">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_close_to_hero_8722">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
</Entities>
<Storyboard>
<Init>
<Actions>
<GlobalAction>
<EnvironmentAction>
<Environment name="Environment1">
<TimeOfDay animation="false" dateTime="2019-06-25T12:00:00"/>
<Weather cloudState="free">
<Sun intensity="0.85" azimuth="0" elevation="1.31"/>
<Fog visualRange="100000.0"/>
<Precipitation precipitationType="dry" intensity="0.0"/>
</Weather>
<RoadCondition frictionScaleFactor="1.0"/>
</Environment>
</EnvironmentAction>
</GlobalAction>
<Private entityRef="hero">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-9.4" y="-152.8" z="0.5" h="1.57079632679"/>
</Position>
</TeleportAction>
</PrivateAction>
<PrivateAction>
<ControllerAction>
<AssignControllerAction>
<Controller name="HeroAgent">
<Properties>
<Property name="module" value="external_control"/>
</Properties>
</Controller>
</AssignControllerAction>
<OverrideControllerValueAction>
<Throttle value="0" active="false"/>
<Brake value="0" active="false"/>
<Clutch value="0" active="false"/>
<ParkingBrake value="0" active="false"/>
<SteeringWheel value="0" active="false"/>
<Gear number="0" active="false"/>
</OverrideControllerValueAction>
</ControllerAction>
</PrivateAction>
</Private>
<Private entityRef="adversary">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-9.4" y="-71.0" z="0.5" h="1.57079632679"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="standing">
<PrivateAction>
<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_8702">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-11.971524238586426" y="-160.03358459472656" z="0.0016471862327307463"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_w_transform_8703">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-43.556373596191406" y="0.24656926095485687" z="0.5"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_w_transform_8704">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-85.70134735107422" y="39.6866455078125" z="0.5"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_close_to_standing_8705">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-15.87919807434082" y="27.26386260986328" z="0.0030842588748782873"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_close_to_hero_8707">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-13.879140853881836" y="-144.128662109375" z="0.0016471862327307463"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_close_to_hero_8708">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-11.1187744140625" y="-145.1653594970703" z="0.0016471862327307463"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_close_to_hero_8709">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-17.806589126586914" y="-145.5269317626953" z="0.0016471862327307463"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_close_to_hero_8710">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-19.25018310546875" y="-162.19752502441406" z="0.0016471862327307463"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_w_transform_8711">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="46.42290496826172" y="74.69103240966797" z="0.5"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_close_to_hero_8712">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-12.070992469787598" y="-150.8752899169922" z="0.0016471862327307463"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_close_to_hero_8713">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-12.850601196289062" y="-156.41041564941406" z="0.0016471862327307463"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_w_transform_8714">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="98.83524322509766" y="-70.71053314208984" z="0.5"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_close_to_standing_8715">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="1.3394681215286255" y="36.69745635986328" z="0.0030884933657944202"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_w_transform_8716">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="47.81904220581055" y="5.13032341003418" z="0.5"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_w_transform_8717">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="48.6653938293457" y="-72.77952575683594" z="0.5"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_close_to_adversary_8719">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-23.23583221435547" y="-81.82823944091797" z="0.033818550407886505"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_close_to_hero_8721">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-2.4932644367218018" y="-155.01547241210938" z="0.0016471862327307463"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_close_to_hero_8722">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="3.203803300857544" y="-146.3536834716797" 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 close to hero?
```
<?xml version="1.0" ?>
<OpenSCENARIO>
<FileHeader revMajor="1" revMinor="0" date="2020-03-24T12:00:00" description="CARLA:LaneChangeSimple" author=""/>
<ParameterDeclarations/>
<CatalogLocations/>
<RoadNetwork>
<LogicFile filepath="Town04"/>
<SceneGraphFile filepath=""/>
</RoadNetwork>
<Entities>
<ScenarioObject name="hero">
<Vehicle name="vehicle.tesla.model3" vehicleCategory="car">
<ParameterDeclarations/>
<Performance maxSpeed="69.444" maxAcceleration="200" maxDeceleration="10.0"/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2.1" length="4.5" height="1.8"/>
</BoundingBox>
<Axles>
<FrontAxle maxSteering="0.5" wheelDiameter="0.6" trackWidth="1.8" positionX="3.1" positionZ="0.3"/>
<RearAxle maxSteering="0.0" wheelDiameter="0.6" trackWidth="1.8" positionX="0.0" positionZ="0.3"/>
</Axles>
<Properties>
<Property name="type" value="ego_vehicle"/>
</Properties>
</Vehicle>
</ScenarioObject>
<ScenarioObject name="adversary">
<Vehicle name="vehicle.lincoln.mkz_2017" vehicleCategory="car">
<ParameterDeclarations/>
<Performance maxSpeed="69.444" maxAcceleration="200" maxDeceleration="10.0"/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2.1" length="4.5" height="1.8"/>
</BoundingBox>
<Axles>
<FrontAxle maxSteering="0.5" wheelDiameter="0.6" trackWidth="1.8" positionX="3.1" positionZ="0.3"/>
<RearAxle maxSteering="0.0" wheelDiameter="0.6" trackWidth="1.8" positionX="0.0" positionZ="0.3"/>
</Axles>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Vehicle>
</ScenarioObject>
<ScenarioObject name="standing">
<Vehicle name="vehicle.volkswagen.t2" vehicleCategory="car">
<ParameterDeclarations/>
<Performance maxSpeed="69.444" maxAcceleration="200" maxDeceleration="10.0"/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2.1" length="4.5" height="1.8"/>
</BoundingBox>
<Axles>
<FrontAxle maxSteering="0.5" wheelDiameter="0.6" trackWidth="1.8" positionX="3.1" positionZ="0.3"/>
<RearAxle maxSteering="0.0" wheelDiameter="0.6" trackWidth="1.8" positionX="0.0" positionZ="0.3"/>
</Axles>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Vehicle>
</ScenarioObject>
</Entities>
<Storyboard>
<Init>
<Actions>
<GlobalAction>
<EnvironmentAction>
<Environment name="Environment1">
<TimeOfDay animation="false" dateTime="2019-06-25T12:00:00"/>
<Weather cloudState="free">
<Sun intensity="0.85" azimuth="0" elevation="1.31"/>
<Fog visualRange="100000.0"/>
<Precipitation precipitationType="dry" intensity="0.0"/>
</Weather>
<RoadCondition frictionScaleFactor="1.0"/>
</Environment>
</EnvironmentAction>
</GlobalAction>
<Private entityRef="hero">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-9.4" y="-152.8" z="0.5" h="1.57079632679"/>
</Position>
</TeleportAction>
</PrivateAction>
<PrivateAction>
<ControllerAction>
<AssignControllerAction>
<Controller name="HeroAgent">
<Properties>
<Property name="module" value="external_control"/>
</Properties>
</Controller>
</AssignControllerAction>
<OverrideControllerValueAction>
<Throttle value="0" active="false"/>
<Brake value="0" active="false"/>
<Clutch value="0" active="false"/>
<ParkingBrake value="0" active="false"/>
<SteeringWheel value="0" active="false"/>
<Gear number="0" active="false"/>
</OverrideControllerValueAction>
</ControllerAction>
</PrivateAction>
</Private>
<Private entityRef="adversary">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-9.4" y="-71.0" z="0.5" h="1.57079632679"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="standing">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-8.2" y="29.2" z="0.5" h="1.57079632679"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
</Actions>
</Init>
<Story name="MyStory">
<Act name="Behavior">
<ManeuverGroup maximumExecutionCount="1" name="ManeuverSequence">
<Actors selectTriggeringEntities="false">
<EntityRef entityRef="adversary"/>
</Actors>
<Maneuver name="LaneChangeSimpleManeuver">
<Event name="AdversaryAccelerates" priority="overwrite">
<Action name="AdversaryAccelerates">
<PrivateAction>
<LongitudinalAction>
<SpeedAction>
<SpeedActionDynamics dynamicsShape="step" value="50" dynamicsDimension="distance"/>
<SpeedActionTarget>
<AbsoluteTargetSpeed value="5.0"/>
</SpeedActionTarget>
</SpeedAction>
</LongitudinalAction>
</PrivateAction>
</Action>
<StartTrigger>
<ConditionGroup>
<Condition name="StartCondition" delay="0" conditionEdge="rising">
<ByEntityCondition>
<TriggeringEntities triggeringEntitiesRule="any">
<EntityRef entityRef="hero"/>
</TriggeringEntities>
<EntityCondition>
<RelativeDistanceCondition entityRef="adversary" relativeDistanceType="cartesianDistance" value="40.0" freespace="false" rule="lessThan"/>
</EntityCondition>
</ByEntityCondition>
</Condition>
</ConditionGroup>
</StartTrigger>
</Event>
<Event name="AdversaryChangesLane" priority="overwrite">
<Action name="AdversaryChangesLane">
<PrivateAction>
<LateralAction>
<LaneChangeAction>
<LaneChangeActionDynamics dynamicsShape="linear" value="25" dynamicsDimension="distance"/>
<LaneChangeTarget>
<RelativeTargetLane entityRef="adversary" value="-1"/>
</LaneChangeTarget>
</LaneChangeAction>
</LateralAction>
</PrivateAction>
</Action>
<StartTrigger>
<ConditionGroup>
<Condition name="AfterAdversaryAccelerates" delay="0" conditionEdge="rising">
<ByValueCondition>
<StoryboardElementStateCondition storyboardElementType="action" storyboardElementRef="AdversaryAccelerates" state="completeState"/>
</ByValueCondition>
</Condition>
</ConditionGroup>
</StartTrigger>
</Event>
</Maneuver>
</ManeuverGroup>
<StartTrigger>
<ConditionGroup>
<Condition name="OverallStartCondition" delay="0" conditionEdge="rising">
<ByEntityCondition>
<TriggeringEntities triggeringEntitiesRule="any">
<EntityRef entityRef="hero"/>
</TriggeringEntities>
<EntityCondition>
<TraveledDistanceCondition value="1.0"/>
</EntityCondition>
</ByEntityCondition>
</Condition>
<Condition name="StartTime" delay="0" conditionEdge="rising">
<ByValueCondition>
<SimulationTimeCondition value="0" rule="equalTo"/>
</ByValueCondition>
</Condition>
</ConditionGroup>
</StartTrigger>
<StopTrigger>
<ConditionGroup>
<Condition name="EndCondition" delay="0" conditionEdge="rising">
<ByEntityCondition>
<TriggeringEntities triggeringEntitiesRule="any">
<EntityRef entityRef="hero"/>
</TriggeringEntities>
<EntityCondition>
<TraveledDistanceCondition value="200.0"/>
</EntityCondition>
</ByEntityCondition>
</Condition>
</ConditionGroup>
</StopTrigger>
</Act>
</Story>
<StopTrigger>
<ConditionGroup>
<Condition name="criteria_RunningStopTest" delay="0" conditionEdge="rising">
<ByValueCondition>
<ParameterCondition parameterRef="" value="" rule="lessThan"/>
</ByValueCondition>
</Condition>
<Condition name="criteria_RunningRedLightTest" delay="0" conditionEdge="rising">
<ByValueCondition>
<ParameterCondition parameterRef="" value="" rule="lessThan"/>
</ByValueCondition>
</Condition>
<Condition name="criteria_WrongLaneTest" delay="0" conditionEdge="rising">
<ByValueCondition>
<ParameterCondition parameterRef="" value="" rule="lessThan"/>
</ByValueCondition>
</Condition>
<Condition name="criteria_OnSidewalkTest" delay="0" conditionEdge="rising">
<ByValueCondition>
<ParameterCondition parameterRef="" value="" rule="lessThan"/>
</ByValueCondition>
</Condition>
<Condition name="criteria_KeepLaneTest" delay="0" conditionEdge="rising">
<ByValueCondition>
<ParameterCondition parameterRef="" value="" rule="lessThan"/>
</ByValueCondition>
</Condition>
<Condition name="criteria_CollisionTest" delay="0" conditionEdge="rising">
<ByValueCondition>
<ParameterCondition parameterRef="" value="" rule="lessThan"/>
</ByValueCondition>
</Condition>
<Condition name="criteria_DrivenDistanceTest" delay="0" conditionEdge="rising">
<ByValueCondition>
<ParameterCondition parameterRef="distance_success" value="100" rule="lessThan"/>
</ByValueCondition>
</Condition>
</ConditionGroup>
</StopTrigger>
</Storyboard>
</OpenSCENARIO>
``` | Here is the result:
```
<?xml version="1.0" ?>
<OpenSCENARIO>
<FileHeader revMajor="1" revMinor="0" date="2020-03-24T12:00:00" description="CARLA:LaneChangeSimple" author=""/>
<ParameterDeclarations/>
<CatalogLocations/>
<RoadNetwork>
<LogicFile filepath="Town04"/>
<SceneGraphFile filepath=""/>
</RoadNetwork>
<Entities>
<ScenarioObject name="hero">
<Vehicle name="vehicle.tesla.model3" vehicleCategory="car">
<ParameterDeclarations/>
<Performance maxSpeed="69.444" maxAcceleration="200" maxDeceleration="10.0"/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2.1" length="4.5" height="1.8"/>
</BoundingBox>
<Axles>
<FrontAxle maxSteering="0.5" wheelDiameter="0.6" trackWidth="1.8" positionX="3.1" positionZ="0.3"/>
<RearAxle maxSteering="0.0" wheelDiameter="0.6" trackWidth="1.8" positionX="0.0" positionZ="0.3"/>
</Axles>
<Properties>
<Property name="type" value="ego_vehicle"/>
</Properties>
</Vehicle>
</ScenarioObject>
<ScenarioObject name="adversary">
<Vehicle name="vehicle.lincoln.mkz_2017" vehicleCategory="car">
<ParameterDeclarations/>
<Performance maxSpeed="69.444" maxAcceleration="200" maxDeceleration="10.0"/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2.1" length="4.5" height="1.8"/>
</BoundingBox>
<Axles>
<FrontAxle maxSteering="0.5" wheelDiameter="0.6" trackWidth="1.8" positionX="3.1" positionZ="0.3"/>
<RearAxle maxSteering="0.0" wheelDiameter="0.6" trackWidth="1.8" positionX="0.0" positionZ="0.3"/>
</Axles>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Vehicle>
</ScenarioObject>
<ScenarioObject name="standing">
<Vehicle name="vehicle.volkswagen.t2" vehicleCategory="car">
<ParameterDeclarations/>
<Performance maxSpeed="69.444" maxAcceleration="200" maxDeceleration="10.0"/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2.1" length="4.5" height="1.8"/>
</BoundingBox>
<Axles>
<FrontAxle maxSteering="0.5" wheelDiameter="0.6" trackWidth="1.8" positionX="3.1" positionZ="0.3"/>
<RearAxle maxSteering="0.0" wheelDiameter="0.6" trackWidth="1.8" positionX="0.0" positionZ="0.3"/>
</Axles>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Vehicle>
</ScenarioObject>
<ScenarioObject name="pedestrian_close_to_hero_4292">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
</Entities>
<Storyboard>
<Init>
<Actions>
<GlobalAction>
<EnvironmentAction>
<Environment name="Environment1">
<TimeOfDay animation="false" dateTime="2019-06-25T12:00:00"/>
<Weather cloudState="free">
<Sun intensity="0.85" azimuth="0" elevation="1.31"/>
<Fog visualRange="100000.0"/>
<Precipitation precipitationType="dry" intensity="0.0"/>
</Weather>
<RoadCondition frictionScaleFactor="1.0"/>
</Environment>
</EnvironmentAction>
</GlobalAction>
<Private entityRef="hero">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-9.4" y="-152.8" z="0.5" h="1.57079632679"/>
</Position>
</TeleportAction>
</PrivateAction>
<PrivateAction>
<ControllerAction>
<AssignControllerAction>
<Controller name="HeroAgent">
<Properties>
<Property name="module" value="external_control"/>
</Properties>
</Controller>
</AssignControllerAction>
<OverrideControllerValueAction>
<Throttle value="0" active="false"/>
<Brake value="0" active="false"/>
<Clutch value="0" active="false"/>
<ParkingBrake value="0" active="false"/>
<SteeringWheel value="0" active="false"/>
<Gear number="0" active="false"/>
</OverrideControllerValueAction>
</ControllerAction>
</PrivateAction>
</Private>
<Private entityRef="adversary">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-9.4" y="-71.0" z="0.5" h="1.57079632679"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="standing">
<PrivateAction>
<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_4292">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-14.544331550598145" y="-158.0508270263672" z="0.0015143966302275658"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
</Actions>
</Init>
<Story name="MyStory">
<Act name="Behavior">
<ManeuverGroup maximumExecutionCount="1" name="ManeuverSequence">
<Actors selectTriggeringEntities="false">
<EntityRef entityRef="adversary"/>
</Actors>
<Maneuver name="LaneChangeSimpleManeuver">
<Event name="AdversaryAccelerates" priority="overwrite">
<Action name="AdversaryAccelerates">
<PrivateAction>
<LongitudinalAction>
<SpeedAction>
<SpeedActionDynamics dynamicsShape="step" value="50" dynamicsDimension="distance"/>
<SpeedActionTarget>
<AbsoluteTargetSpeed value="5.0"/>
</SpeedActionTarget>
</SpeedAction>
</LongitudinalAction>
</PrivateAction>
</Action>
<StartTrigger>
<ConditionGroup>
<Condition name="StartCondition" delay="0" conditionEdge="rising">
<ByEntityCondition>
<TriggeringEntities triggeringEntitiesRule="any">
<EntityRef entityRef="hero"/>
</TriggeringEntities>
<EntityCondition>
<RelativeDistanceCondition entityRef="adversary" relativeDistanceType="cartesianDistance" value="40.0" freespace="false" rule="lessThan"/>
</EntityCondition>
</ByEntityCondition>
</Condition>
</ConditionGroup>
</StartTrigger>
</Event>
<Event name="AdversaryChangesLane" priority="overwrite">
<Action name="AdversaryChangesLane">
<PrivateAction>
<LateralAction>
<LaneChangeAction>
<LaneChangeActionDynamics dynamicsShape="linear" value="25" dynamicsDimension="distance"/>
<LaneChangeTarget>
<RelativeTargetLane entityRef="adversary" value="-1"/>
</LaneChangeTarget>
</LaneChangeAction>
</LateralAction>
</PrivateAction>
</Action>
<StartTrigger>
<ConditionGroup>
<Condition name="AfterAdversaryAccelerates" delay="0" conditionEdge="rising">
<ByValueCondition>
<StoryboardElementStateCondition storyboardElementType="action" storyboardElementRef="AdversaryAccelerates" state="completeState"/>
</ByValueCondition>
</Condition>
</ConditionGroup>
</StartTrigger>
</Event>
</Maneuver>
</ManeuverGroup>
<StartTrigger>
<ConditionGroup>
<Condition name="OverallStartCondition" delay="0" conditionEdge="rising">
<ByEntityCondition>
<TriggeringEntities triggeringEntitiesRule="any">
<EntityRef entityRef="hero"/>
</TriggeringEntities>
<EntityCondition>
<TraveledDistanceCondition value="1.0"/>
</EntityCondition>
</ByEntityCondition>
</Condition>
<Condition name="StartTime" delay="0" conditionEdge="rising">
<ByValueCondition>
<SimulationTimeCondition value="0" rule="equalTo"/>
</ByValueCondition>
</Condition>
</ConditionGroup>
</StartTrigger>
<StopTrigger>
<ConditionGroup>
<Condition name="EndCondition" delay="0" conditionEdge="rising">
<ByEntityCondition>
<TriggeringEntities triggeringEntitiesRule="any">
<EntityRef entityRef="hero"/>
</TriggeringEntities>
<EntityCondition>
<TraveledDistanceCondition value="200.0"/>
</EntityCondition>
</ByEntityCondition>
</Condition>
</ConditionGroup>
</StopTrigger>
</Act>
</Story>
<StopTrigger>
<ConditionGroup>
<Condition name="criteria_RunningStopTest" delay="0" conditionEdge="rising">
<ByValueCondition>
<ParameterCondition parameterRef="" value="" rule="lessThan"/>
</ByValueCondition>
</Condition>
<Condition name="criteria_RunningRedLightTest" delay="0" conditionEdge="rising">
<ByValueCondition>
<ParameterCondition parameterRef="" value="" rule="lessThan"/>
</ByValueCondition>
</Condition>
<Condition name="criteria_WrongLaneTest" delay="0" conditionEdge="rising">
<ByValueCondition>
<ParameterCondition parameterRef="" value="" rule="lessThan"/>
</ByValueCondition>
</Condition>
<Condition name="criteria_OnSidewalkTest" delay="0" conditionEdge="rising">
<ByValueCondition>
<ParameterCondition parameterRef="" value="" rule="lessThan"/>
</ByValueCondition>
</Condition>
<Condition name="criteria_KeepLaneTest" delay="0" conditionEdge="rising">
<ByValueCondition>
<ParameterCondition parameterRef="" value="" rule="lessThan"/>
</ByValueCondition>
</Condition>
<Condition name="criteria_CollisionTest" delay="0" conditionEdge="rising">
<ByValueCondition>
<ParameterCondition parameterRef="" value="" rule="lessThan"/>
</ByValueCondition>
</Condition>
<Condition name="criteria_DrivenDistanceTest" delay="0" conditionEdge="rising">
<ByValueCondition>
<ParameterCondition parameterRef="distance_success" value="100" rule="lessThan"/>
</ByValueCondition>
</Condition>
</ConditionGroup>
</StopTrigger>
</Storyboard>
</OpenSCENARIO>
``` |
i need 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_18360">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_w_transform_18362">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_close_to_hero_18363">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_close_to_hero_18364">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_w_transform_18365">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_w_transform_18366">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_w_transform_18367">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_w_transform_18369">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_w_transform_18371">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_w_transform_18372">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_close_to_hero_18373">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_w_transform_18374">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_w_transform_18375">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_close_to_hero_18378">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_close_to_hero_18380">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_w_transform_18385">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
</Entities>
<Storyboard>
<Init>
<Actions>
<GlobalAction>
<EnvironmentAction>
<Environment name="Environment1">
<TimeOfDay animation="false" dateTime="2019-06-25T12:00:00"/>
<Weather cloudState="free">
<Sun intensity="0.85" azimuth="0" elevation="1.31"/>
<Fog visualRange="100000.0"/>
<Precipitation precipitationType="dry" intensity="0.0"/>
</Weather>
<RoadCondition frictionScaleFactor="1.0"/>
</Environment>
</EnvironmentAction>
</GlobalAction>
<Private entityRef="hero">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-9.4" y="-152.8" z="0.5" h="1.57079632679"/>
</Position>
</TeleportAction>
</PrivateAction>
<PrivateAction>
<ControllerAction>
<AssignControllerAction>
<Controller name="HeroAgent">
<Properties>
<Property name="module" value="external_control"/>
</Properties>
</Controller>
</AssignControllerAction>
<OverrideControllerValueAction>
<Throttle value="0" active="false"/>
<Brake value="0" active="false"/>
<Clutch value="0" active="false"/>
<ParkingBrake value="0" active="false"/>
<SteeringWheel value="0" active="false"/>
<Gear number="0" active="false"/>
</OverrideControllerValueAction>
</ControllerAction>
</PrivateAction>
</Private>
<Private entityRef="adversary">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-9.4" y="-71.0" z="0.5" h="1.57079632679"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="standing">
<PrivateAction>
<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_18360">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-1.4040050506591797" y="23.33966636657715" z="0.003073577769100666"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_w_transform_18362">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-6.580228328704834" y="44.456058502197266" z="0.5"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_close_to_hero_18363">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-13.493423461914062" y="-155.92312622070312" z="0.0014652633108198643"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_close_to_hero_18364">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-7.320927143096924" y="-153.26934814453125" z="0.0014652633108198643"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_w_transform_18365">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-39.818485260009766" y="-45.420684814453125" z="0.5"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_w_transform_18366">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="83.89892578125" y="-10.372801780700684" z="0.5"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_w_transform_18367">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-49.564186096191406" y="30.401548385620117" z="0.5"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_w_transform_18369">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-29.153928756713867" y="30.352285385131836" z="0.5"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_w_transform_18371">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-71.92288208007812" y="-93.92479705810547" z="0.5"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_w_transform_18372">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="8.949176788330078" y="-49.03171157836914" z="0.5"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_close_to_hero_18373">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-13.754672050476074" y="-151.65472412109375" z="0.0014652633108198643"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_w_transform_18374">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-7.0669755935668945" y="-68.38458251953125" z="0.5"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_w_transform_18375">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="84.57792663574219" y="13.61600112915039" z="0.5"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_close_to_hero_18378">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="18.372804641723633" y="-157.48809814453125" z="0.0014652633108198643"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_close_to_hero_18380">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-9.477542877197266" y="-146.45802307128906" z="0.0014652633108198643"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_w_transform_18385">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="15.538375854492188" y="41.41718292236328" 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_18362">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_close_to_hero_18363">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_close_to_hero_18364">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_w_transform_18365">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_w_transform_18366">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_w_transform_18367">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_w_transform_18369">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_w_transform_18371">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_w_transform_18372">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_close_to_hero_18373">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_w_transform_18374">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_w_transform_18375">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_close_to_hero_18378">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_close_to_hero_18380">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_w_transform_18385">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
</Entities>
<Storyboard>
<Init>
<Actions>
<GlobalAction>
<EnvironmentAction>
<Environment name="Environment1">
<TimeOfDay animation="false" dateTime="2019-06-25T12:00:00"/>
<Weather cloudState="free">
<Sun intensity="0.85" azimuth="0" elevation="1.31"/>
<Fog visualRange="100000.0"/>
<Precipitation precipitationType="dry" intensity="0.0"/>
</Weather>
<RoadCondition frictionScaleFactor="1.0"/>
</Environment>
</EnvironmentAction>
</GlobalAction>
<Private entityRef="hero">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-9.4" y="-152.8" z="0.5" h="1.57079632679"/>
</Position>
</TeleportAction>
</PrivateAction>
<PrivateAction>
<ControllerAction>
<AssignControllerAction>
<Controller name="HeroAgent">
<Properties>
<Property name="module" value="external_control"/>
</Properties>
</Controller>
</AssignControllerAction>
<OverrideControllerValueAction>
<Throttle value="0" active="false"/>
<Brake value="0" active="false"/>
<Clutch value="0" active="false"/>
<ParkingBrake value="0" active="false"/>
<SteeringWheel value="0" active="false"/>
<Gear number="0" active="false"/>
</OverrideControllerValueAction>
</ControllerAction>
</PrivateAction>
</Private>
<Private entityRef="adversary">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-9.4" y="-71.0" z="0.5" h="1.57079632679"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="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_18362">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-6.580228328704834" y="44.456058502197266" z="0.5"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_close_to_hero_18363">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-13.493423461914062" y="-155.92312622070312" z="0.0014652633108198643"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_close_to_hero_18364">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-7.320927143096924" y="-153.26934814453125" z="0.0014652633108198643"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_w_transform_18365">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-39.818485260009766" y="-45.420684814453125" z="0.5"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_w_transform_18366">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="83.89892578125" y="-10.372801780700684" z="0.5"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_w_transform_18367">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-49.564186096191406" y="30.401548385620117" z="0.5"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_w_transform_18369">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-29.153928756713867" y="30.352285385131836" z="0.5"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_w_transform_18371">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-71.92288208007812" y="-93.92479705810547" z="0.5"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_w_transform_18372">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="8.949176788330078" y="-49.03171157836914" z="0.5"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_close_to_hero_18373">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-13.754672050476074" y="-151.65472412109375" z="0.0014652633108198643"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_w_transform_18374">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-7.0669755935668945" y="-68.38458251953125" z="0.5"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_w_transform_18375">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="84.57792663574219" y="13.61600112915039" z="0.5"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_close_to_hero_18378">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="18.372804641723633" y="-157.48809814453125" z="0.0014652633108198643"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_close_to_hero_18380">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-9.477542877197266" y="-146.45802307128906" z="0.0014652633108198643"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_w_transform_18385">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="15.538375854492188" y="41.41718292236328" 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_adversary_29193">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_w_transform_29194">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_w_transform_29195">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_w_transform_29196">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
</Entities>
<Storyboard>
<Init>
<Actions>
<GlobalAction>
<EnvironmentAction>
<Environment name="Environment1">
<TimeOfDay animation="false" dateTime="2019-06-25T12:00:00"/>
<Weather cloudState="free">
<Sun intensity="0.85" azimuth="0" elevation="1.31"/>
<Fog visualRange="100000.0"/>
<Precipitation precipitationType="dry" intensity="0.0"/>
</Weather>
<RoadCondition frictionScaleFactor="1.0"/>
</Environment>
</EnvironmentAction>
</GlobalAction>
<Private entityRef="hero">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-9.4" y="-152.8" z="0.5" h="1.57079632679"/>
</Position>
</TeleportAction>
</PrivateAction>
<PrivateAction>
<ControllerAction>
<AssignControllerAction>
<Controller name="HeroAgent">
<Properties>
<Property name="module" value="external_control"/>
</Properties>
</Controller>
</AssignControllerAction>
<OverrideControllerValueAction>
<Throttle value="0" active="false"/>
<Brake value="0" active="false"/>
<Clutch value="0" active="false"/>
<ParkingBrake value="0" active="false"/>
<SteeringWheel value="0" active="false"/>
<Gear number="0" active="false"/>
</OverrideControllerValueAction>
</ControllerAction>
</PrivateAction>
</Private>
<Private entityRef="adversary">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-9.4" y="-71.0" z="0.5" h="1.57079632679"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="standing">
<PrivateAction>
<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_29193">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-8.675012588500977" y="-67.27960968017578" z="0.0337911993265152"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_w_transform_29194">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="17.8122501373291" y="-66.25836181640625" z="0.5"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_w_transform_29195">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="15.21569538116455" y="34.29990768432617" z="0.5"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_w_transform_29196">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="52.28059005737305" y="-76.52669525146484" 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_29193">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_w_transform_29194">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_w_transform_29195">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_w_transform_29196">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_close_to_hero_29197">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
</Entities>
<Storyboard>
<Init>
<Actions>
<GlobalAction>
<EnvironmentAction>
<Environment name="Environment1">
<TimeOfDay animation="false" dateTime="2019-06-25T12:00:00"/>
<Weather cloudState="free">
<Sun intensity="0.85" azimuth="0" elevation="1.31"/>
<Fog visualRange="100000.0"/>
<Precipitation precipitationType="dry" intensity="0.0"/>
</Weather>
<RoadCondition frictionScaleFactor="1.0"/>
</Environment>
</EnvironmentAction>
</GlobalAction>
<Private entityRef="hero">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-9.4" y="-152.8" z="0.5" h="1.57079632679"/>
</Position>
</TeleportAction>
</PrivateAction>
<PrivateAction>
<ControllerAction>
<AssignControllerAction>
<Controller name="HeroAgent">
<Properties>
<Property name="module" value="external_control"/>
</Properties>
</Controller>
</AssignControllerAction>
<OverrideControllerValueAction>
<Throttle value="0" active="false"/>
<Brake value="0" active="false"/>
<Clutch value="0" active="false"/>
<ParkingBrake value="0" active="false"/>
<SteeringWheel value="0" active="false"/>
<Gear number="0" active="false"/>
</OverrideControllerValueAction>
</ControllerAction>
</PrivateAction>
</Private>
<Private entityRef="adversary">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-9.4" y="-71.0" z="0.5" h="1.57079632679"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="standing">
<PrivateAction>
<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_29193">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-8.675012588500977" y="-67.27960968017578" z="0.0337911993265152"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_w_transform_29194">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="17.8122501373291" y="-66.25836181640625" z="0.5"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_w_transform_29195">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="15.21569538116455" y="34.29990768432617" z="0.5"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_w_transform_29196">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="52.28059005737305" y="-76.52669525146484" z="0.5"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_close_to_hero_29197">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-18.097551345825195" y="-245.8729705810547" z="0.001678848173469305"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
</Actions>
</Init>
<Story name="MyStory">
<Act name="Behavior">
<ManeuverGroup maximumExecutionCount="1" name="ManeuverSequence">
<Actors selectTriggeringEntities="false">
<EntityRef entityRef="adversary"/>
</Actors>
<Maneuver name="LaneChangeSimpleManeuver">
<Event name="AdversaryAccelerates" priority="overwrite">
<Action name="AdversaryAccelerates">
<PrivateAction>
<LongitudinalAction>
<SpeedAction>
<SpeedActionDynamics dynamicsShape="step" value="50" dynamicsDimension="distance"/>
<SpeedActionTarget>
<AbsoluteTargetSpeed value="5.0"/>
</SpeedActionTarget>
</SpeedAction>
</LongitudinalAction>
</PrivateAction>
</Action>
<StartTrigger>
<ConditionGroup>
<Condition name="StartCondition" delay="0" conditionEdge="rising">
<ByEntityCondition>
<TriggeringEntities triggeringEntitiesRule="any">
<EntityRef entityRef="hero"/>
</TriggeringEntities>
<EntityCondition>
<RelativeDistanceCondition entityRef="adversary" relativeDistanceType="cartesianDistance" value="40.0" freespace="false" rule="lessThan"/>
</EntityCondition>
</ByEntityCondition>
</Condition>
</ConditionGroup>
</StartTrigger>
</Event>
<Event name="AdversaryChangesLane" priority="overwrite">
<Action name="AdversaryChangesLane">
<PrivateAction>
<LateralAction>
<LaneChangeAction>
<LaneChangeActionDynamics dynamicsShape="linear" value="25" dynamicsDimension="distance"/>
<LaneChangeTarget>
<RelativeTargetLane entityRef="adversary" value="-1"/>
</LaneChangeTarget>
</LaneChangeAction>
</LateralAction>
</PrivateAction>
</Action>
<StartTrigger>
<ConditionGroup>
<Condition name="AfterAdversaryAccelerates" delay="0" conditionEdge="rising">
<ByValueCondition>
<StoryboardElementStateCondition storyboardElementType="action" storyboardElementRef="AdversaryAccelerates" state="completeState"/>
</ByValueCondition>
</Condition>
</ConditionGroup>
</StartTrigger>
</Event>
</Maneuver>
</ManeuverGroup>
<StartTrigger>
<ConditionGroup>
<Condition name="OverallStartCondition" delay="0" conditionEdge="rising">
<ByEntityCondition>
<TriggeringEntities triggeringEntitiesRule="any">
<EntityRef entityRef="hero"/>
</TriggeringEntities>
<EntityCondition>
<TraveledDistanceCondition value="1.0"/>
</EntityCondition>
</ByEntityCondition>
</Condition>
<Condition name="StartTime" delay="0" conditionEdge="rising">
<ByValueCondition>
<SimulationTimeCondition value="0" rule="equalTo"/>
</ByValueCondition>
</Condition>
</ConditionGroup>
</StartTrigger>
<StopTrigger>
<ConditionGroup>
<Condition name="EndCondition" delay="0" conditionEdge="rising">
<ByEntityCondition>
<TriggeringEntities triggeringEntitiesRule="any">
<EntityRef entityRef="hero"/>
</TriggeringEntities>
<EntityCondition>
<TraveledDistanceCondition value="200.0"/>
</EntityCondition>
</ByEntityCondition>
</Condition>
</ConditionGroup>
</StopTrigger>
</Act>
</Story>
<StopTrigger>
<ConditionGroup>
<Condition name="criteria_RunningStopTest" delay="0" conditionEdge="rising">
<ByValueCondition>
<ParameterCondition parameterRef="" value="" rule="lessThan"/>
</ByValueCondition>
</Condition>
<Condition name="criteria_RunningRedLightTest" delay="0" conditionEdge="rising">
<ByValueCondition>
<ParameterCondition parameterRef="" value="" rule="lessThan"/>
</ByValueCondition>
</Condition>
<Condition name="criteria_WrongLaneTest" delay="0" conditionEdge="rising">
<ByValueCondition>
<ParameterCondition parameterRef="" value="" rule="lessThan"/>
</ByValueCondition>
</Condition>
<Condition name="criteria_OnSidewalkTest" delay="0" conditionEdge="rising">
<ByValueCondition>
<ParameterCondition parameterRef="" value="" rule="lessThan"/>
</ByValueCondition>
</Condition>
<Condition name="criteria_KeepLaneTest" delay="0" conditionEdge="rising">
<ByValueCondition>
<ParameterCondition parameterRef="" value="" rule="lessThan"/>
</ByValueCondition>
</Condition>
<Condition name="criteria_CollisionTest" delay="0" conditionEdge="rising">
<ByValueCondition>
<ParameterCondition parameterRef="" value="" rule="lessThan"/>
</ByValueCondition>
</Condition>
<Condition name="criteria_DrivenDistanceTest" delay="0" conditionEdge="rising">
<ByValueCondition>
<ParameterCondition parameterRef="distance_success" value="100" rule="lessThan"/>
</ByValueCondition>
</Condition>
</ConditionGroup>
</StopTrigger>
</Storyboard>
</OpenSCENARIO>
``` |
i want you to remove pedestrian actor named pedestrian_w_transform_17229?
```
<?xml version="1.0" ?>
<OpenSCENARIO>
<FileHeader revMajor="1" revMinor="0" date="2020-03-24T12:00:00" description="CARLA:LaneChangeSimple" author=""/>
<ParameterDeclarations/>
<CatalogLocations/>
<RoadNetwork>
<LogicFile filepath="Town04"/>
<SceneGraphFile filepath=""/>
</RoadNetwork>
<Entities>
<ScenarioObject name="hero">
<Vehicle name="vehicle.tesla.model3" vehicleCategory="car">
<ParameterDeclarations/>
<Performance maxSpeed="69.444" maxAcceleration="200" maxDeceleration="10.0"/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2.1" length="4.5" height="1.8"/>
</BoundingBox>
<Axles>
<FrontAxle maxSteering="0.5" wheelDiameter="0.6" trackWidth="1.8" positionX="3.1" positionZ="0.3"/>
<RearAxle maxSteering="0.0" wheelDiameter="0.6" trackWidth="1.8" positionX="0.0" positionZ="0.3"/>
</Axles>
<Properties>
<Property name="type" value="ego_vehicle"/>
</Properties>
</Vehicle>
</ScenarioObject>
<ScenarioObject name="adversary">
<Vehicle name="vehicle.lincoln.mkz_2017" vehicleCategory="car">
<ParameterDeclarations/>
<Performance maxSpeed="69.444" maxAcceleration="200" maxDeceleration="10.0"/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2.1" length="4.5" height="1.8"/>
</BoundingBox>
<Axles>
<FrontAxle maxSteering="0.5" wheelDiameter="0.6" trackWidth="1.8" positionX="3.1" positionZ="0.3"/>
<RearAxle maxSteering="0.0" wheelDiameter="0.6" trackWidth="1.8" positionX="0.0" positionZ="0.3"/>
</Axles>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Vehicle>
</ScenarioObject>
<ScenarioObject name="standing">
<Vehicle name="vehicle.volkswagen.t2" vehicleCategory="car">
<ParameterDeclarations/>
<Performance maxSpeed="69.444" maxAcceleration="200" maxDeceleration="10.0"/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2.1" length="4.5" height="1.8"/>
</BoundingBox>
<Axles>
<FrontAxle maxSteering="0.5" wheelDiameter="0.6" trackWidth="1.8" positionX="3.1" positionZ="0.3"/>
<RearAxle maxSteering="0.0" wheelDiameter="0.6" 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_17216">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_w_transform_17218">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_close_to_hero_17219">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_w_transform_17220">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_close_to_standing_17221">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_w_transform_17222">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_w_transform_17223">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_w_transform_17224">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_close_to_hero_17225">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_close_to_standing_17226">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_close_to_standing_17227">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_close_to_adversary_17228">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_w_transform_17229">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_close_to_standing_17230">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_close_to_hero_17231">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_w_transform_17232">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_w_transform_17233">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_close_to_hero_17234">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_close_to_adversary_17235">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_close_to_standing_17236">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_close_to_hero_17237">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_w_transform_17239">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_w_transform_17240">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_close_to_hero_17241">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_close_to_adversary_17242">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_w_transform_17243">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
</Entities>
<Storyboard>
<Init>
<Actions>
<GlobalAction>
<EnvironmentAction>
<Environment name="Environment1">
<TimeOfDay animation="false" dateTime="2019-06-25T12:00:00"/>
<Weather cloudState="free">
<Sun intensity="0.85" azimuth="0" elevation="1.31"/>
<Fog visualRange="100000.0"/>
<Precipitation precipitationType="dry" intensity="0.0"/>
</Weather>
<RoadCondition frictionScaleFactor="1.0"/>
</Environment>
</EnvironmentAction>
</GlobalAction>
<Private entityRef="hero">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-9.4" y="-152.8" z="0.5" h="1.57079632679"/>
</Position>
</TeleportAction>
</PrivateAction>
<PrivateAction>
<ControllerAction>
<AssignControllerAction>
<Controller name="HeroAgent">
<Properties>
<Property name="module" value="external_control"/>
</Properties>
</Controller>
</AssignControllerAction>
<OverrideControllerValueAction>
<Throttle value="0" active="false"/>
<Brake value="0" active="false"/>
<Clutch value="0" active="false"/>
<ParkingBrake value="0" active="false"/>
<SteeringWheel value="0" active="false"/>
<Gear number="0" active="false"/>
</OverrideControllerValueAction>
</ControllerAction>
</PrivateAction>
</Private>
<Private entityRef="adversary">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-9.4" y="-71.0" z="0.5" h="1.57079632679"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="standing">
<PrivateAction>
<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_17216">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-2.5553224086761475" y="-78.71416473388672" z="0.03379985690116882"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_w_transform_17218">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-26.456317901611328" y="-50.53921890258789" z="0.5"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_close_to_hero_17219">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-16.63922882080078" y="-151.8277587890625" z="0.001423797570168972"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_w_transform_17220">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-69.32218933105469" y="11.367687225341797" z="0.5"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_close_to_standing_17221">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-16.64882469177246" y="25.811264038085938" z="0.003053016494959593"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_w_transform_17222">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-37.88466262817383" y="52.81953811645508" z="0.5"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_w_transform_17223">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="86.33234405517578" y="-21.9273624420166" z="0.5"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_w_transform_17224">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-35.670284271240234" y="-39.02943801879883" z="0.5"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_close_to_hero_17225">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-12.670775413513184" y="-159.31500244140625" z="0.001423797570168972"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_close_to_standing_17226">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-6.114830017089844" y="25.399860382080078" z="0.0030739593785256147"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_close_to_standing_17227">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-5.063529014587402" y="23.30387306213379" z="0.0030775070190429688"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_close_to_adversary_17228">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-12.758261680603027" y="-76.6953125" z="0.03381465747952461"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_w_transform_17229">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-33.537940979003906" y="40.6878662109375" z="0.5"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_close_to_standing_17230">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-15.069313049316406" y="36.45523452758789" z="0.003038062946870923"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_close_to_hero_17231">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-17.954824447631836" y="-145.30552673339844" z="0.001423797570168972"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_w_transform_17232">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-32.261329650878906" y="-28.54115104675293" z="0.5"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_w_transform_17233">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-30.263504028320312" y="24.89929962158203" z="0.5"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_close_to_hero_17234">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-3.641890048980713" y="-143.81689453125" z="0.001423797570168972"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_close_to_adversary_17235">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-16.40384864807129" y="-64.74903869628906" z="0.033777426928281784"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_close_to_standing_17236">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="0.359973281621933" y="38.70234680175781" z="0.0030323027167469263"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_close_to_hero_17237">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-11.185741424560547" y="-146.84442138671875" z="0.001423797570168972"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_w_transform_17239">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="87.45072937011719" y="-56.091739654541016" z="0.5"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_w_transform_17240">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="86.9552993774414" y="90.72408294677734" z="0.5"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_close_to_hero_17241">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-13.668853759765625" y="-154.85450744628906" z="0.001423797570168972"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_close_to_adversary_17242">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-15.277871131896973" y="-79.44944763183594" z="0.03380649536848068"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_w_transform_17243">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="14.369339942932129" y="43.59632873535156" 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_17216">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_w_transform_17218">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_close_to_hero_17219">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_w_transform_17220">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_close_to_standing_17221">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_w_transform_17222">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_w_transform_17223">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_w_transform_17224">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_close_to_hero_17225">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_close_to_standing_17226">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_close_to_standing_17227">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_close_to_adversary_17228">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_close_to_standing_17230">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_close_to_hero_17231">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_w_transform_17232">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_w_transform_17233">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_close_to_hero_17234">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_close_to_adversary_17235">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_close_to_standing_17236">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_close_to_hero_17237">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_w_transform_17239">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_w_transform_17240">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_close_to_hero_17241">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_close_to_adversary_17242">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_w_transform_17243">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
</Entities>
<Storyboard>
<Init>
<Actions>
<GlobalAction>
<EnvironmentAction>
<Environment name="Environment1">
<TimeOfDay animation="false" dateTime="2019-06-25T12:00:00"/>
<Weather cloudState="free">
<Sun intensity="0.85" azimuth="0" elevation="1.31"/>
<Fog visualRange="100000.0"/>
<Precipitation precipitationType="dry" intensity="0.0"/>
</Weather>
<RoadCondition frictionScaleFactor="1.0"/>
</Environment>
</EnvironmentAction>
</GlobalAction>
<Private entityRef="hero">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-9.4" y="-152.8" z="0.5" h="1.57079632679"/>
</Position>
</TeleportAction>
</PrivateAction>
<PrivateAction>
<ControllerAction>
<AssignControllerAction>
<Controller name="HeroAgent">
<Properties>
<Property name="module" value="external_control"/>
</Properties>
</Controller>
</AssignControllerAction>
<OverrideControllerValueAction>
<Throttle value="0" active="false"/>
<Brake value="0" active="false"/>
<Clutch value="0" active="false"/>
<ParkingBrake value="0" active="false"/>
<SteeringWheel value="0" active="false"/>
<Gear number="0" active="false"/>
</OverrideControllerValueAction>
</ControllerAction>
</PrivateAction>
</Private>
<Private entityRef="adversary">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-9.4" y="-71.0" z="0.5" h="1.57079632679"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="standing">
<PrivateAction>
<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_17216">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-2.5553224086761475" y="-78.71416473388672" z="0.03379985690116882"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_w_transform_17218">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-26.456317901611328" y="-50.53921890258789" z="0.5"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_close_to_hero_17219">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-16.63922882080078" y="-151.8277587890625" z="0.001423797570168972"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_w_transform_17220">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-69.32218933105469" y="11.367687225341797" z="0.5"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_close_to_standing_17221">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-16.64882469177246" y="25.811264038085938" z="0.003053016494959593"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_w_transform_17222">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-37.88466262817383" y="52.81953811645508" z="0.5"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_w_transform_17223">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="86.33234405517578" y="-21.9273624420166" z="0.5"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_w_transform_17224">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-35.670284271240234" y="-39.02943801879883" z="0.5"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_close_to_hero_17225">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-12.670775413513184" y="-159.31500244140625" z="0.001423797570168972"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_close_to_standing_17226">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-6.114830017089844" y="25.399860382080078" z="0.0030739593785256147"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_close_to_standing_17227">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-5.063529014587402" y="23.30387306213379" z="0.0030775070190429688"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_close_to_adversary_17228">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-12.758261680603027" y="-76.6953125" z="0.03381465747952461"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_close_to_standing_17230">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-15.069313049316406" y="36.45523452758789" z="0.003038062946870923"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_close_to_hero_17231">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-17.954824447631836" y="-145.30552673339844" z="0.001423797570168972"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_w_transform_17232">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-32.261329650878906" y="-28.54115104675293" z="0.5"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_w_transform_17233">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-30.263504028320312" y="24.89929962158203" z="0.5"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_close_to_hero_17234">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-3.641890048980713" y="-143.81689453125" z="0.001423797570168972"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_close_to_adversary_17235">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-16.40384864807129" y="-64.74903869628906" z="0.033777426928281784"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_close_to_standing_17236">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="0.359973281621933" y="38.70234680175781" z="0.0030323027167469263"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_close_to_hero_17237">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-11.185741424560547" y="-146.84442138671875" z="0.001423797570168972"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_w_transform_17239">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="87.45072937011719" y="-56.091739654541016" z="0.5"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_w_transform_17240">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="86.9552993774414" y="90.72408294677734" z="0.5"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_close_to_hero_17241">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-13.668853759765625" y="-154.85450744628906" z="0.001423797570168972"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_close_to_adversary_17242">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-15.277871131896973" y="-79.44944763183594" z="0.03380649536848068"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_w_transform_17243">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="14.369339942932129" y="43.59632873535156" z="0.5"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
</Actions>
</Init>
<Story name="MyStory">
<Act name="Behavior">
<ManeuverGroup maximumExecutionCount="1" name="ManeuverSequence">
<Actors selectTriggeringEntities="false">
<EntityRef entityRef="adversary"/>
</Actors>
<Maneuver name="LaneChangeSimpleManeuver">
<Event name="AdversaryAccelerates" priority="overwrite">
<Action name="AdversaryAccelerates">
<PrivateAction>
<LongitudinalAction>
<SpeedAction>
<SpeedActionDynamics dynamicsShape="step" value="50" dynamicsDimension="distance"/>
<SpeedActionTarget>
<AbsoluteTargetSpeed value="5.0"/>
</SpeedActionTarget>
</SpeedAction>
</LongitudinalAction>
</PrivateAction>
</Action>
<StartTrigger>
<ConditionGroup>
<Condition name="StartCondition" delay="0" conditionEdge="rising">
<ByEntityCondition>
<TriggeringEntities triggeringEntitiesRule="any">
<EntityRef entityRef="hero"/>
</TriggeringEntities>
<EntityCondition>
<RelativeDistanceCondition entityRef="adversary" relativeDistanceType="cartesianDistance" value="40.0" freespace="false" rule="lessThan"/>
</EntityCondition>
</ByEntityCondition>
</Condition>
</ConditionGroup>
</StartTrigger>
</Event>
<Event name="AdversaryChangesLane" priority="overwrite">
<Action name="AdversaryChangesLane">
<PrivateAction>
<LateralAction>
<LaneChangeAction>
<LaneChangeActionDynamics dynamicsShape="linear" value="25" dynamicsDimension="distance"/>
<LaneChangeTarget>
<RelativeTargetLane entityRef="adversary" value="-1"/>
</LaneChangeTarget>
</LaneChangeAction>
</LateralAction>
</PrivateAction>
</Action>
<StartTrigger>
<ConditionGroup>
<Condition name="AfterAdversaryAccelerates" delay="0" conditionEdge="rising">
<ByValueCondition>
<StoryboardElementStateCondition storyboardElementType="action" storyboardElementRef="AdversaryAccelerates" state="completeState"/>
</ByValueCondition>
</Condition>
</ConditionGroup>
</StartTrigger>
</Event>
</Maneuver>
</ManeuverGroup>
<StartTrigger>
<ConditionGroup>
<Condition name="OverallStartCondition" delay="0" conditionEdge="rising">
<ByEntityCondition>
<TriggeringEntities triggeringEntitiesRule="any">
<EntityRef entityRef="hero"/>
</TriggeringEntities>
<EntityCondition>
<TraveledDistanceCondition value="1.0"/>
</EntityCondition>
</ByEntityCondition>
</Condition>
<Condition name="StartTime" delay="0" conditionEdge="rising">
<ByValueCondition>
<SimulationTimeCondition value="0" rule="equalTo"/>
</ByValueCondition>
</Condition>
</ConditionGroup>
</StartTrigger>
<StopTrigger>
<ConditionGroup>
<Condition name="EndCondition" delay="0" conditionEdge="rising">
<ByEntityCondition>
<TriggeringEntities triggeringEntitiesRule="any">
<EntityRef entityRef="hero"/>
</TriggeringEntities>
<EntityCondition>
<TraveledDistanceCondition value="200.0"/>
</EntityCondition>
</ByEntityCondition>
</Condition>
</ConditionGroup>
</StopTrigger>
</Act>
</Story>
<StopTrigger>
<ConditionGroup>
<Condition name="criteria_RunningStopTest" delay="0" conditionEdge="rising">
<ByValueCondition>
<ParameterCondition parameterRef="" value="" rule="lessThan"/>
</ByValueCondition>
</Condition>
<Condition name="criteria_RunningRedLightTest" delay="0" conditionEdge="rising">
<ByValueCondition>
<ParameterCondition parameterRef="" value="" rule="lessThan"/>
</ByValueCondition>
</Condition>
<Condition name="criteria_WrongLaneTest" delay="0" conditionEdge="rising">
<ByValueCondition>
<ParameterCondition parameterRef="" value="" rule="lessThan"/>
</ByValueCondition>
</Condition>
<Condition name="criteria_OnSidewalkTest" delay="0" conditionEdge="rising">
<ByValueCondition>
<ParameterCondition parameterRef="" value="" rule="lessThan"/>
</ByValueCondition>
</Condition>
<Condition name="criteria_KeepLaneTest" delay="0" conditionEdge="rising">
<ByValueCondition>
<ParameterCondition parameterRef="" value="" rule="lessThan"/>
</ByValueCondition>
</Condition>
<Condition name="criteria_CollisionTest" delay="0" conditionEdge="rising">
<ByValueCondition>
<ParameterCondition parameterRef="" value="" rule="lessThan"/>
</ByValueCondition>
</Condition>
<Condition name="criteria_DrivenDistanceTest" delay="0" conditionEdge="rising">
<ByValueCondition>
<ParameterCondition parameterRef="distance_success" value="100" rule="lessThan"/>
</ByValueCondition>
</Condition>
</ConditionGroup>
</StopTrigger>
</Storyboard>
</OpenSCENARIO>
``` |
i would like to instruct you to remove pedestrian close to hero?
```
<?xml version="1.0" ?>
<OpenSCENARIO>
<FileHeader revMajor="1" revMinor="0" date="2020-03-24T12:00:00" description="CARLA:LaneChangeSimple" author=""/>
<ParameterDeclarations/>
<CatalogLocations/>
<RoadNetwork>
<LogicFile filepath="Town04"/>
<SceneGraphFile filepath=""/>
</RoadNetwork>
<Entities>
<ScenarioObject name="hero">
<Vehicle name="vehicle.tesla.model3" vehicleCategory="car">
<ParameterDeclarations/>
<Performance maxSpeed="69.444" maxAcceleration="200" maxDeceleration="10.0"/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2.1" length="4.5" height="1.8"/>
</BoundingBox>
<Axles>
<FrontAxle maxSteering="0.5" wheelDiameter="0.6" trackWidth="1.8" positionX="3.1" positionZ="0.3"/>
<RearAxle maxSteering="0.0" wheelDiameter="0.6" trackWidth="1.8" positionX="0.0" positionZ="0.3"/>
</Axles>
<Properties>
<Property name="type" value="ego_vehicle"/>
</Properties>
</Vehicle>
</ScenarioObject>
<ScenarioObject name="adversary">
<Vehicle name="vehicle.lincoln.mkz_2017" vehicleCategory="car">
<ParameterDeclarations/>
<Performance maxSpeed="69.444" maxAcceleration="200" maxDeceleration="10.0"/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2.1" length="4.5" height="1.8"/>
</BoundingBox>
<Axles>
<FrontAxle maxSteering="0.5" wheelDiameter="0.6" trackWidth="1.8" positionX="3.1" positionZ="0.3"/>
<RearAxle maxSteering="0.0" wheelDiameter="0.6" trackWidth="1.8" positionX="0.0" positionZ="0.3"/>
</Axles>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Vehicle>
</ScenarioObject>
<ScenarioObject name="standing">
<Vehicle name="vehicle.volkswagen.t2" vehicleCategory="car">
<ParameterDeclarations/>
<Performance maxSpeed="69.444" maxAcceleration="200" maxDeceleration="10.0"/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2.1" length="4.5" height="1.8"/>
</BoundingBox>
<Axles>
<FrontAxle maxSteering="0.5" wheelDiameter="0.6" trackWidth="1.8" positionX="3.1" positionZ="0.3"/>
<RearAxle maxSteering="0.0" wheelDiameter="0.6" trackWidth="1.8" positionX="0.0" positionZ="0.3"/>
</Axles>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Vehicle>
</ScenarioObject>
<ScenarioObject name="pedestrian_close_to_standing_17320">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_close_to_standing_17321">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_w_transform_17323">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_close_to_hero_17324">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_close_to_adversary_17327">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_w_transform_17330">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_close_to_adversary_17331">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_w_transform_17334">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_w_transform_17336">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
</Entities>
<Storyboard>
<Init>
<Actions>
<GlobalAction>
<EnvironmentAction>
<Environment name="Environment1">
<TimeOfDay animation="false" dateTime="2019-06-25T12:00:00"/>
<Weather cloudState="free">
<Sun intensity="0.85" azimuth="0" elevation="1.31"/>
<Fog visualRange="100000.0"/>
<Precipitation precipitationType="dry" intensity="0.0"/>
</Weather>
<RoadCondition frictionScaleFactor="1.0"/>
</Environment>
</EnvironmentAction>
</GlobalAction>
<Private entityRef="hero">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-9.4" y="-152.8" z="0.5" h="1.57079632679"/>
</Position>
</TeleportAction>
</PrivateAction>
<PrivateAction>
<ControllerAction>
<AssignControllerAction>
<Controller name="HeroAgent">
<Properties>
<Property name="module" value="external_control"/>
</Properties>
</Controller>
</AssignControllerAction>
<OverrideControllerValueAction>
<Throttle value="0" active="false"/>
<Brake value="0" active="false"/>
<Clutch value="0" active="false"/>
<ParkingBrake value="0" active="false"/>
<SteeringWheel value="0" active="false"/>
<Gear number="0" active="false"/>
</OverrideControllerValueAction>
</ControllerAction>
</PrivateAction>
</Private>
<Private entityRef="adversary">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-9.4" y="-71.0" z="0.5" h="1.57079632679"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="standing">
<PrivateAction>
<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_17320">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-4.786176681518555" y="36.84589767456055" z="0.0030625532381236553"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_close_to_standing_17321">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-15.182062149047852" y="20.064685821533203" z="0.0030467223841696978"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_w_transform_17323">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-61.716224670410156" y="-55.860511779785156" z="0.5"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_close_to_hero_17324">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-1.6737449169158936" y="-157.42535400390625" z="0.0016471862327307463"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_close_to_adversary_17327">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-1.2616958618164062" y="-84.6142807006836" z="0.033754613250494"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_w_transform_17330">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-58.679298400878906" y="-9.230605125427246" z="0.5"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_close_to_adversary_17331">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-11.921590805053711" y="-58.945152282714844" z="0.03375576063990593"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_w_transform_17334">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-99.45711517333984" y="63.14455795288086" z="0.5"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_w_transform_17336">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="65.11772918701172" y="72.00790405273438" 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_17320">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_close_to_standing_17321">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_w_transform_17323">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_close_to_adversary_17327">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_w_transform_17330">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_close_to_adversary_17331">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_w_transform_17334">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_w_transform_17336">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
</Entities>
<Storyboard>
<Init>
<Actions>
<GlobalAction>
<EnvironmentAction>
<Environment name="Environment1">
<TimeOfDay animation="false" dateTime="2019-06-25T12:00:00"/>
<Weather cloudState="free">
<Sun intensity="0.85" azimuth="0" elevation="1.31"/>
<Fog visualRange="100000.0"/>
<Precipitation precipitationType="dry" intensity="0.0"/>
</Weather>
<RoadCondition frictionScaleFactor="1.0"/>
</Environment>
</EnvironmentAction>
</GlobalAction>
<Private entityRef="hero">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-9.4" y="-152.8" z="0.5" h="1.57079632679"/>
</Position>
</TeleportAction>
</PrivateAction>
<PrivateAction>
<ControllerAction>
<AssignControllerAction>
<Controller name="HeroAgent">
<Properties>
<Property name="module" value="external_control"/>
</Properties>
</Controller>
</AssignControllerAction>
<OverrideControllerValueAction>
<Throttle value="0" active="false"/>
<Brake value="0" active="false"/>
<Clutch value="0" active="false"/>
<ParkingBrake value="0" active="false"/>
<SteeringWheel value="0" active="false"/>
<Gear number="0" active="false"/>
</OverrideControllerValueAction>
</ControllerAction>
</PrivateAction>
</Private>
<Private entityRef="adversary">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-9.4" y="-71.0" z="0.5" h="1.57079632679"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="standing">
<PrivateAction>
<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_17320">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-4.786176681518555" y="36.84589767456055" z="0.0030625532381236553"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_close_to_standing_17321">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-15.182062149047852" y="20.064685821533203" z="0.0030467223841696978"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_w_transform_17323">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-61.716224670410156" y="-55.860511779785156" z="0.5"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_close_to_adversary_17327">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-1.2616958618164062" y="-84.6142807006836" z="0.033754613250494"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_w_transform_17330">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-58.679298400878906" y="-9.230605125427246" z="0.5"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_close_to_adversary_17331">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-11.921590805053711" y="-58.945152282714844" z="0.03375576063990593"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_w_transform_17334">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-99.45711517333984" y="63.14455795288086" z="0.5"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_w_transform_17336">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="65.11772918701172" y="72.00790405273438" 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>
<ScenarioObject name="pedestrian_close_to_hero_7973">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_close_to_adversary_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_adversary_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_adversary_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_standing_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>
</Entities>
<Storyboard>
<Init>
<Actions>
<GlobalAction>
<EnvironmentAction>
<Environment name="Environment1">
<TimeOfDay animation="false" dateTime="2019-06-25T12:00:00"/>
<Weather cloudState="free">
<Sun intensity="0.85" azimuth="0" elevation="1.31"/>
<Fog visualRange="100000.0"/>
<Precipitation precipitationType="dry" intensity="0.0"/>
</Weather>
<RoadCondition frictionScaleFactor="1.0"/>
</Environment>
</EnvironmentAction>
</GlobalAction>
<Private entityRef="hero">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-9.4" y="-152.8" z="0.5" h="1.57079632679"/>
</Position>
</TeleportAction>
</PrivateAction>
<PrivateAction>
<ControllerAction>
<AssignControllerAction>
<Controller name="HeroAgent">
<Properties>
<Property name="module" value="external_control"/>
</Properties>
</Controller>
</AssignControllerAction>
<OverrideControllerValueAction>
<Throttle value="0" active="false"/>
<Brake value="0" active="false"/>
<Clutch value="0" active="false"/>
<ParkingBrake value="0" active="false"/>
<SteeringWheel value="0" active="false"/>
<Gear number="0" active="false"/>
</OverrideControllerValueAction>
</ControllerAction>
</PrivateAction>
</Private>
<Private entityRef="adversary">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-9.4" y="-71.0" z="0.5" h="1.57079632679"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="standing">
<PrivateAction>
<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_7973">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-14.330225944519043" y="-168.5630340576172" z="0.0018838500836864114"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_close_to_adversary_7974">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-15.196612358093262" y="-61.35021209716797" z="0.03388355299830437"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_w_transform_7975">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-4.853937149047852" y="73.58187103271484" z="0.5"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_close_to_adversary_7976">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-7.448918342590332" y="-77.29459381103516" z="0.03384876251220703"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_close_to_adversary_7977">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-14.684608459472656" y="-71.8919677734375" z="0.03386443853378296"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_w_transform_7978">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-35.88081359863281" y="-29.735437393188477" z="0.5"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_close_to_standing_7979">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="0.793326199054718" y="35.87393569946289" z="0.0031184768304228783"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
</Actions>
</Init>
<Story name="MyStory">
<Act name="Behavior">
<ManeuverGroup maximumExecutionCount="1" name="ManeuverSequence">
<Actors selectTriggeringEntities="false">
<EntityRef entityRef="adversary"/>
</Actors>
<Maneuver name="LaneChangeSimpleManeuver">
<Event name="AdversaryAccelerates" priority="overwrite">
<Action name="AdversaryAccelerates">
<PrivateAction>
<LongitudinalAction>
<SpeedAction>
<SpeedActionDynamics dynamicsShape="step" value="50" dynamicsDimension="distance"/>
<SpeedActionTarget>
<AbsoluteTargetSpeed value="5.0"/>
</SpeedActionTarget>
</SpeedAction>
</LongitudinalAction>
</PrivateAction>
</Action>
<StartTrigger>
<ConditionGroup>
<Condition name="StartCondition" delay="0" conditionEdge="rising">
<ByEntityCondition>
<TriggeringEntities triggeringEntitiesRule="any">
<EntityRef entityRef="hero"/>
</TriggeringEntities>
<EntityCondition>
<RelativeDistanceCondition entityRef="adversary" relativeDistanceType="cartesianDistance" value="40.0" freespace="false" rule="lessThan"/>
</EntityCondition>
</ByEntityCondition>
</Condition>
</ConditionGroup>
</StartTrigger>
</Event>
<Event name="AdversaryChangesLane" priority="overwrite">
<Action name="AdversaryChangesLane">
<PrivateAction>
<LateralAction>
<LaneChangeAction>
<LaneChangeActionDynamics dynamicsShape="linear" value="25" dynamicsDimension="distance"/>
<LaneChangeTarget>
<RelativeTargetLane entityRef="adversary" value="-1"/>
</LaneChangeTarget>
</LaneChangeAction>
</LateralAction>
</PrivateAction>
</Action>
<StartTrigger>
<ConditionGroup>
<Condition name="AfterAdversaryAccelerates" delay="0" conditionEdge="rising">
<ByValueCondition>
<StoryboardElementStateCondition storyboardElementType="action" storyboardElementRef="AdversaryAccelerates" state="completeState"/>
</ByValueCondition>
</Condition>
</ConditionGroup>
</StartTrigger>
</Event>
</Maneuver>
</ManeuverGroup>
<StartTrigger>
<ConditionGroup>
<Condition name="OverallStartCondition" delay="0" conditionEdge="rising">
<ByEntityCondition>
<TriggeringEntities triggeringEntitiesRule="any">
<EntityRef entityRef="hero"/>
</TriggeringEntities>
<EntityCondition>
<TraveledDistanceCondition value="1.0"/>
</EntityCondition>
</ByEntityCondition>
</Condition>
<Condition name="StartTime" delay="0" conditionEdge="rising">
<ByValueCondition>
<SimulationTimeCondition value="0" rule="equalTo"/>
</ByValueCondition>
</Condition>
</ConditionGroup>
</StartTrigger>
<StopTrigger>
<ConditionGroup>
<Condition name="EndCondition" delay="0" conditionEdge="rising">
<ByEntityCondition>
<TriggeringEntities triggeringEntitiesRule="any">
<EntityRef entityRef="hero"/>
</TriggeringEntities>
<EntityCondition>
<TraveledDistanceCondition value="200.0"/>
</EntityCondition>
</ByEntityCondition>
</Condition>
</ConditionGroup>
</StopTrigger>
</Act>
</Story>
<StopTrigger>
<ConditionGroup>
<Condition name="criteria_RunningStopTest" delay="0" conditionEdge="rising">
<ByValueCondition>
<ParameterCondition parameterRef="" value="" rule="lessThan"/>
</ByValueCondition>
</Condition>
<Condition name="criteria_RunningRedLightTest" delay="0" conditionEdge="rising">
<ByValueCondition>
<ParameterCondition parameterRef="" value="" rule="lessThan"/>
</ByValueCondition>
</Condition>
<Condition name="criteria_WrongLaneTest" delay="0" conditionEdge="rising">
<ByValueCondition>
<ParameterCondition parameterRef="" value="" rule="lessThan"/>
</ByValueCondition>
</Condition>
<Condition name="criteria_OnSidewalkTest" delay="0" conditionEdge="rising">
<ByValueCondition>
<ParameterCondition parameterRef="" value="" rule="lessThan"/>
</ByValueCondition>
</Condition>
<Condition name="criteria_KeepLaneTest" delay="0" conditionEdge="rising">
<ByValueCondition>
<ParameterCondition parameterRef="" value="" rule="lessThan"/>
</ByValueCondition>
</Condition>
<Condition name="criteria_CollisionTest" delay="0" conditionEdge="rising">
<ByValueCondition>
<ParameterCondition parameterRef="" value="" rule="lessThan"/>
</ByValueCondition>
</Condition>
<Condition name="criteria_DrivenDistanceTest" delay="0" conditionEdge="rising">
<ByValueCondition>
<ParameterCondition parameterRef="distance_success" value="100" rule="lessThan"/>
</ByValueCondition>
</Condition>
</ConditionGroup>
</StopTrigger>
</Storyboard>
</OpenSCENARIO>
``` | Here is the result:
```
<?xml version="1.0" ?>
<OpenSCENARIO>
<FileHeader revMajor="1" revMinor="0" date="2020-03-24T12:00:00" description="CARLA:LaneChangeSimple" author=""/>
<ParameterDeclarations/>
<CatalogLocations/>
<RoadNetwork>
<LogicFile filepath="Town04"/>
<SceneGraphFile filepath=""/>
</RoadNetwork>
<Entities>
<ScenarioObject name="hero">
<Vehicle name="vehicle.tesla.model3" vehicleCategory="car">
<ParameterDeclarations/>
<Performance maxSpeed="69.444" maxAcceleration="200" maxDeceleration="10.0"/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2.1" length="4.5" height="1.8"/>
</BoundingBox>
<Axles>
<FrontAxle maxSteering="0.5" wheelDiameter="0.6" trackWidth="1.8" positionX="3.1" positionZ="0.3"/>
<RearAxle maxSteering="0.0" wheelDiameter="0.6" trackWidth="1.8" positionX="0.0" positionZ="0.3"/>
</Axles>
<Properties>
<Property name="type" value="ego_vehicle"/>
</Properties>
</Vehicle>
</ScenarioObject>
<ScenarioObject name="adversary">
<Vehicle name="vehicle.lincoln.mkz_2017" vehicleCategory="car">
<ParameterDeclarations/>
<Performance maxSpeed="69.444" maxAcceleration="200" maxDeceleration="10.0"/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2.1" length="4.5" height="1.8"/>
</BoundingBox>
<Axles>
<FrontAxle maxSteering="0.5" wheelDiameter="0.6" trackWidth="1.8" positionX="3.1" positionZ="0.3"/>
<RearAxle maxSteering="0.0" wheelDiameter="0.6" trackWidth="1.8" positionX="0.0" positionZ="0.3"/>
</Axles>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Vehicle>
</ScenarioObject>
<ScenarioObject name="standing">
<Vehicle name="vehicle.volkswagen.t2" vehicleCategory="car">
<ParameterDeclarations/>
<Performance maxSpeed="69.444" maxAcceleration="200" maxDeceleration="10.0"/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2.1" length="4.5" height="1.8"/>
</BoundingBox>
<Axles>
<FrontAxle maxSteering="0.5" wheelDiameter="0.6" trackWidth="1.8" positionX="3.1" positionZ="0.3"/>
<RearAxle maxSteering="0.0" wheelDiameter="0.6" 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_7973">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_close_to_adversary_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_adversary_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_adversary_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_standing_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_close_to_adversary_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>
</Entities>
<Storyboard>
<Init>
<Actions>
<GlobalAction>
<EnvironmentAction>
<Environment name="Environment1">
<TimeOfDay animation="false" dateTime="2019-06-25T12:00:00"/>
<Weather cloudState="free">
<Sun intensity="0.85" azimuth="0" elevation="1.31"/>
<Fog visualRange="100000.0"/>
<Precipitation precipitationType="dry" intensity="0.0"/>
</Weather>
<RoadCondition frictionScaleFactor="1.0"/>
</Environment>
</EnvironmentAction>
</GlobalAction>
<Private entityRef="hero">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-9.4" y="-152.8" z="0.5" h="1.57079632679"/>
</Position>
</TeleportAction>
</PrivateAction>
<PrivateAction>
<ControllerAction>
<AssignControllerAction>
<Controller name="HeroAgent">
<Properties>
<Property name="module" value="external_control"/>
</Properties>
</Controller>
</AssignControllerAction>
<OverrideControllerValueAction>
<Throttle value="0" active="false"/>
<Brake value="0" active="false"/>
<Clutch value="0" active="false"/>
<ParkingBrake value="0" active="false"/>
<SteeringWheel value="0" active="false"/>
<Gear number="0" active="false"/>
</OverrideControllerValueAction>
</ControllerAction>
</PrivateAction>
</Private>
<Private entityRef="adversary">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-9.4" y="-71.0" z="0.5" h="1.57079632679"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="standing">
<PrivateAction>
<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_7973">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-14.330225944519043" y="-168.5630340576172" z="0.0018838500836864114"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_close_to_adversary_7974">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-15.196612358093262" y="-61.35021209716797" z="0.03388355299830437"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_w_transform_7975">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-4.853937149047852" y="73.58187103271484" z="0.5"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_close_to_adversary_7976">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-7.448918342590332" y="-77.29459381103516" z="0.03384876251220703"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_close_to_adversary_7977">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-14.684608459472656" y="-71.8919677734375" z="0.03386443853378296"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_w_transform_7978">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-35.88081359863281" y="-29.735437393188477" z="0.5"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_close_to_standing_7979">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="0.793326199054718" y="35.87393569946289" z="0.0031184768304228783"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_close_to_adversary_7980">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-17.097869873046875" y="-66.77449798583984" z="0.03386688232421875"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
</Actions>
</Init>
<Story name="MyStory">
<Act name="Behavior">
<ManeuverGroup maximumExecutionCount="1" name="ManeuverSequence">
<Actors selectTriggeringEntities="false">
<EntityRef entityRef="adversary"/>
</Actors>
<Maneuver name="LaneChangeSimpleManeuver">
<Event name="AdversaryAccelerates" priority="overwrite">
<Action name="AdversaryAccelerates">
<PrivateAction>
<LongitudinalAction>
<SpeedAction>
<SpeedActionDynamics dynamicsShape="step" value="50" dynamicsDimension="distance"/>
<SpeedActionTarget>
<AbsoluteTargetSpeed value="5.0"/>
</SpeedActionTarget>
</SpeedAction>
</LongitudinalAction>
</PrivateAction>
</Action>
<StartTrigger>
<ConditionGroup>
<Condition name="StartCondition" delay="0" conditionEdge="rising">
<ByEntityCondition>
<TriggeringEntities triggeringEntitiesRule="any">
<EntityRef entityRef="hero"/>
</TriggeringEntities>
<EntityCondition>
<RelativeDistanceCondition entityRef="adversary" relativeDistanceType="cartesianDistance" value="40.0" freespace="false" rule="lessThan"/>
</EntityCondition>
</ByEntityCondition>
</Condition>
</ConditionGroup>
</StartTrigger>
</Event>
<Event name="AdversaryChangesLane" priority="overwrite">
<Action name="AdversaryChangesLane">
<PrivateAction>
<LateralAction>
<LaneChangeAction>
<LaneChangeActionDynamics dynamicsShape="linear" value="25" dynamicsDimension="distance"/>
<LaneChangeTarget>
<RelativeTargetLane entityRef="adversary" value="-1"/>
</LaneChangeTarget>
</LaneChangeAction>
</LateralAction>
</PrivateAction>
</Action>
<StartTrigger>
<ConditionGroup>
<Condition name="AfterAdversaryAccelerates" delay="0" conditionEdge="rising">
<ByValueCondition>
<StoryboardElementStateCondition storyboardElementType="action" storyboardElementRef="AdversaryAccelerates" state="completeState"/>
</ByValueCondition>
</Condition>
</ConditionGroup>
</StartTrigger>
</Event>
</Maneuver>
</ManeuverGroup>
<StartTrigger>
<ConditionGroup>
<Condition name="OverallStartCondition" delay="0" conditionEdge="rising">
<ByEntityCondition>
<TriggeringEntities triggeringEntitiesRule="any">
<EntityRef entityRef="hero"/>
</TriggeringEntities>
<EntityCondition>
<TraveledDistanceCondition value="1.0"/>
</EntityCondition>
</ByEntityCondition>
</Condition>
<Condition name="StartTime" delay="0" conditionEdge="rising">
<ByValueCondition>
<SimulationTimeCondition value="0" rule="equalTo"/>
</ByValueCondition>
</Condition>
</ConditionGroup>
</StartTrigger>
<StopTrigger>
<ConditionGroup>
<Condition name="EndCondition" delay="0" conditionEdge="rising">
<ByEntityCondition>
<TriggeringEntities triggeringEntitiesRule="any">
<EntityRef entityRef="hero"/>
</TriggeringEntities>
<EntityCondition>
<TraveledDistanceCondition value="200.0"/>
</EntityCondition>
</ByEntityCondition>
</Condition>
</ConditionGroup>
</StopTrigger>
</Act>
</Story>
<StopTrigger>
<ConditionGroup>
<Condition name="criteria_RunningStopTest" delay="0" conditionEdge="rising">
<ByValueCondition>
<ParameterCondition parameterRef="" value="" rule="lessThan"/>
</ByValueCondition>
</Condition>
<Condition name="criteria_RunningRedLightTest" delay="0" conditionEdge="rising">
<ByValueCondition>
<ParameterCondition parameterRef="" value="" rule="lessThan"/>
</ByValueCondition>
</Condition>
<Condition name="criteria_WrongLaneTest" delay="0" conditionEdge="rising">
<ByValueCondition>
<ParameterCondition parameterRef="" value="" rule="lessThan"/>
</ByValueCondition>
</Condition>
<Condition name="criteria_OnSidewalkTest" delay="0" conditionEdge="rising">
<ByValueCondition>
<ParameterCondition parameterRef="" value="" rule="lessThan"/>
</ByValueCondition>
</Condition>
<Condition name="criteria_KeepLaneTest" delay="0" conditionEdge="rising">
<ByValueCondition>
<ParameterCondition parameterRef="" value="" rule="lessThan"/>
</ByValueCondition>
</Condition>
<Condition name="criteria_CollisionTest" delay="0" conditionEdge="rising">
<ByValueCondition>
<ParameterCondition parameterRef="" value="" rule="lessThan"/>
</ByValueCondition>
</Condition>
<Condition name="criteria_DrivenDistanceTest" delay="0" conditionEdge="rising">
<ByValueCondition>
<ParameterCondition parameterRef="distance_success" value="100" rule="lessThan"/>
</ByValueCondition>
</Condition>
</ConditionGroup>
</StopTrigger>
</Storyboard>
</OpenSCENARIO>
``` |
i would like to lead you to add pedestrian close to hero?
```
<?xml version="1.0" ?>
<OpenSCENARIO>
<FileHeader revMajor="1" revMinor="0" date="2020-03-24T12:00:00" description="CARLA:LaneChangeSimple" author=""/>
<ParameterDeclarations/>
<CatalogLocations/>
<RoadNetwork>
<LogicFile filepath="Town04"/>
<SceneGraphFile filepath=""/>
</RoadNetwork>
<Entities>
<ScenarioObject name="hero">
<Vehicle name="vehicle.tesla.model3" vehicleCategory="car">
<ParameterDeclarations/>
<Performance maxSpeed="69.444" maxAcceleration="200" maxDeceleration="10.0"/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2.1" length="4.5" height="1.8"/>
</BoundingBox>
<Axles>
<FrontAxle maxSteering="0.5" wheelDiameter="0.6" trackWidth="1.8" positionX="3.1" positionZ="0.3"/>
<RearAxle maxSteering="0.0" wheelDiameter="0.6" trackWidth="1.8" positionX="0.0" positionZ="0.3"/>
</Axles>
<Properties>
<Property name="type" value="ego_vehicle"/>
</Properties>
</Vehicle>
</ScenarioObject>
<ScenarioObject name="adversary">
<Vehicle name="vehicle.lincoln.mkz_2017" vehicleCategory="car">
<ParameterDeclarations/>
<Performance maxSpeed="69.444" maxAcceleration="200" maxDeceleration="10.0"/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2.1" length="4.5" height="1.8"/>
</BoundingBox>
<Axles>
<FrontAxle maxSteering="0.5" wheelDiameter="0.6" trackWidth="1.8" positionX="3.1" positionZ="0.3"/>
<RearAxle maxSteering="0.0" wheelDiameter="0.6" trackWidth="1.8" positionX="0.0" positionZ="0.3"/>
</Axles>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Vehicle>
</ScenarioObject>
<ScenarioObject name="standing">
<Vehicle name="vehicle.volkswagen.t2" vehicleCategory="car">
<ParameterDeclarations/>
<Performance maxSpeed="69.444" maxAcceleration="200" maxDeceleration="10.0"/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2.1" length="4.5" height="1.8"/>
</BoundingBox>
<Axles>
<FrontAxle maxSteering="0.5" wheelDiameter="0.6" trackWidth="1.8" positionX="3.1" positionZ="0.3"/>
<RearAxle maxSteering="0.0" wheelDiameter="0.6" trackWidth="1.8" positionX="0.0" positionZ="0.3"/>
</Axles>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Vehicle>
</ScenarioObject>
<ScenarioObject name="pedestrian_close_to_adversary_11821">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_w_transform_11822">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_close_to_standing_11823">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_close_to_adversary_11824">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_close_to_standing_11825">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_w_transform_11826">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_w_transform_11827">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_close_to_adversary_11828">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_w_transform_11829">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_close_to_adversary_11830">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_w_transform_11831">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_w_transform_11832">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_w_transform_11833">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_close_to_adversary_11834">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_w_transform_11835">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_close_to_hero_11836">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_close_to_adversary_11837">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_close_to_standing_11838">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_close_to_standing_11839">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_w_transform_11841">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_w_transform_11842">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_w_transform_11843">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_close_to_hero_11844">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
</Entities>
<Storyboard>
<Init>
<Actions>
<GlobalAction>
<EnvironmentAction>
<Environment name="Environment1">
<TimeOfDay animation="false" dateTime="2019-06-25T12:00:00"/>
<Weather cloudState="free">
<Sun intensity="0.85" azimuth="0" elevation="1.31"/>
<Fog visualRange="100000.0"/>
<Precipitation precipitationType="dry" intensity="0.0"/>
</Weather>
<RoadCondition frictionScaleFactor="1.0"/>
</Environment>
</EnvironmentAction>
</GlobalAction>
<Private entityRef="hero">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-9.4" y="-152.8" z="0.5" h="1.57079632679"/>
</Position>
</TeleportAction>
</PrivateAction>
<PrivateAction>
<ControllerAction>
<AssignControllerAction>
<Controller name="HeroAgent">
<Properties>
<Property name="module" value="external_control"/>
</Properties>
</Controller>
</AssignControllerAction>
<OverrideControllerValueAction>
<Throttle value="0" active="false"/>
<Brake value="0" active="false"/>
<Clutch value="0" active="false"/>
<ParkingBrake value="0" active="false"/>
<SteeringWheel value="0" active="false"/>
<Gear number="0" active="false"/>
</OverrideControllerValueAction>
</ControllerAction>
</PrivateAction>
</Private>
<Private entityRef="adversary">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-9.4" y="-71.0" z="0.5" h="1.57079632679"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="standing">
<PrivateAction>
<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_11821">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-1.385240912437439" y="-64.74578857421875" z="0.033725395798683167"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_w_transform_11822">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-57.11259841918945" y="69.78790283203125" z="0.5"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_close_to_standing_11823">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-1.6047167778015137" y="23.695232391357422" z="0.0030546949710696936"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_close_to_adversary_11824">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-10.887089729309082" y="-72.16238403320312" z="0.03376224264502525"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_close_to_standing_11825">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-14.258692741394043" y="32.36270523071289" z="0.0030486297328025103"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_w_transform_11826">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-61.808902740478516" y="-10.45217227935791" z="0.5"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_w_transform_11827">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="13.364034652709961" y="81.4240493774414" z="0.5"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_close_to_adversary_11828">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-4.9439544677734375" y="-71.84001159667969" z="0.03379043564200401"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_w_transform_11829">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="57.64613723754883" y="60.54848861694336" z="0.5"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_close_to_adversary_11830">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-18.77020835876465" y="-72.52261352539062" z="0.03372333571314812"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_w_transform_11831">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-16.745590209960938" y="-1.7095093727111816" z="0.5"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_w_transform_11832">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="40.99801254272461" y="-28.697214126586914" z="0.5"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_w_transform_11833">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-9.841307640075684" y="-51.387840270996094" z="0.5"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_close_to_adversary_11834">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="1.9110113382339478" y="-68.24760437011719" z="0.03386940062046051"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_w_transform_11835">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-12.354501724243164" y="5.697508811950684" z="0.5"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_close_to_hero_11836">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-3.512155771255493" y="-149.61769104003906" z="0.0020974730141460896"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_close_to_adversary_11837">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-6.04411506652832" y="-61.69049835205078" z="0.033802375197410583"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_close_to_standing_11838">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-1.124779224395752" y="30.770353317260742" z="0.0030679702758789062"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_close_to_standing_11839">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-12.112466812133789" y="24.57366371154785" z="0.003066482488065958"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_w_transform_11841">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="31.628192901611328" y="-81.90814971923828" z="0.5"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_w_transform_11842">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="29.367694854736328" y="-24.419431686401367" z="0.5"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_w_transform_11843">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="72.86981964111328" y="23.30555534362793" z="0.5"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_close_to_hero_11844">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-7.434813022613525" y="-154.82640075683594" 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_adversary_11821">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_w_transform_11822">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_close_to_standing_11823">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_close_to_adversary_11824">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_close_to_standing_11825">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_w_transform_11826">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_w_transform_11827">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_close_to_adversary_11828">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_w_transform_11829">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_close_to_adversary_11830">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_w_transform_11831">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_w_transform_11832">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_w_transform_11833">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_close_to_adversary_11834">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_w_transform_11835">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_close_to_hero_11836">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_close_to_adversary_11837">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_close_to_standing_11838">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_close_to_standing_11839">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_w_transform_11841">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_w_transform_11842">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_w_transform_11843">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_close_to_hero_11844">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_close_to_hero_11845">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
</Entities>
<Storyboard>
<Init>
<Actions>
<GlobalAction>
<EnvironmentAction>
<Environment name="Environment1">
<TimeOfDay animation="false" dateTime="2019-06-25T12:00:00"/>
<Weather cloudState="free">
<Sun intensity="0.85" azimuth="0" elevation="1.31"/>
<Fog visualRange="100000.0"/>
<Precipitation precipitationType="dry" intensity="0.0"/>
</Weather>
<RoadCondition frictionScaleFactor="1.0"/>
</Environment>
</EnvironmentAction>
</GlobalAction>
<Private entityRef="hero">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-9.4" y="-152.8" z="0.5" h="1.57079632679"/>
</Position>
</TeleportAction>
</PrivateAction>
<PrivateAction>
<ControllerAction>
<AssignControllerAction>
<Controller name="HeroAgent">
<Properties>
<Property name="module" value="external_control"/>
</Properties>
</Controller>
</AssignControllerAction>
<OverrideControllerValueAction>
<Throttle value="0" active="false"/>
<Brake value="0" active="false"/>
<Clutch value="0" active="false"/>
<ParkingBrake value="0" active="false"/>
<SteeringWheel value="0" active="false"/>
<Gear number="0" active="false"/>
</OverrideControllerValueAction>
</ControllerAction>
</PrivateAction>
</Private>
<Private entityRef="adversary">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-9.4" y="-71.0" z="0.5" h="1.57079632679"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="standing">
<PrivateAction>
<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_11821">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-1.385240912437439" y="-64.74578857421875" z="0.033725395798683167"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_w_transform_11822">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-57.11259841918945" y="69.78790283203125" z="0.5"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_close_to_standing_11823">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-1.6047167778015137" y="23.695232391357422" z="0.0030546949710696936"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_close_to_adversary_11824">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-10.887089729309082" y="-72.16238403320312" z="0.03376224264502525"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_close_to_standing_11825">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-14.258692741394043" y="32.36270523071289" z="0.0030486297328025103"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_w_transform_11826">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-61.808902740478516" y="-10.45217227935791" z="0.5"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_w_transform_11827">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="13.364034652709961" y="81.4240493774414" z="0.5"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_close_to_adversary_11828">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-4.9439544677734375" y="-71.84001159667969" z="0.03379043564200401"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_w_transform_11829">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="57.64613723754883" y="60.54848861694336" z="0.5"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_close_to_adversary_11830">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-18.77020835876465" y="-72.52261352539062" z="0.03372333571314812"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_w_transform_11831">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-16.745590209960938" y="-1.7095093727111816" z="0.5"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_w_transform_11832">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="40.99801254272461" y="-28.697214126586914" z="0.5"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_w_transform_11833">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-9.841307640075684" y="-51.387840270996094" z="0.5"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_close_to_adversary_11834">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="1.9110113382339478" y="-68.24760437011719" z="0.03386940062046051"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_w_transform_11835">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-12.354501724243164" y="5.697508811950684" z="0.5"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_close_to_hero_11836">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-3.512155771255493" y="-149.61769104003906" z="0.0020974730141460896"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_close_to_adversary_11837">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-6.04411506652832" y="-61.69049835205078" z="0.033802375197410583"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_close_to_standing_11838">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-1.124779224395752" y="30.770353317260742" z="0.0030679702758789062"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_close_to_standing_11839">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-12.112466812133789" y="24.57366371154785" z="0.003066482488065958"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_w_transform_11841">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="31.628192901611328" y="-81.90814971923828" z="0.5"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_w_transform_11842">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="29.367694854736328" y="-24.419431686401367" z="0.5"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_w_transform_11843">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="72.86981964111328" y="23.30555534362793" z="0.5"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_close_to_hero_11844">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-7.434813022613525" y="-154.82640075683594" z="0.0020974730141460896"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_close_to_hero_11845">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-11.422183990478516" y="-158.53903198242188" 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 display remove pedestrian actor named pedestrian_w_transform_12591?
```
<?xml version="1.0" ?>
<OpenSCENARIO>
<FileHeader revMajor="1" revMinor="0" date="2020-03-24T12:00:00" description="CARLA:LaneChangeSimple" author=""/>
<ParameterDeclarations/>
<CatalogLocations/>
<RoadNetwork>
<LogicFile filepath="Town04"/>
<SceneGraphFile filepath=""/>
</RoadNetwork>
<Entities>
<ScenarioObject name="hero">
<Vehicle name="vehicle.tesla.model3" vehicleCategory="car">
<ParameterDeclarations/>
<Performance maxSpeed="69.444" maxAcceleration="200" maxDeceleration="10.0"/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2.1" length="4.5" height="1.8"/>
</BoundingBox>
<Axles>
<FrontAxle maxSteering="0.5" wheelDiameter="0.6" trackWidth="1.8" positionX="3.1" positionZ="0.3"/>
<RearAxle maxSteering="0.0" wheelDiameter="0.6" trackWidth="1.8" positionX="0.0" positionZ="0.3"/>
</Axles>
<Properties>
<Property name="type" value="ego_vehicle"/>
</Properties>
</Vehicle>
</ScenarioObject>
<ScenarioObject name="adversary">
<Vehicle name="vehicle.lincoln.mkz_2017" vehicleCategory="car">
<ParameterDeclarations/>
<Performance maxSpeed="69.444" maxAcceleration="200" maxDeceleration="10.0"/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2.1" length="4.5" height="1.8"/>
</BoundingBox>
<Axles>
<FrontAxle maxSteering="0.5" wheelDiameter="0.6" trackWidth="1.8" positionX="3.1" positionZ="0.3"/>
<RearAxle maxSteering="0.0" wheelDiameter="0.6" trackWidth="1.8" positionX="0.0" positionZ="0.3"/>
</Axles>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Vehicle>
</ScenarioObject>
<ScenarioObject name="standing">
<Vehicle name="vehicle.volkswagen.t2" vehicleCategory="car">
<ParameterDeclarations/>
<Performance maxSpeed="69.444" maxAcceleration="200" maxDeceleration="10.0"/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2.1" length="4.5" height="1.8"/>
</BoundingBox>
<Axles>
<FrontAxle maxSteering="0.5" wheelDiameter="0.6" trackWidth="1.8" positionX="3.1" positionZ="0.3"/>
<RearAxle maxSteering="0.0" wheelDiameter="0.6" 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_12584">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_w_transform_12585">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_w_transform_12588">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_close_to_adversary_12590">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_w_transform_12591">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_w_transform_12592">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_w_transform_12593">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_close_to_adversary_12596">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_close_to_standing_12598">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
</Entities>
<Storyboard>
<Init>
<Actions>
<GlobalAction>
<EnvironmentAction>
<Environment name="Environment1">
<TimeOfDay animation="false" dateTime="2019-06-25T12:00:00"/>
<Weather cloudState="free">
<Sun intensity="0.85" azimuth="0" elevation="1.31"/>
<Fog visualRange="100000.0"/>
<Precipitation precipitationType="dry" intensity="0.0"/>
</Weather>
<RoadCondition frictionScaleFactor="1.0"/>
</Environment>
</EnvironmentAction>
</GlobalAction>
<Private entityRef="hero">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-9.4" y="-152.8" z="0.5" h="1.57079632679"/>
</Position>
</TeleportAction>
</PrivateAction>
<PrivateAction>
<ControllerAction>
<AssignControllerAction>
<Controller name="HeroAgent">
<Properties>
<Property name="module" value="external_control"/>
</Properties>
</Controller>
</AssignControllerAction>
<OverrideControllerValueAction>
<Throttle value="0" active="false"/>
<Brake value="0" active="false"/>
<Clutch value="0" active="false"/>
<ParkingBrake value="0" active="false"/>
<SteeringWheel value="0" active="false"/>
<Gear number="0" active="false"/>
</OverrideControllerValueAction>
</ControllerAction>
</PrivateAction>
</Private>
<Private entityRef="adversary">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-9.4" y="-71.0" z="0.5" h="1.57079632679"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="standing">
<PrivateAction>
<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_12584">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-17.588449478149414" y="-147.35462951660156" z="0.0015143966302275658"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_w_transform_12585">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-97.01510620117188" y="-88.86985778808594" z="0.5"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_w_transform_12588">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="73.27172088623047" y="-77.89901733398438" z="0.5"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_close_to_adversary_12590">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-2.397207736968994" y="-68.55033111572266" z="0.03376098722219467"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_w_transform_12591">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-82.7412338256836" y="8.373741149902344" z="0.5"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_w_transform_12592">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="52.01191329956055" y="41.05361557006836" z="0.5"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_w_transform_12593">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-69.38992309570312" y="71.0987777709961" z="0.5"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_close_to_adversary_12596">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-8.749640464782715" y="-68.87511444091797" z="0.033776283264160156"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_close_to_standing_12598">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-11.426859855651855" y="38.579139709472656" z="0.0030569839291274548"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
</Actions>
</Init>
<Story name="MyStory">
<Act name="Behavior">
<ManeuverGroup maximumExecutionCount="1" name="ManeuverSequence">
<Actors selectTriggeringEntities="false">
<EntityRef entityRef="adversary"/>
</Actors>
<Maneuver name="LaneChangeSimpleManeuver">
<Event name="AdversaryAccelerates" priority="overwrite">
<Action name="AdversaryAccelerates">
<PrivateAction>
<LongitudinalAction>
<SpeedAction>
<SpeedActionDynamics dynamicsShape="step" value="50" dynamicsDimension="distance"/>
<SpeedActionTarget>
<AbsoluteTargetSpeed value="5.0"/>
</SpeedActionTarget>
</SpeedAction>
</LongitudinalAction>
</PrivateAction>
</Action>
<StartTrigger>
<ConditionGroup>
<Condition name="StartCondition" delay="0" conditionEdge="rising">
<ByEntityCondition>
<TriggeringEntities triggeringEntitiesRule="any">
<EntityRef entityRef="hero"/>
</TriggeringEntities>
<EntityCondition>
<RelativeDistanceCondition entityRef="adversary" relativeDistanceType="cartesianDistance" value="40.0" freespace="false" rule="lessThan"/>
</EntityCondition>
</ByEntityCondition>
</Condition>
</ConditionGroup>
</StartTrigger>
</Event>
<Event name="AdversaryChangesLane" priority="overwrite">
<Action name="AdversaryChangesLane">
<PrivateAction>
<LateralAction>
<LaneChangeAction>
<LaneChangeActionDynamics dynamicsShape="linear" value="25" dynamicsDimension="distance"/>
<LaneChangeTarget>
<RelativeTargetLane entityRef="adversary" value="-1"/>
</LaneChangeTarget>
</LaneChangeAction>
</LateralAction>
</PrivateAction>
</Action>
<StartTrigger>
<ConditionGroup>
<Condition name="AfterAdversaryAccelerates" delay="0" conditionEdge="rising">
<ByValueCondition>
<StoryboardElementStateCondition storyboardElementType="action" storyboardElementRef="AdversaryAccelerates" state="completeState"/>
</ByValueCondition>
</Condition>
</ConditionGroup>
</StartTrigger>
</Event>
</Maneuver>
</ManeuverGroup>
<StartTrigger>
<ConditionGroup>
<Condition name="OverallStartCondition" delay="0" conditionEdge="rising">
<ByEntityCondition>
<TriggeringEntities triggeringEntitiesRule="any">
<EntityRef entityRef="hero"/>
</TriggeringEntities>
<EntityCondition>
<TraveledDistanceCondition value="1.0"/>
</EntityCondition>
</ByEntityCondition>
</Condition>
<Condition name="StartTime" delay="0" conditionEdge="rising">
<ByValueCondition>
<SimulationTimeCondition value="0" rule="equalTo"/>
</ByValueCondition>
</Condition>
</ConditionGroup>
</StartTrigger>
<StopTrigger>
<ConditionGroup>
<Condition name="EndCondition" delay="0" conditionEdge="rising">
<ByEntityCondition>
<TriggeringEntities triggeringEntitiesRule="any">
<EntityRef entityRef="hero"/>
</TriggeringEntities>
<EntityCondition>
<TraveledDistanceCondition value="200.0"/>
</EntityCondition>
</ByEntityCondition>
</Condition>
</ConditionGroup>
</StopTrigger>
</Act>
</Story>
<StopTrigger>
<ConditionGroup>
<Condition name="criteria_RunningStopTest" delay="0" conditionEdge="rising">
<ByValueCondition>
<ParameterCondition parameterRef="" value="" rule="lessThan"/>
</ByValueCondition>
</Condition>
<Condition name="criteria_RunningRedLightTest" delay="0" conditionEdge="rising">
<ByValueCondition>
<ParameterCondition parameterRef="" value="" rule="lessThan"/>
</ByValueCondition>
</Condition>
<Condition name="criteria_WrongLaneTest" delay="0" conditionEdge="rising">
<ByValueCondition>
<ParameterCondition parameterRef="" value="" rule="lessThan"/>
</ByValueCondition>
</Condition>
<Condition name="criteria_OnSidewalkTest" delay="0" conditionEdge="rising">
<ByValueCondition>
<ParameterCondition parameterRef="" value="" rule="lessThan"/>
</ByValueCondition>
</Condition>
<Condition name="criteria_KeepLaneTest" delay="0" conditionEdge="rising">
<ByValueCondition>
<ParameterCondition parameterRef="" value="" rule="lessThan"/>
</ByValueCondition>
</Condition>
<Condition name="criteria_CollisionTest" delay="0" conditionEdge="rising">
<ByValueCondition>
<ParameterCondition parameterRef="" value="" rule="lessThan"/>
</ByValueCondition>
</Condition>
<Condition name="criteria_DrivenDistanceTest" delay="0" conditionEdge="rising">
<ByValueCondition>
<ParameterCondition parameterRef="distance_success" value="100" rule="lessThan"/>
</ByValueCondition>
</Condition>
</ConditionGroup>
</StopTrigger>
</Storyboard>
</OpenSCENARIO>
``` | Here is the result:
```
<?xml version="1.0" ?>
<OpenSCENARIO>
<FileHeader revMajor="1" revMinor="0" date="2020-03-24T12:00:00" description="CARLA:LaneChangeSimple" author=""/>
<ParameterDeclarations/>
<CatalogLocations/>
<RoadNetwork>
<LogicFile filepath="Town04"/>
<SceneGraphFile filepath=""/>
</RoadNetwork>
<Entities>
<ScenarioObject name="hero">
<Vehicle name="vehicle.tesla.model3" vehicleCategory="car">
<ParameterDeclarations/>
<Performance maxSpeed="69.444" maxAcceleration="200" maxDeceleration="10.0"/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2.1" length="4.5" height="1.8"/>
</BoundingBox>
<Axles>
<FrontAxle maxSteering="0.5" wheelDiameter="0.6" trackWidth="1.8" positionX="3.1" positionZ="0.3"/>
<RearAxle maxSteering="0.0" wheelDiameter="0.6" trackWidth="1.8" positionX="0.0" positionZ="0.3"/>
</Axles>
<Properties>
<Property name="type" value="ego_vehicle"/>
</Properties>
</Vehicle>
</ScenarioObject>
<ScenarioObject name="adversary">
<Vehicle name="vehicle.lincoln.mkz_2017" vehicleCategory="car">
<ParameterDeclarations/>
<Performance maxSpeed="69.444" maxAcceleration="200" maxDeceleration="10.0"/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2.1" length="4.5" height="1.8"/>
</BoundingBox>
<Axles>
<FrontAxle maxSteering="0.5" wheelDiameter="0.6" trackWidth="1.8" positionX="3.1" positionZ="0.3"/>
<RearAxle maxSteering="0.0" wheelDiameter="0.6" trackWidth="1.8" positionX="0.0" positionZ="0.3"/>
</Axles>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Vehicle>
</ScenarioObject>
<ScenarioObject name="standing">
<Vehicle name="vehicle.volkswagen.t2" vehicleCategory="car">
<ParameterDeclarations/>
<Performance maxSpeed="69.444" maxAcceleration="200" maxDeceleration="10.0"/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2.1" length="4.5" height="1.8"/>
</BoundingBox>
<Axles>
<FrontAxle maxSteering="0.5" wheelDiameter="0.6" trackWidth="1.8" positionX="3.1" positionZ="0.3"/>
<RearAxle maxSteering="0.0" wheelDiameter="0.6" 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_12584">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_w_transform_12585">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_w_transform_12588">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_close_to_adversary_12590">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_w_transform_12592">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_w_transform_12593">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_close_to_adversary_12596">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_close_to_standing_12598">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
</Entities>
<Storyboard>
<Init>
<Actions>
<GlobalAction>
<EnvironmentAction>
<Environment name="Environment1">
<TimeOfDay animation="false" dateTime="2019-06-25T12:00:00"/>
<Weather cloudState="free">
<Sun intensity="0.85" azimuth="0" elevation="1.31"/>
<Fog visualRange="100000.0"/>
<Precipitation precipitationType="dry" intensity="0.0"/>
</Weather>
<RoadCondition frictionScaleFactor="1.0"/>
</Environment>
</EnvironmentAction>
</GlobalAction>
<Private entityRef="hero">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-9.4" y="-152.8" z="0.5" h="1.57079632679"/>
</Position>
</TeleportAction>
</PrivateAction>
<PrivateAction>
<ControllerAction>
<AssignControllerAction>
<Controller name="HeroAgent">
<Properties>
<Property name="module" value="external_control"/>
</Properties>
</Controller>
</AssignControllerAction>
<OverrideControllerValueAction>
<Throttle value="0" active="false"/>
<Brake value="0" active="false"/>
<Clutch value="0" active="false"/>
<ParkingBrake value="0" active="false"/>
<SteeringWheel value="0" active="false"/>
<Gear number="0" active="false"/>
</OverrideControllerValueAction>
</ControllerAction>
</PrivateAction>
</Private>
<Private entityRef="adversary">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-9.4" y="-71.0" z="0.5" h="1.57079632679"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="standing">
<PrivateAction>
<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_12584">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-17.588449478149414" y="-147.35462951660156" z="0.0015143966302275658"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_w_transform_12585">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-97.01510620117188" y="-88.86985778808594" z="0.5"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_w_transform_12588">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="73.27172088623047" y="-77.89901733398438" z="0.5"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_close_to_adversary_12590">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-2.397207736968994" y="-68.55033111572266" z="0.03376098722219467"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_w_transform_12592">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="52.01191329956055" y="41.05361557006836" z="0.5"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_w_transform_12593">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-69.38992309570312" y="71.0987777709961" z="0.5"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_close_to_adversary_12596">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-8.749640464782715" y="-68.87511444091797" z="0.033776283264160156"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_close_to_standing_12598">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-11.426859855651855" y="38.579139709472656" z="0.0030569839291274548"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
</Actions>
</Init>
<Story name="MyStory">
<Act name="Behavior">
<ManeuverGroup maximumExecutionCount="1" name="ManeuverSequence">
<Actors selectTriggeringEntities="false">
<EntityRef entityRef="adversary"/>
</Actors>
<Maneuver name="LaneChangeSimpleManeuver">
<Event name="AdversaryAccelerates" priority="overwrite">
<Action name="AdversaryAccelerates">
<PrivateAction>
<LongitudinalAction>
<SpeedAction>
<SpeedActionDynamics dynamicsShape="step" value="50" dynamicsDimension="distance"/>
<SpeedActionTarget>
<AbsoluteTargetSpeed value="5.0"/>
</SpeedActionTarget>
</SpeedAction>
</LongitudinalAction>
</PrivateAction>
</Action>
<StartTrigger>
<ConditionGroup>
<Condition name="StartCondition" delay="0" conditionEdge="rising">
<ByEntityCondition>
<TriggeringEntities triggeringEntitiesRule="any">
<EntityRef entityRef="hero"/>
</TriggeringEntities>
<EntityCondition>
<RelativeDistanceCondition entityRef="adversary" relativeDistanceType="cartesianDistance" value="40.0" freespace="false" rule="lessThan"/>
</EntityCondition>
</ByEntityCondition>
</Condition>
</ConditionGroup>
</StartTrigger>
</Event>
<Event name="AdversaryChangesLane" priority="overwrite">
<Action name="AdversaryChangesLane">
<PrivateAction>
<LateralAction>
<LaneChangeAction>
<LaneChangeActionDynamics dynamicsShape="linear" value="25" dynamicsDimension="distance"/>
<LaneChangeTarget>
<RelativeTargetLane entityRef="adversary" value="-1"/>
</LaneChangeTarget>
</LaneChangeAction>
</LateralAction>
</PrivateAction>
</Action>
<StartTrigger>
<ConditionGroup>
<Condition name="AfterAdversaryAccelerates" delay="0" conditionEdge="rising">
<ByValueCondition>
<StoryboardElementStateCondition storyboardElementType="action" storyboardElementRef="AdversaryAccelerates" state="completeState"/>
</ByValueCondition>
</Condition>
</ConditionGroup>
</StartTrigger>
</Event>
</Maneuver>
</ManeuverGroup>
<StartTrigger>
<ConditionGroup>
<Condition name="OverallStartCondition" delay="0" conditionEdge="rising">
<ByEntityCondition>
<TriggeringEntities triggeringEntitiesRule="any">
<EntityRef entityRef="hero"/>
</TriggeringEntities>
<EntityCondition>
<TraveledDistanceCondition value="1.0"/>
</EntityCondition>
</ByEntityCondition>
</Condition>
<Condition name="StartTime" delay="0" conditionEdge="rising">
<ByValueCondition>
<SimulationTimeCondition value="0" rule="equalTo"/>
</ByValueCondition>
</Condition>
</ConditionGroup>
</StartTrigger>
<StopTrigger>
<ConditionGroup>
<Condition name="EndCondition" delay="0" conditionEdge="rising">
<ByEntityCondition>
<TriggeringEntities triggeringEntitiesRule="any">
<EntityRef entityRef="hero"/>
</TriggeringEntities>
<EntityCondition>
<TraveledDistanceCondition value="200.0"/>
</EntityCondition>
</ByEntityCondition>
</Condition>
</ConditionGroup>
</StopTrigger>
</Act>
</Story>
<StopTrigger>
<ConditionGroup>
<Condition name="criteria_RunningStopTest" delay="0" conditionEdge="rising">
<ByValueCondition>
<ParameterCondition parameterRef="" value="" rule="lessThan"/>
</ByValueCondition>
</Condition>
<Condition name="criteria_RunningRedLightTest" delay="0" conditionEdge="rising">
<ByValueCondition>
<ParameterCondition parameterRef="" value="" rule="lessThan"/>
</ByValueCondition>
</Condition>
<Condition name="criteria_WrongLaneTest" delay="0" conditionEdge="rising">
<ByValueCondition>
<ParameterCondition parameterRef="" value="" rule="lessThan"/>
</ByValueCondition>
</Condition>
<Condition name="criteria_OnSidewalkTest" delay="0" conditionEdge="rising">
<ByValueCondition>
<ParameterCondition parameterRef="" value="" rule="lessThan"/>
</ByValueCondition>
</Condition>
<Condition name="criteria_KeepLaneTest" delay="0" conditionEdge="rising">
<ByValueCondition>
<ParameterCondition parameterRef="" value="" rule="lessThan"/>
</ByValueCondition>
</Condition>
<Condition name="criteria_CollisionTest" delay="0" conditionEdge="rising">
<ByValueCondition>
<ParameterCondition parameterRef="" value="" rule="lessThan"/>
</ByValueCondition>
</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 (92.47, -16.22, 0.5)?
```
<?xml version="1.0" ?>
<OpenSCENARIO>
<FileHeader revMajor="1" revMinor="0" date="2020-03-24T12:00:00" description="CARLA:LaneChangeSimple" author=""/>
<ParameterDeclarations/>
<CatalogLocations/>
<RoadNetwork>
<LogicFile filepath="Town04"/>
<SceneGraphFile filepath=""/>
</RoadNetwork>
<Entities>
<ScenarioObject name="hero">
<Vehicle name="vehicle.tesla.model3" vehicleCategory="car">
<ParameterDeclarations/>
<Performance maxSpeed="69.444" maxAcceleration="200" maxDeceleration="10.0"/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2.1" length="4.5" height="1.8"/>
</BoundingBox>
<Axles>
<FrontAxle maxSteering="0.5" wheelDiameter="0.6" trackWidth="1.8" positionX="3.1" positionZ="0.3"/>
<RearAxle maxSteering="0.0" wheelDiameter="0.6" trackWidth="1.8" positionX="0.0" positionZ="0.3"/>
</Axles>
<Properties>
<Property name="type" value="ego_vehicle"/>
</Properties>
</Vehicle>
</ScenarioObject>
<ScenarioObject name="adversary">
<Vehicle name="vehicle.lincoln.mkz_2017" vehicleCategory="car">
<ParameterDeclarations/>
<Performance maxSpeed="69.444" maxAcceleration="200" maxDeceleration="10.0"/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2.1" length="4.5" height="1.8"/>
</BoundingBox>
<Axles>
<FrontAxle maxSteering="0.5" wheelDiameter="0.6" trackWidth="1.8" positionX="3.1" positionZ="0.3"/>
<RearAxle maxSteering="0.0" wheelDiameter="0.6" trackWidth="1.8" positionX="0.0" positionZ="0.3"/>
</Axles>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Vehicle>
</ScenarioObject>
<ScenarioObject name="standing">
<Vehicle name="vehicle.volkswagen.t2" vehicleCategory="car">
<ParameterDeclarations/>
<Performance maxSpeed="69.444" maxAcceleration="200" maxDeceleration="10.0"/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2.1" length="4.5" height="1.8"/>
</BoundingBox>
<Axles>
<FrontAxle maxSteering="0.5" wheelDiameter="0.6" trackWidth="1.8" positionX="3.1" positionZ="0.3"/>
<RearAxle maxSteering="0.0" wheelDiameter="0.6" trackWidth="1.8" positionX="0.0" positionZ="0.3"/>
</Axles>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Vehicle>
</ScenarioObject>
<ScenarioObject name="pedestrian_close_to_standing_27516">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_close_to_hero_27517">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_w_transform_27518">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_close_to_standing_27519">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_w_transform_27520">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_close_to_hero_27521">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_close_to_hero_27522">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
</Entities>
<Storyboard>
<Init>
<Actions>
<GlobalAction>
<EnvironmentAction>
<Environment name="Environment1">
<TimeOfDay animation="false" dateTime="2019-06-25T12:00:00"/>
<Weather cloudState="free">
<Sun intensity="0.85" azimuth="0" elevation="1.31"/>
<Fog visualRange="100000.0"/>
<Precipitation precipitationType="dry" intensity="0.0"/>
</Weather>
<RoadCondition frictionScaleFactor="1.0"/>
</Environment>
</EnvironmentAction>
</GlobalAction>
<Private entityRef="hero">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-9.4" y="-152.8" z="0.5" h="1.57079632679"/>
</Position>
</TeleportAction>
</PrivateAction>
<PrivateAction>
<ControllerAction>
<AssignControllerAction>
<Controller name="HeroAgent">
<Properties>
<Property name="module" value="external_control"/>
</Properties>
</Controller>
</AssignControllerAction>
<OverrideControllerValueAction>
<Throttle value="0" active="false"/>
<Brake value="0" active="false"/>
<Clutch value="0" active="false"/>
<ParkingBrake value="0" active="false"/>
<SteeringWheel value="0" active="false"/>
<Gear number="0" active="false"/>
</OverrideControllerValueAction>
</ControllerAction>
</PrivateAction>
</Private>
<Private entityRef="adversary">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-9.4" y="-71.0" z="0.5" h="1.57079632679"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="standing">
<PrivateAction>
<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_27516">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-4.47645902633667" y="39.04991149902344" z="0.003019904950633645"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_close_to_hero_27517">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-9.928046226501465" y="-151.2073516845703" z="0.0013734435196965933"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_w_transform_27518">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-59.084259033203125" y="87.69097900390625" z="0.5"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_close_to_standing_27519">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="4.629249572753906" y="21.24532699584961" z="0.0030162811744958162"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_w_transform_27520">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="97.39989471435547" y="10.72680377960205" z="0.5"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_close_to_hero_27521">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="3.279888868331909" y="-143.75845336914062" z="0.0013734435196965933"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_close_to_hero_27522">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-5.074735164642334" y="-163.28424072265625" 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_27516">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_close_to_hero_27517">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_w_transform_27518">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_close_to_standing_27519">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_w_transform_27520">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_close_to_hero_27521">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_close_to_hero_27522">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_w_transform_27523">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
</Entities>
<Storyboard>
<Init>
<Actions>
<GlobalAction>
<EnvironmentAction>
<Environment name="Environment1">
<TimeOfDay animation="false" dateTime="2019-06-25T12:00:00"/>
<Weather cloudState="free">
<Sun intensity="0.85" azimuth="0" elevation="1.31"/>
<Fog visualRange="100000.0"/>
<Precipitation precipitationType="dry" intensity="0.0"/>
</Weather>
<RoadCondition frictionScaleFactor="1.0"/>
</Environment>
</EnvironmentAction>
</GlobalAction>
<Private entityRef="hero">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-9.4" y="-152.8" z="0.5" h="1.57079632679"/>
</Position>
</TeleportAction>
</PrivateAction>
<PrivateAction>
<ControllerAction>
<AssignControllerAction>
<Controller name="HeroAgent">
<Properties>
<Property name="module" value="external_control"/>
</Properties>
</Controller>
</AssignControllerAction>
<OverrideControllerValueAction>
<Throttle value="0" active="false"/>
<Brake value="0" active="false"/>
<Clutch value="0" active="false"/>
<ParkingBrake value="0" active="false"/>
<SteeringWheel value="0" active="false"/>
<Gear number="0" active="false"/>
</OverrideControllerValueAction>
</ControllerAction>
</PrivateAction>
</Private>
<Private entityRef="adversary">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-9.4" y="-71.0" z="0.5" h="1.57079632679"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="standing">
<PrivateAction>
<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_27516">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-4.47645902633667" y="39.04991149902344" z="0.003019904950633645"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_close_to_hero_27517">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-9.928046226501465" y="-151.2073516845703" z="0.0013734435196965933"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_w_transform_27518">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-59.084259033203125" y="87.69097900390625" z="0.5"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_close_to_standing_27519">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="4.629249572753906" y="21.24532699584961" z="0.0030162811744958162"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_w_transform_27520">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="97.39989471435547" y="10.72680377960205" z="0.5"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_close_to_hero_27521">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="3.279888868331909" y="-143.75845336914062" z="0.0013734435196965933"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_close_to_hero_27522">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-5.074735164642334" y="-163.28424072265625" z="0.0013734435196965933"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_w_transform_27523">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="92.47254943847656" y="-16.224685668945312" z="0.5"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
</Actions>
</Init>
<Story name="MyStory">
<Act name="Behavior">
<ManeuverGroup maximumExecutionCount="1" name="ManeuverSequence">
<Actors selectTriggeringEntities="false">
<EntityRef entityRef="adversary"/>
</Actors>
<Maneuver name="LaneChangeSimpleManeuver">
<Event name="AdversaryAccelerates" priority="overwrite">
<Action name="AdversaryAccelerates">
<PrivateAction>
<LongitudinalAction>
<SpeedAction>
<SpeedActionDynamics dynamicsShape="step" value="50" dynamicsDimension="distance"/>
<SpeedActionTarget>
<AbsoluteTargetSpeed value="5.0"/>
</SpeedActionTarget>
</SpeedAction>
</LongitudinalAction>
</PrivateAction>
</Action>
<StartTrigger>
<ConditionGroup>
<Condition name="StartCondition" delay="0" conditionEdge="rising">
<ByEntityCondition>
<TriggeringEntities triggeringEntitiesRule="any">
<EntityRef entityRef="hero"/>
</TriggeringEntities>
<EntityCondition>
<RelativeDistanceCondition entityRef="adversary" relativeDistanceType="cartesianDistance" value="40.0" freespace="false" rule="lessThan"/>
</EntityCondition>
</ByEntityCondition>
</Condition>
</ConditionGroup>
</StartTrigger>
</Event>
<Event name="AdversaryChangesLane" priority="overwrite">
<Action name="AdversaryChangesLane">
<PrivateAction>
<LateralAction>
<LaneChangeAction>
<LaneChangeActionDynamics dynamicsShape="linear" value="25" dynamicsDimension="distance"/>
<LaneChangeTarget>
<RelativeTargetLane entityRef="adversary" value="-1"/>
</LaneChangeTarget>
</LaneChangeAction>
</LateralAction>
</PrivateAction>
</Action>
<StartTrigger>
<ConditionGroup>
<Condition name="AfterAdversaryAccelerates" delay="0" conditionEdge="rising">
<ByValueCondition>
<StoryboardElementStateCondition storyboardElementType="action" storyboardElementRef="AdversaryAccelerates" state="completeState"/>
</ByValueCondition>
</Condition>
</ConditionGroup>
</StartTrigger>
</Event>
</Maneuver>
</ManeuverGroup>
<StartTrigger>
<ConditionGroup>
<Condition name="OverallStartCondition" delay="0" conditionEdge="rising">
<ByEntityCondition>
<TriggeringEntities triggeringEntitiesRule="any">
<EntityRef entityRef="hero"/>
</TriggeringEntities>
<EntityCondition>
<TraveledDistanceCondition value="1.0"/>
</EntityCondition>
</ByEntityCondition>
</Condition>
<Condition name="StartTime" delay="0" conditionEdge="rising">
<ByValueCondition>
<SimulationTimeCondition value="0" rule="equalTo"/>
</ByValueCondition>
</Condition>
</ConditionGroup>
</StartTrigger>
<StopTrigger>
<ConditionGroup>
<Condition name="EndCondition" delay="0" conditionEdge="rising">
<ByEntityCondition>
<TriggeringEntities triggeringEntitiesRule="any">
<EntityRef entityRef="hero"/>
</TriggeringEntities>
<EntityCondition>
<TraveledDistanceCondition value="200.0"/>
</EntityCondition>
</ByEntityCondition>
</Condition>
</ConditionGroup>
</StopTrigger>
</Act>
</Story>
<StopTrigger>
<ConditionGroup>
<Condition name="criteria_RunningStopTest" delay="0" conditionEdge="rising">
<ByValueCondition>
<ParameterCondition parameterRef="" value="" rule="lessThan"/>
</ByValueCondition>
</Condition>
<Condition name="criteria_RunningRedLightTest" delay="0" conditionEdge="rising">
<ByValueCondition>
<ParameterCondition parameterRef="" value="" rule="lessThan"/>
</ByValueCondition>
</Condition>
<Condition name="criteria_WrongLaneTest" delay="0" conditionEdge="rising">
<ByValueCondition>
<ParameterCondition parameterRef="" value="" rule="lessThan"/>
</ByValueCondition>
</Condition>
<Condition name="criteria_OnSidewalkTest" delay="0" conditionEdge="rising">
<ByValueCondition>
<ParameterCondition parameterRef="" value="" rule="lessThan"/>
</ByValueCondition>
</Condition>
<Condition name="criteria_KeepLaneTest" delay="0" conditionEdge="rising">
<ByValueCondition>
<ParameterCondition parameterRef="" value="" rule="lessThan"/>
</ByValueCondition>
</Condition>
<Condition name="criteria_CollisionTest" delay="0" conditionEdge="rising">
<ByValueCondition>
<ParameterCondition parameterRef="" value="" rule="lessThan"/>
</ByValueCondition>
</Condition>
<Condition name="criteria_DrivenDistanceTest" delay="0" conditionEdge="rising">
<ByValueCondition>
<ParameterCondition parameterRef="distance_success" value="100" rule="lessThan"/>
</ByValueCondition>
</Condition>
</ConditionGroup>
</StopTrigger>
</Storyboard>
</OpenSCENARIO>
``` |
i would like you to add pedestrian at location (43.01, -32.19, 0.5)?
```
<?xml version="1.0" ?>
<OpenSCENARIO>
<FileHeader revMajor="1" revMinor="0" date="2020-03-24T12:00:00" description="CARLA:LaneChangeSimple" author=""/>
<ParameterDeclarations/>
<CatalogLocations/>
<RoadNetwork>
<LogicFile filepath="Town04"/>
<SceneGraphFile filepath=""/>
</RoadNetwork>
<Entities>
<ScenarioObject name="hero">
<Vehicle name="vehicle.tesla.model3" vehicleCategory="car">
<ParameterDeclarations/>
<Performance maxSpeed="69.444" maxAcceleration="200" maxDeceleration="10.0"/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2.1" length="4.5" height="1.8"/>
</BoundingBox>
<Axles>
<FrontAxle maxSteering="0.5" wheelDiameter="0.6" trackWidth="1.8" positionX="3.1" positionZ="0.3"/>
<RearAxle maxSteering="0.0" wheelDiameter="0.6" trackWidth="1.8" positionX="0.0" positionZ="0.3"/>
</Axles>
<Properties>
<Property name="type" value="ego_vehicle"/>
</Properties>
</Vehicle>
</ScenarioObject>
<ScenarioObject name="adversary">
<Vehicle name="vehicle.lincoln.mkz_2017" vehicleCategory="car">
<ParameterDeclarations/>
<Performance maxSpeed="69.444" maxAcceleration="200" maxDeceleration="10.0"/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2.1" length="4.5" height="1.8"/>
</BoundingBox>
<Axles>
<FrontAxle maxSteering="0.5" wheelDiameter="0.6" trackWidth="1.8" positionX="3.1" positionZ="0.3"/>
<RearAxle maxSteering="0.0" wheelDiameter="0.6" trackWidth="1.8" positionX="0.0" positionZ="0.3"/>
</Axles>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Vehicle>
</ScenarioObject>
<ScenarioObject name="standing">
<Vehicle name="vehicle.volkswagen.t2" vehicleCategory="car">
<ParameterDeclarations/>
<Performance maxSpeed="69.444" maxAcceleration="200" maxDeceleration="10.0"/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2.1" length="4.5" height="1.8"/>
</BoundingBox>
<Axles>
<FrontAxle maxSteering="0.5" wheelDiameter="0.6" trackWidth="1.8" positionX="3.1" positionZ="0.3"/>
<RearAxle maxSteering="0.0" wheelDiameter="0.6" trackWidth="1.8" positionX="0.0" positionZ="0.3"/>
</Axles>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Vehicle>
</ScenarioObject>
<ScenarioObject name="pedestrian_close_to_standing_30355">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_w_transform_30356">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_close_to_standing_30357">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
</Entities>
<Storyboard>
<Init>
<Actions>
<GlobalAction>
<EnvironmentAction>
<Environment name="Environment1">
<TimeOfDay animation="false" dateTime="2019-06-25T12:00:00"/>
<Weather cloudState="free">
<Sun intensity="0.85" azimuth="0" elevation="1.31"/>
<Fog visualRange="100000.0"/>
<Precipitation precipitationType="dry" intensity="0.0"/>
</Weather>
<RoadCondition frictionScaleFactor="1.0"/>
</Environment>
</EnvironmentAction>
</GlobalAction>
<Private entityRef="hero">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-9.4" y="-152.8" z="0.5" h="1.57079632679"/>
</Position>
</TeleportAction>
</PrivateAction>
<PrivateAction>
<ControllerAction>
<AssignControllerAction>
<Controller name="HeroAgent">
<Properties>
<Property name="module" value="external_control"/>
</Properties>
</Controller>
</AssignControllerAction>
<OverrideControllerValueAction>
<Throttle value="0" active="false"/>
<Brake value="0" active="false"/>
<Clutch value="0" active="false"/>
<ParkingBrake value="0" active="false"/>
<SteeringWheel value="0" active="false"/>
<Gear number="0" active="false"/>
</OverrideControllerValueAction>
</ControllerAction>
</PrivateAction>
</Private>
<Private entityRef="adversary">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-9.4" y="-71.0" z="0.5" h="1.57079632679"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="standing">
<PrivateAction>
<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_30355">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-13.6339111328125" y="18.497514724731445" z="0.003109588520601392"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_w_transform_30356">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="68.1027603149414" y="84.87197875976562" z="0.5"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_close_to_standing_30357">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-5.406912326812744" y="20.296979904174805" z="0.0030231857672333717"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
</Actions>
</Init>
<Story name="MyStory">
<Act name="Behavior">
<ManeuverGroup maximumExecutionCount="1" name="ManeuverSequence">
<Actors selectTriggeringEntities="false">
<EntityRef entityRef="adversary"/>
</Actors>
<Maneuver name="LaneChangeSimpleManeuver">
<Event name="AdversaryAccelerates" priority="overwrite">
<Action name="AdversaryAccelerates">
<PrivateAction>
<LongitudinalAction>
<SpeedAction>
<SpeedActionDynamics dynamicsShape="step" value="50" dynamicsDimension="distance"/>
<SpeedActionTarget>
<AbsoluteTargetSpeed value="5.0"/>
</SpeedActionTarget>
</SpeedAction>
</LongitudinalAction>
</PrivateAction>
</Action>
<StartTrigger>
<ConditionGroup>
<Condition name="StartCondition" delay="0" conditionEdge="rising">
<ByEntityCondition>
<TriggeringEntities triggeringEntitiesRule="any">
<EntityRef entityRef="hero"/>
</TriggeringEntities>
<EntityCondition>
<RelativeDistanceCondition entityRef="adversary" relativeDistanceType="cartesianDistance" value="40.0" freespace="false" rule="lessThan"/>
</EntityCondition>
</ByEntityCondition>
</Condition>
</ConditionGroup>
</StartTrigger>
</Event>
<Event name="AdversaryChangesLane" priority="overwrite">
<Action name="AdversaryChangesLane">
<PrivateAction>
<LateralAction>
<LaneChangeAction>
<LaneChangeActionDynamics dynamicsShape="linear" value="25" dynamicsDimension="distance"/>
<LaneChangeTarget>
<RelativeTargetLane entityRef="adversary" value="-1"/>
</LaneChangeTarget>
</LaneChangeAction>
</LateralAction>
</PrivateAction>
</Action>
<StartTrigger>
<ConditionGroup>
<Condition name="AfterAdversaryAccelerates" delay="0" conditionEdge="rising">
<ByValueCondition>
<StoryboardElementStateCondition storyboardElementType="action" storyboardElementRef="AdversaryAccelerates" state="completeState"/>
</ByValueCondition>
</Condition>
</ConditionGroup>
</StartTrigger>
</Event>
</Maneuver>
</ManeuverGroup>
<StartTrigger>
<ConditionGroup>
<Condition name="OverallStartCondition" delay="0" conditionEdge="rising">
<ByEntityCondition>
<TriggeringEntities triggeringEntitiesRule="any">
<EntityRef entityRef="hero"/>
</TriggeringEntities>
<EntityCondition>
<TraveledDistanceCondition value="1.0"/>
</EntityCondition>
</ByEntityCondition>
</Condition>
<Condition name="StartTime" delay="0" conditionEdge="rising">
<ByValueCondition>
<SimulationTimeCondition value="0" rule="equalTo"/>
</ByValueCondition>
</Condition>
</ConditionGroup>
</StartTrigger>
<StopTrigger>
<ConditionGroup>
<Condition name="EndCondition" delay="0" conditionEdge="rising">
<ByEntityCondition>
<TriggeringEntities triggeringEntitiesRule="any">
<EntityRef entityRef="hero"/>
</TriggeringEntities>
<EntityCondition>
<TraveledDistanceCondition value="200.0"/>
</EntityCondition>
</ByEntityCondition>
</Condition>
</ConditionGroup>
</StopTrigger>
</Act>
</Story>
<StopTrigger>
<ConditionGroup>
<Condition name="criteria_RunningStopTest" delay="0" conditionEdge="rising">
<ByValueCondition>
<ParameterCondition parameterRef="" value="" rule="lessThan"/>
</ByValueCondition>
</Condition>
<Condition name="criteria_RunningRedLightTest" delay="0" conditionEdge="rising">
<ByValueCondition>
<ParameterCondition parameterRef="" value="" rule="lessThan"/>
</ByValueCondition>
</Condition>
<Condition name="criteria_WrongLaneTest" delay="0" conditionEdge="rising">
<ByValueCondition>
<ParameterCondition parameterRef="" value="" rule="lessThan"/>
</ByValueCondition>
</Condition>
<Condition name="criteria_OnSidewalkTest" delay="0" conditionEdge="rising">
<ByValueCondition>
<ParameterCondition parameterRef="" value="" rule="lessThan"/>
</ByValueCondition>
</Condition>
<Condition name="criteria_KeepLaneTest" delay="0" conditionEdge="rising">
<ByValueCondition>
<ParameterCondition parameterRef="" value="" rule="lessThan"/>
</ByValueCondition>
</Condition>
<Condition name="criteria_CollisionTest" delay="0" conditionEdge="rising">
<ByValueCondition>
<ParameterCondition parameterRef="" value="" rule="lessThan"/>
</ByValueCondition>
</Condition>
<Condition name="criteria_DrivenDistanceTest" delay="0" conditionEdge="rising">
<ByValueCondition>
<ParameterCondition parameterRef="distance_success" value="100" rule="lessThan"/>
</ByValueCondition>
</Condition>
</ConditionGroup>
</StopTrigger>
</Storyboard>
</OpenSCENARIO>
``` | Here is the result:
```
<?xml version="1.0" ?>
<OpenSCENARIO>
<FileHeader revMajor="1" revMinor="0" date="2020-03-24T12:00:00" description="CARLA:LaneChangeSimple" author=""/>
<ParameterDeclarations/>
<CatalogLocations/>
<RoadNetwork>
<LogicFile filepath="Town04"/>
<SceneGraphFile filepath=""/>
</RoadNetwork>
<Entities>
<ScenarioObject name="hero">
<Vehicle name="vehicle.tesla.model3" vehicleCategory="car">
<ParameterDeclarations/>
<Performance maxSpeed="69.444" maxAcceleration="200" maxDeceleration="10.0"/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2.1" length="4.5" height="1.8"/>
</BoundingBox>
<Axles>
<FrontAxle maxSteering="0.5" wheelDiameter="0.6" trackWidth="1.8" positionX="3.1" positionZ="0.3"/>
<RearAxle maxSteering="0.0" wheelDiameter="0.6" trackWidth="1.8" positionX="0.0" positionZ="0.3"/>
</Axles>
<Properties>
<Property name="type" value="ego_vehicle"/>
</Properties>
</Vehicle>
</ScenarioObject>
<ScenarioObject name="adversary">
<Vehicle name="vehicle.lincoln.mkz_2017" vehicleCategory="car">
<ParameterDeclarations/>
<Performance maxSpeed="69.444" maxAcceleration="200" maxDeceleration="10.0"/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2.1" length="4.5" height="1.8"/>
</BoundingBox>
<Axles>
<FrontAxle maxSteering="0.5" wheelDiameter="0.6" trackWidth="1.8" positionX="3.1" positionZ="0.3"/>
<RearAxle maxSteering="0.0" wheelDiameter="0.6" trackWidth="1.8" positionX="0.0" positionZ="0.3"/>
</Axles>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Vehicle>
</ScenarioObject>
<ScenarioObject name="standing">
<Vehicle name="vehicle.volkswagen.t2" vehicleCategory="car">
<ParameterDeclarations/>
<Performance maxSpeed="69.444" maxAcceleration="200" maxDeceleration="10.0"/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2.1" length="4.5" height="1.8"/>
</BoundingBox>
<Axles>
<FrontAxle maxSteering="0.5" wheelDiameter="0.6" trackWidth="1.8" positionX="3.1" positionZ="0.3"/>
<RearAxle maxSteering="0.0" wheelDiameter="0.6" 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_30355">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_w_transform_30356">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_close_to_standing_30357">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_w_transform_30358">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
</Entities>
<Storyboard>
<Init>
<Actions>
<GlobalAction>
<EnvironmentAction>
<Environment name="Environment1">
<TimeOfDay animation="false" dateTime="2019-06-25T12:00:00"/>
<Weather cloudState="free">
<Sun intensity="0.85" azimuth="0" elevation="1.31"/>
<Fog visualRange="100000.0"/>
<Precipitation precipitationType="dry" intensity="0.0"/>
</Weather>
<RoadCondition frictionScaleFactor="1.0"/>
</Environment>
</EnvironmentAction>
</GlobalAction>
<Private entityRef="hero">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-9.4" y="-152.8" z="0.5" h="1.57079632679"/>
</Position>
</TeleportAction>
</PrivateAction>
<PrivateAction>
<ControllerAction>
<AssignControllerAction>
<Controller name="HeroAgent">
<Properties>
<Property name="module" value="external_control"/>
</Properties>
</Controller>
</AssignControllerAction>
<OverrideControllerValueAction>
<Throttle value="0" active="false"/>
<Brake value="0" active="false"/>
<Clutch value="0" active="false"/>
<ParkingBrake value="0" active="false"/>
<SteeringWheel value="0" active="false"/>
<Gear number="0" active="false"/>
</OverrideControllerValueAction>
</ControllerAction>
</PrivateAction>
</Private>
<Private entityRef="adversary">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-9.4" y="-71.0" z="0.5" h="1.57079632679"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="standing">
<PrivateAction>
<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_30355">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-13.6339111328125" y="18.497514724731445" z="0.003109588520601392"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_w_transform_30356">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="68.1027603149414" y="84.87197875976562" z="0.5"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_close_to_standing_30357">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-5.406912326812744" y="20.296979904174805" z="0.0030231857672333717"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_w_transform_30358">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="43.00641632080078" y="-32.191158294677734" z="0.5"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
</Actions>
</Init>
<Story name="MyStory">
<Act name="Behavior">
<ManeuverGroup maximumExecutionCount="1" name="ManeuverSequence">
<Actors selectTriggeringEntities="false">
<EntityRef entityRef="adversary"/>
</Actors>
<Maneuver name="LaneChangeSimpleManeuver">
<Event name="AdversaryAccelerates" priority="overwrite">
<Action name="AdversaryAccelerates">
<PrivateAction>
<LongitudinalAction>
<SpeedAction>
<SpeedActionDynamics dynamicsShape="step" value="50" dynamicsDimension="distance"/>
<SpeedActionTarget>
<AbsoluteTargetSpeed value="5.0"/>
</SpeedActionTarget>
</SpeedAction>
</LongitudinalAction>
</PrivateAction>
</Action>
<StartTrigger>
<ConditionGroup>
<Condition name="StartCondition" delay="0" conditionEdge="rising">
<ByEntityCondition>
<TriggeringEntities triggeringEntitiesRule="any">
<EntityRef entityRef="hero"/>
</TriggeringEntities>
<EntityCondition>
<RelativeDistanceCondition entityRef="adversary" relativeDistanceType="cartesianDistance" value="40.0" freespace="false" rule="lessThan"/>
</EntityCondition>
</ByEntityCondition>
</Condition>
</ConditionGroup>
</StartTrigger>
</Event>
<Event name="AdversaryChangesLane" priority="overwrite">
<Action name="AdversaryChangesLane">
<PrivateAction>
<LateralAction>
<LaneChangeAction>
<LaneChangeActionDynamics dynamicsShape="linear" value="25" dynamicsDimension="distance"/>
<LaneChangeTarget>
<RelativeTargetLane entityRef="adversary" value="-1"/>
</LaneChangeTarget>
</LaneChangeAction>
</LateralAction>
</PrivateAction>
</Action>
<StartTrigger>
<ConditionGroup>
<Condition name="AfterAdversaryAccelerates" delay="0" conditionEdge="rising">
<ByValueCondition>
<StoryboardElementStateCondition storyboardElementType="action" storyboardElementRef="AdversaryAccelerates" state="completeState"/>
</ByValueCondition>
</Condition>
</ConditionGroup>
</StartTrigger>
</Event>
</Maneuver>
</ManeuverGroup>
<StartTrigger>
<ConditionGroup>
<Condition name="OverallStartCondition" delay="0" conditionEdge="rising">
<ByEntityCondition>
<TriggeringEntities triggeringEntitiesRule="any">
<EntityRef entityRef="hero"/>
</TriggeringEntities>
<EntityCondition>
<TraveledDistanceCondition value="1.0"/>
</EntityCondition>
</ByEntityCondition>
</Condition>
<Condition name="StartTime" delay="0" conditionEdge="rising">
<ByValueCondition>
<SimulationTimeCondition value="0" rule="equalTo"/>
</ByValueCondition>
</Condition>
</ConditionGroup>
</StartTrigger>
<StopTrigger>
<ConditionGroup>
<Condition name="EndCondition" delay="0" conditionEdge="rising">
<ByEntityCondition>
<TriggeringEntities triggeringEntitiesRule="any">
<EntityRef entityRef="hero"/>
</TriggeringEntities>
<EntityCondition>
<TraveledDistanceCondition value="200.0"/>
</EntityCondition>
</ByEntityCondition>
</Condition>
</ConditionGroup>
</StopTrigger>
</Act>
</Story>
<StopTrigger>
<ConditionGroup>
<Condition name="criteria_RunningStopTest" delay="0" conditionEdge="rising">
<ByValueCondition>
<ParameterCondition parameterRef="" value="" rule="lessThan"/>
</ByValueCondition>
</Condition>
<Condition name="criteria_RunningRedLightTest" delay="0" conditionEdge="rising">
<ByValueCondition>
<ParameterCondition parameterRef="" value="" rule="lessThan"/>
</ByValueCondition>
</Condition>
<Condition name="criteria_WrongLaneTest" delay="0" conditionEdge="rising">
<ByValueCondition>
<ParameterCondition parameterRef="" value="" rule="lessThan"/>
</ByValueCondition>
</Condition>
<Condition name="criteria_OnSidewalkTest" delay="0" conditionEdge="rising">
<ByValueCondition>
<ParameterCondition parameterRef="" value="" rule="lessThan"/>
</ByValueCondition>
</Condition>
<Condition name="criteria_KeepLaneTest" delay="0" conditionEdge="rising">
<ByValueCondition>
<ParameterCondition parameterRef="" value="" rule="lessThan"/>
</ByValueCondition>
</Condition>
<Condition name="criteria_CollisionTest" delay="0" conditionEdge="rising">
<ByValueCondition>
<ParameterCondition parameterRef="" value="" rule="lessThan"/>
</ByValueCondition>
</Condition>
<Condition name="criteria_DrivenDistanceTest" delay="0" conditionEdge="rising">
<ByValueCondition>
<ParameterCondition parameterRef="distance_success" value="100" rule="lessThan"/>
</ByValueCondition>
</Condition>
</ConditionGroup>
</StopTrigger>
</Storyboard>
</OpenSCENARIO>
``` |
i would like to direct you to add pedestrian close to 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_6605">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_close_to_hero_6606">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
</Entities>
<Storyboard>
<Init>
<Actions>
<GlobalAction>
<EnvironmentAction>
<Environment name="Environment1">
<TimeOfDay animation="false" dateTime="2019-06-25T12:00:00"/>
<Weather cloudState="free">
<Sun intensity="0.85" azimuth="0" elevation="1.31"/>
<Fog visualRange="100000.0"/>
<Precipitation precipitationType="dry" intensity="0.0"/>
</Weather>
<RoadCondition frictionScaleFactor="1.0"/>
</Environment>
</EnvironmentAction>
</GlobalAction>
<Private entityRef="hero">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-9.4" y="-152.8" z="0.5" h="1.57079632679"/>
</Position>
</TeleportAction>
</PrivateAction>
<PrivateAction>
<ControllerAction>
<AssignControllerAction>
<Controller name="HeroAgent">
<Properties>
<Property name="module" value="external_control"/>
</Properties>
</Controller>
</AssignControllerAction>
<OverrideControllerValueAction>
<Throttle value="0" active="false"/>
<Brake value="0" active="false"/>
<Clutch value="0" active="false"/>
<ParkingBrake value="0" active="false"/>
<SteeringWheel value="0" active="false"/>
<Gear number="0" active="false"/>
</OverrideControllerValueAction>
</ControllerAction>
</PrivateAction>
</Private>
<Private entityRef="adversary">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-9.4" y="-71.0" z="0.5" h="1.57079632679"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="standing">
<PrivateAction>
<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_6605">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-15.045873641967773" y="30.60026741027832" z="0.003061485243961215"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_close_to_hero_6606">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-12.470952033996582" y="-158.65982055664062" 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_6605">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_close_to_hero_6606">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_close_to_adversary_6607">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
</Entities>
<Storyboard>
<Init>
<Actions>
<GlobalAction>
<EnvironmentAction>
<Environment name="Environment1">
<TimeOfDay animation="false" dateTime="2019-06-25T12:00:00"/>
<Weather cloudState="free">
<Sun intensity="0.85" azimuth="0" elevation="1.31"/>
<Fog visualRange="100000.0"/>
<Precipitation precipitationType="dry" intensity="0.0"/>
</Weather>
<RoadCondition frictionScaleFactor="1.0"/>
</Environment>
</EnvironmentAction>
</GlobalAction>
<Private entityRef="hero">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-9.4" y="-152.8" z="0.5" h="1.57079632679"/>
</Position>
</TeleportAction>
</PrivateAction>
<PrivateAction>
<ControllerAction>
<AssignControllerAction>
<Controller name="HeroAgent">
<Properties>
<Property name="module" value="external_control"/>
</Properties>
</Controller>
</AssignControllerAction>
<OverrideControllerValueAction>
<Throttle value="0" active="false"/>
<Brake value="0" active="false"/>
<Clutch value="0" active="false"/>
<ParkingBrake value="0" active="false"/>
<SteeringWheel value="0" active="false"/>
<Gear number="0" active="false"/>
</OverrideControllerValueAction>
</ControllerAction>
</PrivateAction>
</Private>
<Private entityRef="adversary">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-9.4" y="-71.0" z="0.5" h="1.57079632679"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="standing">
<PrivateAction>
<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_6605">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-15.045873641967773" y="30.60026741027832" z="0.003061485243961215"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_close_to_hero_6606">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-12.470952033996582" y="-158.65982055664062" z="0.0014652633108198643"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_close_to_adversary_6607">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-5.9892659187316895" y="-65.48580169677734" z="0.03381725400686264"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
</Actions>
</Init>
<Story name="MyStory">
<Act name="Behavior">
<ManeuverGroup maximumExecutionCount="1" name="ManeuverSequence">
<Actors selectTriggeringEntities="false">
<EntityRef entityRef="adversary"/>
</Actors>
<Maneuver name="LaneChangeSimpleManeuver">
<Event name="AdversaryAccelerates" priority="overwrite">
<Action name="AdversaryAccelerates">
<PrivateAction>
<LongitudinalAction>
<SpeedAction>
<SpeedActionDynamics dynamicsShape="step" value="50" dynamicsDimension="distance"/>
<SpeedActionTarget>
<AbsoluteTargetSpeed value="5.0"/>
</SpeedActionTarget>
</SpeedAction>
</LongitudinalAction>
</PrivateAction>
</Action>
<StartTrigger>
<ConditionGroup>
<Condition name="StartCondition" delay="0" conditionEdge="rising">
<ByEntityCondition>
<TriggeringEntities triggeringEntitiesRule="any">
<EntityRef entityRef="hero"/>
</TriggeringEntities>
<EntityCondition>
<RelativeDistanceCondition entityRef="adversary" relativeDistanceType="cartesianDistance" value="40.0" freespace="false" rule="lessThan"/>
</EntityCondition>
</ByEntityCondition>
</Condition>
</ConditionGroup>
</StartTrigger>
</Event>
<Event name="AdversaryChangesLane" priority="overwrite">
<Action name="AdversaryChangesLane">
<PrivateAction>
<LateralAction>
<LaneChangeAction>
<LaneChangeActionDynamics dynamicsShape="linear" value="25" dynamicsDimension="distance"/>
<LaneChangeTarget>
<RelativeTargetLane entityRef="adversary" value="-1"/>
</LaneChangeTarget>
</LaneChangeAction>
</LateralAction>
</PrivateAction>
</Action>
<StartTrigger>
<ConditionGroup>
<Condition name="AfterAdversaryAccelerates" delay="0" conditionEdge="rising">
<ByValueCondition>
<StoryboardElementStateCondition storyboardElementType="action" storyboardElementRef="AdversaryAccelerates" state="completeState"/>
</ByValueCondition>
</Condition>
</ConditionGroup>
</StartTrigger>
</Event>
</Maneuver>
</ManeuverGroup>
<StartTrigger>
<ConditionGroup>
<Condition name="OverallStartCondition" delay="0" conditionEdge="rising">
<ByEntityCondition>
<TriggeringEntities triggeringEntitiesRule="any">
<EntityRef entityRef="hero"/>
</TriggeringEntities>
<EntityCondition>
<TraveledDistanceCondition value="1.0"/>
</EntityCondition>
</ByEntityCondition>
</Condition>
<Condition name="StartTime" delay="0" conditionEdge="rising">
<ByValueCondition>
<SimulationTimeCondition value="0" rule="equalTo"/>
</ByValueCondition>
</Condition>
</ConditionGroup>
</StartTrigger>
<StopTrigger>
<ConditionGroup>
<Condition name="EndCondition" delay="0" conditionEdge="rising">
<ByEntityCondition>
<TriggeringEntities triggeringEntitiesRule="any">
<EntityRef entityRef="hero"/>
</TriggeringEntities>
<EntityCondition>
<TraveledDistanceCondition value="200.0"/>
</EntityCondition>
</ByEntityCondition>
</Condition>
</ConditionGroup>
</StopTrigger>
</Act>
</Story>
<StopTrigger>
<ConditionGroup>
<Condition name="criteria_RunningStopTest" delay="0" conditionEdge="rising">
<ByValueCondition>
<ParameterCondition parameterRef="" value="" rule="lessThan"/>
</ByValueCondition>
</Condition>
<Condition name="criteria_RunningRedLightTest" delay="0" conditionEdge="rising">
<ByValueCondition>
<ParameterCondition parameterRef="" value="" rule="lessThan"/>
</ByValueCondition>
</Condition>
<Condition name="criteria_WrongLaneTest" delay="0" conditionEdge="rising">
<ByValueCondition>
<ParameterCondition parameterRef="" value="" rule="lessThan"/>
</ByValueCondition>
</Condition>
<Condition name="criteria_OnSidewalkTest" delay="0" conditionEdge="rising">
<ByValueCondition>
<ParameterCondition parameterRef="" value="" rule="lessThan"/>
</ByValueCondition>
</Condition>
<Condition name="criteria_KeepLaneTest" delay="0" conditionEdge="rising">
<ByValueCondition>
<ParameterCondition parameterRef="" value="" rule="lessThan"/>
</ByValueCondition>
</Condition>
<Condition name="criteria_CollisionTest" delay="0" conditionEdge="rising">
<ByValueCondition>
<ParameterCondition parameterRef="" value="" rule="lessThan"/>
</ByValueCondition>
</Condition>
<Condition name="criteria_DrivenDistanceTest" delay="0" conditionEdge="rising">
<ByValueCondition>
<ParameterCondition parameterRef="distance_success" value="100" rule="lessThan"/>
</ByValueCondition>
</Condition>
</ConditionGroup>
</StopTrigger>
</Storyboard>
</OpenSCENARIO>
``` |
i would like to lead you to remove pedestrian close to adversary?
```
<?xml version="1.0" ?>
<OpenSCENARIO>
<FileHeader revMajor="1" revMinor="0" date="2020-03-24T12:00:00" description="CARLA:LaneChangeSimple" author=""/>
<ParameterDeclarations/>
<CatalogLocations/>
<RoadNetwork>
<LogicFile filepath="Town04"/>
<SceneGraphFile filepath=""/>
</RoadNetwork>
<Entities>
<ScenarioObject name="hero">
<Vehicle name="vehicle.tesla.model3" vehicleCategory="car">
<ParameterDeclarations/>
<Performance maxSpeed="69.444" maxAcceleration="200" maxDeceleration="10.0"/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2.1" length="4.5" height="1.8"/>
</BoundingBox>
<Axles>
<FrontAxle maxSteering="0.5" wheelDiameter="0.6" trackWidth="1.8" positionX="3.1" positionZ="0.3"/>
<RearAxle maxSteering="0.0" wheelDiameter="0.6" trackWidth="1.8" positionX="0.0" positionZ="0.3"/>
</Axles>
<Properties>
<Property name="type" value="ego_vehicle"/>
</Properties>
</Vehicle>
</ScenarioObject>
<ScenarioObject name="adversary">
<Vehicle name="vehicle.lincoln.mkz_2017" vehicleCategory="car">
<ParameterDeclarations/>
<Performance maxSpeed="69.444" maxAcceleration="200" maxDeceleration="10.0"/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2.1" length="4.5" height="1.8"/>
</BoundingBox>
<Axles>
<FrontAxle maxSteering="0.5" wheelDiameter="0.6" trackWidth="1.8" positionX="3.1" positionZ="0.3"/>
<RearAxle maxSteering="0.0" wheelDiameter="0.6" trackWidth="1.8" positionX="0.0" positionZ="0.3"/>
</Axles>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Vehicle>
</ScenarioObject>
<ScenarioObject name="standing">
<Vehicle name="vehicle.volkswagen.t2" vehicleCategory="car">
<ParameterDeclarations/>
<Performance maxSpeed="69.444" maxAcceleration="200" maxDeceleration="10.0"/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2.1" length="4.5" height="1.8"/>
</BoundingBox>
<Axles>
<FrontAxle maxSteering="0.5" wheelDiameter="0.6" trackWidth="1.8" positionX="3.1" positionZ="0.3"/>
<RearAxle maxSteering="0.0" wheelDiameter="0.6" trackWidth="1.8" positionX="0.0" positionZ="0.3"/>
</Axles>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Vehicle>
</ScenarioObject>
<ScenarioObject name="pedestrian_close_to_hero_22395">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_close_to_standing_22396">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_w_transform_22398">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_w_transform_22399">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_w_transform_22400">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_close_to_adversary_22401">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_close_to_adversary_22402">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_close_to_hero_22403">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_close_to_adversary_22404">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_w_transform_22405">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_close_to_hero_22406">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_close_to_adversary_22408">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_close_to_hero_22409">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_w_transform_22410">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_close_to_adversary_22411">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_w_transform_22412">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_close_to_adversary_22413">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_close_to_standing_22414">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
</Entities>
<Storyboard>
<Init>
<Actions>
<GlobalAction>
<EnvironmentAction>
<Environment name="Environment1">
<TimeOfDay animation="false" dateTime="2019-06-25T12:00:00"/>
<Weather cloudState="free">
<Sun intensity="0.85" azimuth="0" elevation="1.31"/>
<Fog visualRange="100000.0"/>
<Precipitation precipitationType="dry" intensity="0.0"/>
</Weather>
<RoadCondition frictionScaleFactor="1.0"/>
</Environment>
</EnvironmentAction>
</GlobalAction>
<Private entityRef="hero">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-9.4" y="-152.8" z="0.5" h="1.57079632679"/>
</Position>
</TeleportAction>
</PrivateAction>
<PrivateAction>
<ControllerAction>
<AssignControllerAction>
<Controller name="HeroAgent">
<Properties>
<Property name="module" value="external_control"/>
</Properties>
</Controller>
</AssignControllerAction>
<OverrideControllerValueAction>
<Throttle value="0" active="false"/>
<Brake value="0" active="false"/>
<Clutch value="0" active="false"/>
<ParkingBrake value="0" active="false"/>
<SteeringWheel value="0" active="false"/>
<Gear number="0" active="false"/>
</OverrideControllerValueAction>
</ControllerAction>
</PrivateAction>
</Private>
<Private entityRef="adversary">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-9.4" y="-71.0" z="0.5" h="1.57079632679"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="standing">
<PrivateAction>
<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_22395">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-12.045251846313477" y="-144.1763153076172" z="0.0016471862327307463"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_close_to_standing_22396">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-10.427684783935547" y="22.680910110473633" z="0.003058280795812607"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_w_transform_22398">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="54.64738845825195" y="-19.81767463684082" z="0.5"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_w_transform_22399">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="47.235740661621094" y="56.9234504699707" z="0.5"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_w_transform_22400">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="20.42290496826172" y="-19.077577590942383" z="0.5"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_close_to_adversary_22401">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-9.2283296585083" y="-68.17450714111328" z="0.0337643027305603"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_close_to_adversary_22402">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-9.921485900878906" y="-68.77397155761719" z="0.033763349056243896"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_close_to_hero_22403">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-3.8661861419677734" y="-159.62237548828125" z="0.0016471862327307463"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_close_to_adversary_22404">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-7.4344916343688965" y="-65.01033020019531" z="0.033817023038864136"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_w_transform_22405">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="28.75917625427246" y="-86.13031768798828" z="0.5"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_close_to_hero_22406">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-8.969444274902344" y="-162.30638122558594" z="0.0016471862327307463"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_close_to_adversary_22408">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-9.078441619873047" y="-71.96562194824219" z="0.03382198140025139"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_close_to_hero_22409">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-8.889927864074707" y="-151.83099365234375" z="0.0016471862327307463"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_w_transform_22410">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="25.189271926879883" y="98.31914520263672" z="0.5"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_close_to_adversary_22411">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-5.088899612426758" y="-68.86846923828125" z="0.033846817910671234"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_w_transform_22412">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-88.04316711425781" y="70.29979705810547" z="0.5"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_close_to_adversary_22413">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-2.216811180114746" y="-87.58496856689453" z="0.03380981460213661"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_close_to_standing_22414">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-14.902227401733398" y="21.939699172973633" z="0.003068466205149889"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
</Actions>
</Init>
<Story name="MyStory">
<Act name="Behavior">
<ManeuverGroup maximumExecutionCount="1" name="ManeuverSequence">
<Actors selectTriggeringEntities="false">
<EntityRef entityRef="adversary"/>
</Actors>
<Maneuver name="LaneChangeSimpleManeuver">
<Event name="AdversaryAccelerates" priority="overwrite">
<Action name="AdversaryAccelerates">
<PrivateAction>
<LongitudinalAction>
<SpeedAction>
<SpeedActionDynamics dynamicsShape="step" value="50" dynamicsDimension="distance"/>
<SpeedActionTarget>
<AbsoluteTargetSpeed value="5.0"/>
</SpeedActionTarget>
</SpeedAction>
</LongitudinalAction>
</PrivateAction>
</Action>
<StartTrigger>
<ConditionGroup>
<Condition name="StartCondition" delay="0" conditionEdge="rising">
<ByEntityCondition>
<TriggeringEntities triggeringEntitiesRule="any">
<EntityRef entityRef="hero"/>
</TriggeringEntities>
<EntityCondition>
<RelativeDistanceCondition entityRef="adversary" relativeDistanceType="cartesianDistance" value="40.0" freespace="false" rule="lessThan"/>
</EntityCondition>
</ByEntityCondition>
</Condition>
</ConditionGroup>
</StartTrigger>
</Event>
<Event name="AdversaryChangesLane" priority="overwrite">
<Action name="AdversaryChangesLane">
<PrivateAction>
<LateralAction>
<LaneChangeAction>
<LaneChangeActionDynamics dynamicsShape="linear" value="25" dynamicsDimension="distance"/>
<LaneChangeTarget>
<RelativeTargetLane entityRef="adversary" value="-1"/>
</LaneChangeTarget>
</LaneChangeAction>
</LateralAction>
</PrivateAction>
</Action>
<StartTrigger>
<ConditionGroup>
<Condition name="AfterAdversaryAccelerates" delay="0" conditionEdge="rising">
<ByValueCondition>
<StoryboardElementStateCondition storyboardElementType="action" storyboardElementRef="AdversaryAccelerates" state="completeState"/>
</ByValueCondition>
</Condition>
</ConditionGroup>
</StartTrigger>
</Event>
</Maneuver>
</ManeuverGroup>
<StartTrigger>
<ConditionGroup>
<Condition name="OverallStartCondition" delay="0" conditionEdge="rising">
<ByEntityCondition>
<TriggeringEntities triggeringEntitiesRule="any">
<EntityRef entityRef="hero"/>
</TriggeringEntities>
<EntityCondition>
<TraveledDistanceCondition value="1.0"/>
</EntityCondition>
</ByEntityCondition>
</Condition>
<Condition name="StartTime" delay="0" conditionEdge="rising">
<ByValueCondition>
<SimulationTimeCondition value="0" rule="equalTo"/>
</ByValueCondition>
</Condition>
</ConditionGroup>
</StartTrigger>
<StopTrigger>
<ConditionGroup>
<Condition name="EndCondition" delay="0" conditionEdge="rising">
<ByEntityCondition>
<TriggeringEntities triggeringEntitiesRule="any">
<EntityRef entityRef="hero"/>
</TriggeringEntities>
<EntityCondition>
<TraveledDistanceCondition value="200.0"/>
</EntityCondition>
</ByEntityCondition>
</Condition>
</ConditionGroup>
</StopTrigger>
</Act>
</Story>
<StopTrigger>
<ConditionGroup>
<Condition name="criteria_RunningStopTest" delay="0" conditionEdge="rising">
<ByValueCondition>
<ParameterCondition parameterRef="" value="" rule="lessThan"/>
</ByValueCondition>
</Condition>
<Condition name="criteria_RunningRedLightTest" delay="0" conditionEdge="rising">
<ByValueCondition>
<ParameterCondition parameterRef="" value="" rule="lessThan"/>
</ByValueCondition>
</Condition>
<Condition name="criteria_WrongLaneTest" delay="0" conditionEdge="rising">
<ByValueCondition>
<ParameterCondition parameterRef="" value="" rule="lessThan"/>
</ByValueCondition>
</Condition>
<Condition name="criteria_OnSidewalkTest" delay="0" conditionEdge="rising">
<ByValueCondition>
<ParameterCondition parameterRef="" value="" rule="lessThan"/>
</ByValueCondition>
</Condition>
<Condition name="criteria_KeepLaneTest" delay="0" conditionEdge="rising">
<ByValueCondition>
<ParameterCondition parameterRef="" value="" rule="lessThan"/>
</ByValueCondition>
</Condition>
<Condition name="criteria_CollisionTest" delay="0" conditionEdge="rising">
<ByValueCondition>
<ParameterCondition parameterRef="" value="" rule="lessThan"/>
</ByValueCondition>
</Condition>
<Condition name="criteria_DrivenDistanceTest" delay="0" conditionEdge="rising">
<ByValueCondition>
<ParameterCondition parameterRef="distance_success" value="100" rule="lessThan"/>
</ByValueCondition>
</Condition>
</ConditionGroup>
</StopTrigger>
</Storyboard>
</OpenSCENARIO>
``` | Here is the result:
```
<?xml version="1.0" ?>
<OpenSCENARIO>
<FileHeader revMajor="1" revMinor="0" date="2020-03-24T12:00:00" description="CARLA:LaneChangeSimple" author=""/>
<ParameterDeclarations/>
<CatalogLocations/>
<RoadNetwork>
<LogicFile filepath="Town04"/>
<SceneGraphFile filepath=""/>
</RoadNetwork>
<Entities>
<ScenarioObject name="hero">
<Vehicle name="vehicle.tesla.model3" vehicleCategory="car">
<ParameterDeclarations/>
<Performance maxSpeed="69.444" maxAcceleration="200" maxDeceleration="10.0"/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2.1" length="4.5" height="1.8"/>
</BoundingBox>
<Axles>
<FrontAxle maxSteering="0.5" wheelDiameter="0.6" trackWidth="1.8" positionX="3.1" positionZ="0.3"/>
<RearAxle maxSteering="0.0" wheelDiameter="0.6" trackWidth="1.8" positionX="0.0" positionZ="0.3"/>
</Axles>
<Properties>
<Property name="type" value="ego_vehicle"/>
</Properties>
</Vehicle>
</ScenarioObject>
<ScenarioObject name="adversary">
<Vehicle name="vehicle.lincoln.mkz_2017" vehicleCategory="car">
<ParameterDeclarations/>
<Performance maxSpeed="69.444" maxAcceleration="200" maxDeceleration="10.0"/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2.1" length="4.5" height="1.8"/>
</BoundingBox>
<Axles>
<FrontAxle maxSteering="0.5" wheelDiameter="0.6" trackWidth="1.8" positionX="3.1" positionZ="0.3"/>
<RearAxle maxSteering="0.0" wheelDiameter="0.6" trackWidth="1.8" positionX="0.0" positionZ="0.3"/>
</Axles>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Vehicle>
</ScenarioObject>
<ScenarioObject name="standing">
<Vehicle name="vehicle.volkswagen.t2" vehicleCategory="car">
<ParameterDeclarations/>
<Performance maxSpeed="69.444" maxAcceleration="200" maxDeceleration="10.0"/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2.1" length="4.5" height="1.8"/>
</BoundingBox>
<Axles>
<FrontAxle maxSteering="0.5" wheelDiameter="0.6" trackWidth="1.8" positionX="3.1" positionZ="0.3"/>
<RearAxle maxSteering="0.0" wheelDiameter="0.6" 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_22395">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_close_to_standing_22396">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_w_transform_22398">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_w_transform_22399">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_w_transform_22400">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_close_to_adversary_22401">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_close_to_adversary_22402">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_close_to_hero_22403">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_close_to_adversary_22404">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_w_transform_22405">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_close_to_hero_22406">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_close_to_adversary_22408">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_close_to_hero_22409">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_w_transform_22410">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_w_transform_22412">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_close_to_adversary_22413">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_close_to_standing_22414">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
</Entities>
<Storyboard>
<Init>
<Actions>
<GlobalAction>
<EnvironmentAction>
<Environment name="Environment1">
<TimeOfDay animation="false" dateTime="2019-06-25T12:00:00"/>
<Weather cloudState="free">
<Sun intensity="0.85" azimuth="0" elevation="1.31"/>
<Fog visualRange="100000.0"/>
<Precipitation precipitationType="dry" intensity="0.0"/>
</Weather>
<RoadCondition frictionScaleFactor="1.0"/>
</Environment>
</EnvironmentAction>
</GlobalAction>
<Private entityRef="hero">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-9.4" y="-152.8" z="0.5" h="1.57079632679"/>
</Position>
</TeleportAction>
</PrivateAction>
<PrivateAction>
<ControllerAction>
<AssignControllerAction>
<Controller name="HeroAgent">
<Properties>
<Property name="module" value="external_control"/>
</Properties>
</Controller>
</AssignControllerAction>
<OverrideControllerValueAction>
<Throttle value="0" active="false"/>
<Brake value="0" active="false"/>
<Clutch value="0" active="false"/>
<ParkingBrake value="0" active="false"/>
<SteeringWheel value="0" active="false"/>
<Gear number="0" active="false"/>
</OverrideControllerValueAction>
</ControllerAction>
</PrivateAction>
</Private>
<Private entityRef="adversary">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-9.4" y="-71.0" z="0.5" h="1.57079632679"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="standing">
<PrivateAction>
<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_22395">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-12.045251846313477" y="-144.1763153076172" z="0.0016471862327307463"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_close_to_standing_22396">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-10.427684783935547" y="22.680910110473633" z="0.003058280795812607"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_w_transform_22398">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="54.64738845825195" y="-19.81767463684082" z="0.5"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_w_transform_22399">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="47.235740661621094" y="56.9234504699707" z="0.5"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_w_transform_22400">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="20.42290496826172" y="-19.077577590942383" z="0.5"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_close_to_adversary_22401">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-9.2283296585083" y="-68.17450714111328" z="0.0337643027305603"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_close_to_adversary_22402">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-9.921485900878906" y="-68.77397155761719" z="0.033763349056243896"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_close_to_hero_22403">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-3.8661861419677734" y="-159.62237548828125" z="0.0016471862327307463"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_close_to_adversary_22404">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-7.4344916343688965" y="-65.01033020019531" z="0.033817023038864136"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_w_transform_22405">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="28.75917625427246" y="-86.13031768798828" z="0.5"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_close_to_hero_22406">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-8.969444274902344" y="-162.30638122558594" z="0.0016471862327307463"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_close_to_adversary_22408">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-9.078441619873047" y="-71.96562194824219" z="0.03382198140025139"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_close_to_hero_22409">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-8.889927864074707" y="-151.83099365234375" z="0.0016471862327307463"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_w_transform_22410">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="25.189271926879883" y="98.31914520263672" z="0.5"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_w_transform_22412">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-88.04316711425781" y="70.29979705810547" z="0.5"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_close_to_adversary_22413">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-2.216811180114746" y="-87.58496856689453" z="0.03380981460213661"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_close_to_standing_22414">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-14.902227401733398" y="21.939699172973633" z="0.003068466205149889"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
</Actions>
</Init>
<Story name="MyStory">
<Act name="Behavior">
<ManeuverGroup maximumExecutionCount="1" name="ManeuverSequence">
<Actors selectTriggeringEntities="false">
<EntityRef entityRef="adversary"/>
</Actors>
<Maneuver name="LaneChangeSimpleManeuver">
<Event name="AdversaryAccelerates" priority="overwrite">
<Action name="AdversaryAccelerates">
<PrivateAction>
<LongitudinalAction>
<SpeedAction>
<SpeedActionDynamics dynamicsShape="step" value="50" dynamicsDimension="distance"/>
<SpeedActionTarget>
<AbsoluteTargetSpeed value="5.0"/>
</SpeedActionTarget>
</SpeedAction>
</LongitudinalAction>
</PrivateAction>
</Action>
<StartTrigger>
<ConditionGroup>
<Condition name="StartCondition" delay="0" conditionEdge="rising">
<ByEntityCondition>
<TriggeringEntities triggeringEntitiesRule="any">
<EntityRef entityRef="hero"/>
</TriggeringEntities>
<EntityCondition>
<RelativeDistanceCondition entityRef="adversary" relativeDistanceType="cartesianDistance" value="40.0" freespace="false" rule="lessThan"/>
</EntityCondition>
</ByEntityCondition>
</Condition>
</ConditionGroup>
</StartTrigger>
</Event>
<Event name="AdversaryChangesLane" priority="overwrite">
<Action name="AdversaryChangesLane">
<PrivateAction>
<LateralAction>
<LaneChangeAction>
<LaneChangeActionDynamics dynamicsShape="linear" value="25" dynamicsDimension="distance"/>
<LaneChangeTarget>
<RelativeTargetLane entityRef="adversary" value="-1"/>
</LaneChangeTarget>
</LaneChangeAction>
</LateralAction>
</PrivateAction>
</Action>
<StartTrigger>
<ConditionGroup>
<Condition name="AfterAdversaryAccelerates" delay="0" conditionEdge="rising">
<ByValueCondition>
<StoryboardElementStateCondition storyboardElementType="action" storyboardElementRef="AdversaryAccelerates" state="completeState"/>
</ByValueCondition>
</Condition>
</ConditionGroup>
</StartTrigger>
</Event>
</Maneuver>
</ManeuverGroup>
<StartTrigger>
<ConditionGroup>
<Condition name="OverallStartCondition" delay="0" conditionEdge="rising">
<ByEntityCondition>
<TriggeringEntities triggeringEntitiesRule="any">
<EntityRef entityRef="hero"/>
</TriggeringEntities>
<EntityCondition>
<TraveledDistanceCondition value="1.0"/>
</EntityCondition>
</ByEntityCondition>
</Condition>
<Condition name="StartTime" delay="0" conditionEdge="rising">
<ByValueCondition>
<SimulationTimeCondition value="0" rule="equalTo"/>
</ByValueCondition>
</Condition>
</ConditionGroup>
</StartTrigger>
<StopTrigger>
<ConditionGroup>
<Condition name="EndCondition" delay="0" conditionEdge="rising">
<ByEntityCondition>
<TriggeringEntities triggeringEntitiesRule="any">
<EntityRef entityRef="hero"/>
</TriggeringEntities>
<EntityCondition>
<TraveledDistanceCondition value="200.0"/>
</EntityCondition>
</ByEntityCondition>
</Condition>
</ConditionGroup>
</StopTrigger>
</Act>
</Story>
<StopTrigger>
<ConditionGroup>
<Condition name="criteria_RunningStopTest" delay="0" conditionEdge="rising">
<ByValueCondition>
<ParameterCondition parameterRef="" value="" rule="lessThan"/>
</ByValueCondition>
</Condition>
<Condition name="criteria_RunningRedLightTest" delay="0" conditionEdge="rising">
<ByValueCondition>
<ParameterCondition parameterRef="" value="" rule="lessThan"/>
</ByValueCondition>
</Condition>
<Condition name="criteria_WrongLaneTest" delay="0" conditionEdge="rising">
<ByValueCondition>
<ParameterCondition parameterRef="" value="" rule="lessThan"/>
</ByValueCondition>
</Condition>
<Condition name="criteria_OnSidewalkTest" delay="0" conditionEdge="rising">
<ByValueCondition>
<ParameterCondition parameterRef="" value="" rule="lessThan"/>
</ByValueCondition>
</Condition>
<Condition name="criteria_KeepLaneTest" delay="0" conditionEdge="rising">
<ByValueCondition>
<ParameterCondition parameterRef="" value="" rule="lessThan"/>
</ByValueCondition>
</Condition>
<Condition name="criteria_CollisionTest" delay="0" conditionEdge="rising">
<ByValueCondition>
<ParameterCondition parameterRef="" value="" rule="lessThan"/>
</ByValueCondition>
</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_13601?
```
<?xml version="1.0" ?>
<OpenSCENARIO>
<FileHeader revMajor="1" revMinor="0" date="2020-03-24T12:00:00" description="CARLA:LaneChangeSimple" author=""/>
<ParameterDeclarations/>
<CatalogLocations/>
<RoadNetwork>
<LogicFile filepath="Town04"/>
<SceneGraphFile filepath=""/>
</RoadNetwork>
<Entities>
<ScenarioObject name="hero">
<Vehicle name="vehicle.tesla.model3" vehicleCategory="car">
<ParameterDeclarations/>
<Performance maxSpeed="69.444" maxAcceleration="200" maxDeceleration="10.0"/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2.1" length="4.5" height="1.8"/>
</BoundingBox>
<Axles>
<FrontAxle maxSteering="0.5" wheelDiameter="0.6" trackWidth="1.8" positionX="3.1" positionZ="0.3"/>
<RearAxle maxSteering="0.0" wheelDiameter="0.6" trackWidth="1.8" positionX="0.0" positionZ="0.3"/>
</Axles>
<Properties>
<Property name="type" value="ego_vehicle"/>
</Properties>
</Vehicle>
</ScenarioObject>
<ScenarioObject name="adversary">
<Vehicle name="vehicle.lincoln.mkz_2017" vehicleCategory="car">
<ParameterDeclarations/>
<Performance maxSpeed="69.444" maxAcceleration="200" maxDeceleration="10.0"/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2.1" length="4.5" height="1.8"/>
</BoundingBox>
<Axles>
<FrontAxle maxSteering="0.5" wheelDiameter="0.6" trackWidth="1.8" positionX="3.1" positionZ="0.3"/>
<RearAxle maxSteering="0.0" wheelDiameter="0.6" trackWidth="1.8" positionX="0.0" positionZ="0.3"/>
</Axles>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Vehicle>
</ScenarioObject>
<ScenarioObject name="standing">
<Vehicle name="vehicle.volkswagen.t2" vehicleCategory="car">
<ParameterDeclarations/>
<Performance maxSpeed="69.444" maxAcceleration="200" maxDeceleration="10.0"/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2.1" length="4.5" height="1.8"/>
</BoundingBox>
<Axles>
<FrontAxle maxSteering="0.5" wheelDiameter="0.6" trackWidth="1.8" positionX="3.1" positionZ="0.3"/>
<RearAxle maxSteering="0.0" wheelDiameter="0.6" 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_13588">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_w_transform_13594">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_w_transform_13595">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_w_transform_13596">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_close_to_hero_13601">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_w_transform_13603">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_w_transform_13605">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_w_transform_13606">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_close_to_adversary_13607">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_w_transform_13608">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_w_transform_13613">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_w_transform_13614">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_w_transform_13615">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_w_transform_13616">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
</Entities>
<Storyboard>
<Init>
<Actions>
<GlobalAction>
<EnvironmentAction>
<Environment name="Environment1">
<TimeOfDay animation="false" dateTime="2019-06-25T12:00:00"/>
<Weather cloudState="free">
<Sun intensity="0.85" azimuth="0" elevation="1.31"/>
<Fog visualRange="100000.0"/>
<Precipitation precipitationType="dry" intensity="0.0"/>
</Weather>
<RoadCondition frictionScaleFactor="1.0"/>
</Environment>
</EnvironmentAction>
</GlobalAction>
<Private entityRef="hero">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-9.4" y="-152.8" z="0.5" h="1.57079632679"/>
</Position>
</TeleportAction>
</PrivateAction>
<PrivateAction>
<ControllerAction>
<AssignControllerAction>
<Controller name="HeroAgent">
<Properties>
<Property name="module" value="external_control"/>
</Properties>
</Controller>
</AssignControllerAction>
<OverrideControllerValueAction>
<Throttle value="0" active="false"/>
<Brake value="0" active="false"/>
<Clutch value="0" active="false"/>
<ParkingBrake value="0" active="false"/>
<SteeringWheel value="0" active="false"/>
<Gear number="0" active="false"/>
</OverrideControllerValueAction>
</ControllerAction>
</PrivateAction>
</Private>
<Private entityRef="adversary">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-9.4" y="-71.0" z="0.5" h="1.57079632679"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="standing">
<PrivateAction>
<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_13588">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-12.778434753417969" y="-77.17903900146484" z="0.03378177434206009"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_w_transform_13594">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="47.585899353027344" y="-44.94657516479492" z="0.5"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_w_transform_13595">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="73.66358947753906" y="79.36978149414062" z="0.5"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_w_transform_13596">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="64.79505157470703" y="-47.31040573120117" z="0.5"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_close_to_hero_13601">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-8.162494659423828" y="-165.87730407714844" z="0.001423797570168972"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_w_transform_13603">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="91.37767791748047" y="99.57042694091797" z="0.5"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_w_transform_13605">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-34.948333740234375" y="90.75939178466797" z="0.5"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_w_transform_13606">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="63.76279830932617" y="-99.15708923339844" z="0.5"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_close_to_adversary_13607">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-7.50844669342041" y="-80.92059326171875" z="0.033805541694164276"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_w_transform_13608">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="8.34121036529541" y="15.832448959350586" z="0.5"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_w_transform_13613">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="80.20801544189453" y="32.59410858154297" z="0.5"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_w_transform_13614">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-39.284305572509766" y="95.24943542480469" z="0.5"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_w_transform_13615">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-1.816294550895691" y="52.22801208496094" z="0.5"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_w_transform_13616">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-89.04357147216797" y="67.93812561035156" 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_13588">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_w_transform_13594">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_w_transform_13595">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_w_transform_13596">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_w_transform_13603">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_w_transform_13605">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_w_transform_13606">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_close_to_adversary_13607">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_w_transform_13608">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_w_transform_13613">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_w_transform_13614">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_w_transform_13615">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_w_transform_13616">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
</Entities>
<Storyboard>
<Init>
<Actions>
<GlobalAction>
<EnvironmentAction>
<Environment name="Environment1">
<TimeOfDay animation="false" dateTime="2019-06-25T12:00:00"/>
<Weather cloudState="free">
<Sun intensity="0.85" azimuth="0" elevation="1.31"/>
<Fog visualRange="100000.0"/>
<Precipitation precipitationType="dry" intensity="0.0"/>
</Weather>
<RoadCondition frictionScaleFactor="1.0"/>
</Environment>
</EnvironmentAction>
</GlobalAction>
<Private entityRef="hero">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-9.4" y="-152.8" z="0.5" h="1.57079632679"/>
</Position>
</TeleportAction>
</PrivateAction>
<PrivateAction>
<ControllerAction>
<AssignControllerAction>
<Controller name="HeroAgent">
<Properties>
<Property name="module" value="external_control"/>
</Properties>
</Controller>
</AssignControllerAction>
<OverrideControllerValueAction>
<Throttle value="0" active="false"/>
<Brake value="0" active="false"/>
<Clutch value="0" active="false"/>
<ParkingBrake value="0" active="false"/>
<SteeringWheel value="0" active="false"/>
<Gear number="0" active="false"/>
</OverrideControllerValueAction>
</ControllerAction>
</PrivateAction>
</Private>
<Private entityRef="adversary">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-9.4" y="-71.0" z="0.5" h="1.57079632679"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="standing">
<PrivateAction>
<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_13588">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-12.778434753417969" y="-77.17903900146484" z="0.03378177434206009"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_w_transform_13594">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="47.585899353027344" y="-44.94657516479492" z="0.5"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_w_transform_13595">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="73.66358947753906" y="79.36978149414062" z="0.5"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_w_transform_13596">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="64.79505157470703" y="-47.31040573120117" z="0.5"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_w_transform_13603">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="91.37767791748047" y="99.57042694091797" z="0.5"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_w_transform_13605">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-34.948333740234375" y="90.75939178466797" z="0.5"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_w_transform_13606">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="63.76279830932617" y="-99.15708923339844" z="0.5"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_close_to_adversary_13607">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-7.50844669342041" y="-80.92059326171875" z="0.033805541694164276"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_w_transform_13608">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="8.34121036529541" y="15.832448959350586" z="0.5"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_w_transform_13613">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="80.20801544189453" y="32.59410858154297" z="0.5"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_w_transform_13614">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-39.284305572509766" y="95.24943542480469" z="0.5"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_w_transform_13615">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-1.816294550895691" y="52.22801208496094" z="0.5"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_w_transform_13616">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-89.04357147216797" y="67.93812561035156" 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 actor named pedestrian_w_transform_6231?
```
<?xml version="1.0" ?>
<OpenSCENARIO>
<FileHeader revMajor="1" revMinor="0" date="2020-03-24T12:00:00" description="CARLA:LaneChangeSimple" author=""/>
<ParameterDeclarations/>
<CatalogLocations/>
<RoadNetwork>
<LogicFile filepath="Town04"/>
<SceneGraphFile filepath=""/>
</RoadNetwork>
<Entities>
<ScenarioObject name="hero">
<Vehicle name="vehicle.tesla.model3" vehicleCategory="car">
<ParameterDeclarations/>
<Performance maxSpeed="69.444" maxAcceleration="200" maxDeceleration="10.0"/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2.1" length="4.5" height="1.8"/>
</BoundingBox>
<Axles>
<FrontAxle maxSteering="0.5" wheelDiameter="0.6" trackWidth="1.8" positionX="3.1" positionZ="0.3"/>
<RearAxle maxSteering="0.0" wheelDiameter="0.6" trackWidth="1.8" positionX="0.0" positionZ="0.3"/>
</Axles>
<Properties>
<Property name="type" value="ego_vehicle"/>
</Properties>
</Vehicle>
</ScenarioObject>
<ScenarioObject name="adversary">
<Vehicle name="vehicle.lincoln.mkz_2017" vehicleCategory="car">
<ParameterDeclarations/>
<Performance maxSpeed="69.444" maxAcceleration="200" maxDeceleration="10.0"/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2.1" length="4.5" height="1.8"/>
</BoundingBox>
<Axles>
<FrontAxle maxSteering="0.5" wheelDiameter="0.6" trackWidth="1.8" positionX="3.1" positionZ="0.3"/>
<RearAxle maxSteering="0.0" wheelDiameter="0.6" trackWidth="1.8" positionX="0.0" positionZ="0.3"/>
</Axles>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Vehicle>
</ScenarioObject>
<ScenarioObject name="standing">
<Vehicle name="vehicle.volkswagen.t2" vehicleCategory="car">
<ParameterDeclarations/>
<Performance maxSpeed="69.444" maxAcceleration="200" maxDeceleration="10.0"/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2.1" length="4.5" height="1.8"/>
</BoundingBox>
<Axles>
<FrontAxle maxSteering="0.5" wheelDiameter="0.6" trackWidth="1.8" positionX="3.1" positionZ="0.3"/>
<RearAxle maxSteering="0.0" wheelDiameter="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_6226">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_close_to_hero_6227">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_close_to_standing_6228">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_close_to_hero_6229">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_close_to_adversary_6230">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_w_transform_6231">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_close_to_hero_6234">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_close_to_adversary_6235">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
</Entities>
<Storyboard>
<Init>
<Actions>
<GlobalAction>
<EnvironmentAction>
<Environment name="Environment1">
<TimeOfDay animation="false" dateTime="2019-06-25T12:00:00"/>
<Weather cloudState="free">
<Sun intensity="0.85" azimuth="0" elevation="1.31"/>
<Fog visualRange="100000.0"/>
<Precipitation precipitationType="dry" intensity="0.0"/>
</Weather>
<RoadCondition frictionScaleFactor="1.0"/>
</Environment>
</EnvironmentAction>
</GlobalAction>
<Private entityRef="hero">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-9.4" y="-152.8" z="0.5" h="1.57079632679"/>
</Position>
</TeleportAction>
</PrivateAction>
<PrivateAction>
<ControllerAction>
<AssignControllerAction>
<Controller name="HeroAgent">
<Properties>
<Property name="module" value="external_control"/>
</Properties>
</Controller>
</AssignControllerAction>
<OverrideControllerValueAction>
<Throttle value="0" active="false"/>
<Brake value="0" active="false"/>
<Clutch value="0" active="false"/>
<ParkingBrake value="0" active="false"/>
<SteeringWheel value="0" active="false"/>
<Gear number="0" active="false"/>
</OverrideControllerValueAction>
</ControllerAction>
</PrivateAction>
</Private>
<Private entityRef="adversary">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-9.4" y="-71.0" z="0.5" h="1.57079632679"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="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_6226">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="72.94136047363281" y="4.47519063949585" z="0.5"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_close_to_hero_6227">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-16.817989349365234" y="-147.0530242919922" z="0.0016471862327307463"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_close_to_standing_6228">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-1.515622854232788" y="37.67912673950195" z="0.0030144499614834785"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_close_to_hero_6229">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-9.886733055114746" y="-161.42962646484375" z="0.0016471862327307463"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_close_to_adversary_6230">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-2.6369659900665283" y="-72.1886978149414" z="0.03377021849155426"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_w_transform_6231">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="74.96043395996094" y="11.340115547180176" z="0.5"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_close_to_hero_6234">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-14.527569770812988" y="-142.5642852783203" z="0.0016471862327307463"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_close_to_adversary_6235">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-6.256903171539307" y="-80.62709045410156" z="0.03377826511859894"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
</Actions>
</Init>
<Story name="MyStory">
<Act name="Behavior">
<ManeuverGroup maximumExecutionCount="1" name="ManeuverSequence">
<Actors selectTriggeringEntities="false">
<EntityRef entityRef="adversary"/>
</Actors>
<Maneuver name="LaneChangeSimpleManeuver">
<Event name="AdversaryAccelerates" priority="overwrite">
<Action name="AdversaryAccelerates">
<PrivateAction>
<LongitudinalAction>
<SpeedAction>
<SpeedActionDynamics dynamicsShape="step" value="50" dynamicsDimension="distance"/>
<SpeedActionTarget>
<AbsoluteTargetSpeed value="5.0"/>
</SpeedActionTarget>
</SpeedAction>
</LongitudinalAction>
</PrivateAction>
</Action>
<StartTrigger>
<ConditionGroup>
<Condition name="StartCondition" delay="0" conditionEdge="rising">
<ByEntityCondition>
<TriggeringEntities triggeringEntitiesRule="any">
<EntityRef entityRef="hero"/>
</TriggeringEntities>
<EntityCondition>
<RelativeDistanceCondition entityRef="adversary" relativeDistanceType="cartesianDistance" value="40.0" freespace="false" rule="lessThan"/>
</EntityCondition>
</ByEntityCondition>
</Condition>
</ConditionGroup>
</StartTrigger>
</Event>
<Event name="AdversaryChangesLane" priority="overwrite">
<Action name="AdversaryChangesLane">
<PrivateAction>
<LateralAction>
<LaneChangeAction>
<LaneChangeActionDynamics dynamicsShape="linear" value="25" dynamicsDimension="distance"/>
<LaneChangeTarget>
<RelativeTargetLane entityRef="adversary" value="-1"/>
</LaneChangeTarget>
</LaneChangeAction>
</LateralAction>
</PrivateAction>
</Action>
<StartTrigger>
<ConditionGroup>
<Condition name="AfterAdversaryAccelerates" delay="0" conditionEdge="rising">
<ByValueCondition>
<StoryboardElementStateCondition storyboardElementType="action" storyboardElementRef="AdversaryAccelerates" state="completeState"/>
</ByValueCondition>
</Condition>
</ConditionGroup>
</StartTrigger>
</Event>
</Maneuver>
</ManeuverGroup>
<StartTrigger>
<ConditionGroup>
<Condition name="OverallStartCondition" delay="0" conditionEdge="rising">
<ByEntityCondition>
<TriggeringEntities triggeringEntitiesRule="any">
<EntityRef entityRef="hero"/>
</TriggeringEntities>
<EntityCondition>
<TraveledDistanceCondition value="1.0"/>
</EntityCondition>
</ByEntityCondition>
</Condition>
<Condition name="StartTime" delay="0" conditionEdge="rising">
<ByValueCondition>
<SimulationTimeCondition value="0" rule="equalTo"/>
</ByValueCondition>
</Condition>
</ConditionGroup>
</StartTrigger>
<StopTrigger>
<ConditionGroup>
<Condition name="EndCondition" delay="0" conditionEdge="rising">
<ByEntityCondition>
<TriggeringEntities triggeringEntitiesRule="any">
<EntityRef entityRef="hero"/>
</TriggeringEntities>
<EntityCondition>
<TraveledDistanceCondition value="200.0"/>
</EntityCondition>
</ByEntityCondition>
</Condition>
</ConditionGroup>
</StopTrigger>
</Act>
</Story>
<StopTrigger>
<ConditionGroup>
<Condition name="criteria_RunningStopTest" delay="0" conditionEdge="rising">
<ByValueCondition>
<ParameterCondition parameterRef="" value="" rule="lessThan"/>
</ByValueCondition>
</Condition>
<Condition name="criteria_RunningRedLightTest" delay="0" conditionEdge="rising">
<ByValueCondition>
<ParameterCondition parameterRef="" value="" rule="lessThan"/>
</ByValueCondition>
</Condition>
<Condition name="criteria_WrongLaneTest" delay="0" conditionEdge="rising">
<ByValueCondition>
<ParameterCondition parameterRef="" value="" rule="lessThan"/>
</ByValueCondition>
</Condition>
<Condition name="criteria_OnSidewalkTest" delay="0" conditionEdge="rising">
<ByValueCondition>
<ParameterCondition parameterRef="" value="" rule="lessThan"/>
</ByValueCondition>
</Condition>
<Condition name="criteria_KeepLaneTest" delay="0" conditionEdge="rising">
<ByValueCondition>
<ParameterCondition parameterRef="" value="" rule="lessThan"/>
</ByValueCondition>
</Condition>
<Condition name="criteria_CollisionTest" delay="0" conditionEdge="rising">
<ByValueCondition>
<ParameterCondition parameterRef="" value="" rule="lessThan"/>
</ByValueCondition>
</Condition>
<Condition name="criteria_DrivenDistanceTest" delay="0" conditionEdge="rising">
<ByValueCondition>
<ParameterCondition parameterRef="distance_success" value="100" rule="lessThan"/>
</ByValueCondition>
</Condition>
</ConditionGroup>
</StopTrigger>
</Storyboard>
</OpenSCENARIO>
``` | Here is the result:
```
<?xml version="1.0" ?>
<OpenSCENARIO>
<FileHeader revMajor="1" revMinor="0" date="2020-03-24T12:00:00" description="CARLA:LaneChangeSimple" author=""/>
<ParameterDeclarations/>
<CatalogLocations/>
<RoadNetwork>
<LogicFile filepath="Town04"/>
<SceneGraphFile filepath=""/>
</RoadNetwork>
<Entities>
<ScenarioObject name="hero">
<Vehicle name="vehicle.tesla.model3" vehicleCategory="car">
<ParameterDeclarations/>
<Performance maxSpeed="69.444" maxAcceleration="200" maxDeceleration="10.0"/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2.1" length="4.5" height="1.8"/>
</BoundingBox>
<Axles>
<FrontAxle maxSteering="0.5" wheelDiameter="0.6" trackWidth="1.8" positionX="3.1" positionZ="0.3"/>
<RearAxle maxSteering="0.0" wheelDiameter="0.6" trackWidth="1.8" positionX="0.0" positionZ="0.3"/>
</Axles>
<Properties>
<Property name="type" value="ego_vehicle"/>
</Properties>
</Vehicle>
</ScenarioObject>
<ScenarioObject name="adversary">
<Vehicle name="vehicle.lincoln.mkz_2017" vehicleCategory="car">
<ParameterDeclarations/>
<Performance maxSpeed="69.444" maxAcceleration="200" maxDeceleration="10.0"/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2.1" length="4.5" height="1.8"/>
</BoundingBox>
<Axles>
<FrontAxle maxSteering="0.5" wheelDiameter="0.6" trackWidth="1.8" positionX="3.1" positionZ="0.3"/>
<RearAxle maxSteering="0.0" wheelDiameter="0.6" trackWidth="1.8" positionX="0.0" positionZ="0.3"/>
</Axles>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Vehicle>
</ScenarioObject>
<ScenarioObject name="standing">
<Vehicle name="vehicle.volkswagen.t2" vehicleCategory="car">
<ParameterDeclarations/>
<Performance maxSpeed="69.444" maxAcceleration="200" maxDeceleration="10.0"/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2.1" length="4.5" height="1.8"/>
</BoundingBox>
<Axles>
<FrontAxle maxSteering="0.5" wheelDiameter="0.6" trackWidth="1.8" positionX="3.1" positionZ="0.3"/>
<RearAxle maxSteering="0.0" wheelDiameter="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_6226">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_close_to_hero_6227">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_close_to_standing_6228">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_close_to_hero_6229">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_close_to_adversary_6230">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_close_to_hero_6234">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_close_to_adversary_6235">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
</Entities>
<Storyboard>
<Init>
<Actions>
<GlobalAction>
<EnvironmentAction>
<Environment name="Environment1">
<TimeOfDay animation="false" dateTime="2019-06-25T12:00:00"/>
<Weather cloudState="free">
<Sun intensity="0.85" azimuth="0" elevation="1.31"/>
<Fog visualRange="100000.0"/>
<Precipitation precipitationType="dry" intensity="0.0"/>
</Weather>
<RoadCondition frictionScaleFactor="1.0"/>
</Environment>
</EnvironmentAction>
</GlobalAction>
<Private entityRef="hero">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-9.4" y="-152.8" z="0.5" h="1.57079632679"/>
</Position>
</TeleportAction>
</PrivateAction>
<PrivateAction>
<ControllerAction>
<AssignControllerAction>
<Controller name="HeroAgent">
<Properties>
<Property name="module" value="external_control"/>
</Properties>
</Controller>
</AssignControllerAction>
<OverrideControllerValueAction>
<Throttle value="0" active="false"/>
<Brake value="0" active="false"/>
<Clutch value="0" active="false"/>
<ParkingBrake value="0" active="false"/>
<SteeringWheel value="0" active="false"/>
<Gear number="0" active="false"/>
</OverrideControllerValueAction>
</ControllerAction>
</PrivateAction>
</Private>
<Private entityRef="adversary">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-9.4" y="-71.0" z="0.5" h="1.57079632679"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="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_6226">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="72.94136047363281" y="4.47519063949585" z="0.5"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_close_to_hero_6227">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-16.817989349365234" y="-147.0530242919922" z="0.0016471862327307463"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_close_to_standing_6228">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-1.515622854232788" y="37.67912673950195" z="0.0030144499614834785"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_close_to_hero_6229">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-9.886733055114746" y="-161.42962646484375" z="0.0016471862327307463"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_close_to_adversary_6230">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-2.6369659900665283" y="-72.1886978149414" z="0.03377021849155426"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_close_to_hero_6234">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-14.527569770812988" y="-142.5642852783203" z="0.0016471862327307463"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_close_to_adversary_6235">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-6.256903171539307" y="-80.62709045410156" z="0.03377826511859894"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
</Actions>
</Init>
<Story name="MyStory">
<Act name="Behavior">
<ManeuverGroup maximumExecutionCount="1" name="ManeuverSequence">
<Actors selectTriggeringEntities="false">
<EntityRef entityRef="adversary"/>
</Actors>
<Maneuver name="LaneChangeSimpleManeuver">
<Event name="AdversaryAccelerates" priority="overwrite">
<Action name="AdversaryAccelerates">
<PrivateAction>
<LongitudinalAction>
<SpeedAction>
<SpeedActionDynamics dynamicsShape="step" value="50" dynamicsDimension="distance"/>
<SpeedActionTarget>
<AbsoluteTargetSpeed value="5.0"/>
</SpeedActionTarget>
</SpeedAction>
</LongitudinalAction>
</PrivateAction>
</Action>
<StartTrigger>
<ConditionGroup>
<Condition name="StartCondition" delay="0" conditionEdge="rising">
<ByEntityCondition>
<TriggeringEntities triggeringEntitiesRule="any">
<EntityRef entityRef="hero"/>
</TriggeringEntities>
<EntityCondition>
<RelativeDistanceCondition entityRef="adversary" relativeDistanceType="cartesianDistance" value="40.0" freespace="false" rule="lessThan"/>
</EntityCondition>
</ByEntityCondition>
</Condition>
</ConditionGroup>
</StartTrigger>
</Event>
<Event name="AdversaryChangesLane" priority="overwrite">
<Action name="AdversaryChangesLane">
<PrivateAction>
<LateralAction>
<LaneChangeAction>
<LaneChangeActionDynamics dynamicsShape="linear" value="25" dynamicsDimension="distance"/>
<LaneChangeTarget>
<RelativeTargetLane entityRef="adversary" value="-1"/>
</LaneChangeTarget>
</LaneChangeAction>
</LateralAction>
</PrivateAction>
</Action>
<StartTrigger>
<ConditionGroup>
<Condition name="AfterAdversaryAccelerates" delay="0" conditionEdge="rising">
<ByValueCondition>
<StoryboardElementStateCondition storyboardElementType="action" storyboardElementRef="AdversaryAccelerates" state="completeState"/>
</ByValueCondition>
</Condition>
</ConditionGroup>
</StartTrigger>
</Event>
</Maneuver>
</ManeuverGroup>
<StartTrigger>
<ConditionGroup>
<Condition name="OverallStartCondition" delay="0" conditionEdge="rising">
<ByEntityCondition>
<TriggeringEntities triggeringEntitiesRule="any">
<EntityRef entityRef="hero"/>
</TriggeringEntities>
<EntityCondition>
<TraveledDistanceCondition value="1.0"/>
</EntityCondition>
</ByEntityCondition>
</Condition>
<Condition name="StartTime" delay="0" conditionEdge="rising">
<ByValueCondition>
<SimulationTimeCondition value="0" rule="equalTo"/>
</ByValueCondition>
</Condition>
</ConditionGroup>
</StartTrigger>
<StopTrigger>
<ConditionGroup>
<Condition name="EndCondition" delay="0" conditionEdge="rising">
<ByEntityCondition>
<TriggeringEntities triggeringEntitiesRule="any">
<EntityRef entityRef="hero"/>
</TriggeringEntities>
<EntityCondition>
<TraveledDistanceCondition value="200.0"/>
</EntityCondition>
</ByEntityCondition>
</Condition>
</ConditionGroup>
</StopTrigger>
</Act>
</Story>
<StopTrigger>
<ConditionGroup>
<Condition name="criteria_RunningStopTest" delay="0" conditionEdge="rising">
<ByValueCondition>
<ParameterCondition parameterRef="" value="" rule="lessThan"/>
</ByValueCondition>
</Condition>
<Condition name="criteria_RunningRedLightTest" delay="0" conditionEdge="rising">
<ByValueCondition>
<ParameterCondition parameterRef="" value="" rule="lessThan"/>
</ByValueCondition>
</Condition>
<Condition name="criteria_WrongLaneTest" delay="0" conditionEdge="rising">
<ByValueCondition>
<ParameterCondition parameterRef="" value="" rule="lessThan"/>
</ByValueCondition>
</Condition>
<Condition name="criteria_OnSidewalkTest" delay="0" conditionEdge="rising">
<ByValueCondition>
<ParameterCondition parameterRef="" value="" rule="lessThan"/>
</ByValueCondition>
</Condition>
<Condition name="criteria_KeepLaneTest" delay="0" conditionEdge="rising">
<ByValueCondition>
<ParameterCondition parameterRef="" value="" rule="lessThan"/>
</ByValueCondition>
</Condition>
<Condition name="criteria_CollisionTest" delay="0" conditionEdge="rising">
<ByValueCondition>
<ParameterCondition parameterRef="" value="" rule="lessThan"/>
</ByValueCondition>
</Condition>
<Condition name="criteria_DrivenDistanceTest" delay="0" conditionEdge="rising">
<ByValueCondition>
<ParameterCondition parameterRef="distance_success" value="100" rule="lessThan"/>
</ByValueCondition>
</Condition>
</ConditionGroup>
</StopTrigger>
</Storyboard>
</OpenSCENARIO>
``` |
i would like to instruct you to add pedestrian close to hero?
```
<?xml version="1.0" ?>
<OpenSCENARIO>
<FileHeader revMajor="1" revMinor="0" date="2020-03-24T12:00:00" description="CARLA:LaneChangeSimple" author=""/>
<ParameterDeclarations/>
<CatalogLocations/>
<RoadNetwork>
<LogicFile filepath="Town04"/>
<SceneGraphFile filepath=""/>
</RoadNetwork>
<Entities>
<ScenarioObject name="hero">
<Vehicle name="vehicle.tesla.model3" vehicleCategory="car">
<ParameterDeclarations/>
<Performance maxSpeed="69.444" maxAcceleration="200" maxDeceleration="10.0"/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2.1" length="4.5" height="1.8"/>
</BoundingBox>
<Axles>
<FrontAxle maxSteering="0.5" wheelDiameter="0.6" trackWidth="1.8" positionX="3.1" positionZ="0.3"/>
<RearAxle maxSteering="0.0" wheelDiameter="0.6" trackWidth="1.8" positionX="0.0" positionZ="0.3"/>
</Axles>
<Properties>
<Property name="type" value="ego_vehicle"/>
</Properties>
</Vehicle>
</ScenarioObject>
<ScenarioObject name="adversary">
<Vehicle name="vehicle.lincoln.mkz_2017" vehicleCategory="car">
<ParameterDeclarations/>
<Performance maxSpeed="69.444" maxAcceleration="200" maxDeceleration="10.0"/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2.1" length="4.5" height="1.8"/>
</BoundingBox>
<Axles>
<FrontAxle maxSteering="0.5" wheelDiameter="0.6" trackWidth="1.8" positionX="3.1" positionZ="0.3"/>
<RearAxle maxSteering="0.0" wheelDiameter="0.6" trackWidth="1.8" positionX="0.0" positionZ="0.3"/>
</Axles>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Vehicle>
</ScenarioObject>
<ScenarioObject name="standing">
<Vehicle name="vehicle.volkswagen.t2" vehicleCategory="car">
<ParameterDeclarations/>
<Performance maxSpeed="69.444" maxAcceleration="200" maxDeceleration="10.0"/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2.1" length="4.5" height="1.8"/>
</BoundingBox>
<Axles>
<FrontAxle maxSteering="0.5" wheelDiameter="0.6" trackWidth="1.8" positionX="3.1" positionZ="0.3"/>
<RearAxle maxSteering="0.0" wheelDiameter="0.6" trackWidth="1.8" positionX="0.0" positionZ="0.3"/>
</Axles>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Vehicle>
</ScenarioObject>
<ScenarioObject name="pedestrian_close_to_hero_2109">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_w_transform_2110">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_w_transform_2111">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_close_to_standing_2112">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_w_transform_2113">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_w_transform_2114">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_w_transform_2115">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_w_transform_2116">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_close_to_standing_2117">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
</Entities>
<Storyboard>
<Init>
<Actions>
<GlobalAction>
<EnvironmentAction>
<Environment name="Environment1">
<TimeOfDay animation="false" dateTime="2019-06-25T12:00:00"/>
<Weather cloudState="free">
<Sun intensity="0.85" azimuth="0" elevation="1.31"/>
<Fog visualRange="100000.0"/>
<Precipitation precipitationType="dry" intensity="0.0"/>
</Weather>
<RoadCondition frictionScaleFactor="1.0"/>
</Environment>
</EnvironmentAction>
</GlobalAction>
<Private entityRef="hero">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-9.4" y="-152.8" z="0.5" h="1.57079632679"/>
</Position>
</TeleportAction>
</PrivateAction>
<PrivateAction>
<ControllerAction>
<AssignControllerAction>
<Controller name="HeroAgent">
<Properties>
<Property name="module" value="external_control"/>
</Properties>
</Controller>
</AssignControllerAction>
<OverrideControllerValueAction>
<Throttle value="0" active="false"/>
<Brake value="0" active="false"/>
<Clutch value="0" active="false"/>
<ParkingBrake value="0" active="false"/>
<SteeringWheel value="0" active="false"/>
<Gear number="0" active="false"/>
</OverrideControllerValueAction>
</ControllerAction>
</PrivateAction>
</Private>
<Private entityRef="adversary">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-9.4" y="-71.0" z="0.5" h="1.57079632679"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="standing">
<PrivateAction>
<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_2109">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-7.873204231262207" y="-157.34429931640625" z="0.0015143966302275658"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_w_transform_2110">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="46.733734130859375" y="34.8851318359375" z="0.5"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_w_transform_2111">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-63.53970718383789" y="91.68342590332031" z="0.5"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_close_to_standing_2112">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-14.32824993133545" y="31.46623992919922" z="0.0031099319458007812"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_w_transform_2113">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="21.020076751708984" y="-51.505096435546875" z="0.5"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_w_transform_2114">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-43.5595817565918" y="-14.641962051391602" z="0.5"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_w_transform_2115">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="95.16596221923828" y="95.89958953857422" z="0.5"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_w_transform_2116">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-67.28633117675781" y="-36.75814437866211" z="0.5"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_close_to_standing_2117">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="3.960070848464966" y="27.950204849243164" z="0.0031249618623405695"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
</Actions>
</Init>
<Story name="MyStory">
<Act name="Behavior">
<ManeuverGroup maximumExecutionCount="1" name="ManeuverSequence">
<Actors selectTriggeringEntities="false">
<EntityRef entityRef="adversary"/>
</Actors>
<Maneuver name="LaneChangeSimpleManeuver">
<Event name="AdversaryAccelerates" priority="overwrite">
<Action name="AdversaryAccelerates">
<PrivateAction>
<LongitudinalAction>
<SpeedAction>
<SpeedActionDynamics dynamicsShape="step" value="50" dynamicsDimension="distance"/>
<SpeedActionTarget>
<AbsoluteTargetSpeed value="5.0"/>
</SpeedActionTarget>
</SpeedAction>
</LongitudinalAction>
</PrivateAction>
</Action>
<StartTrigger>
<ConditionGroup>
<Condition name="StartCondition" delay="0" conditionEdge="rising">
<ByEntityCondition>
<TriggeringEntities triggeringEntitiesRule="any">
<EntityRef entityRef="hero"/>
</TriggeringEntities>
<EntityCondition>
<RelativeDistanceCondition entityRef="adversary" relativeDistanceType="cartesianDistance" value="40.0" freespace="false" rule="lessThan"/>
</EntityCondition>
</ByEntityCondition>
</Condition>
</ConditionGroup>
</StartTrigger>
</Event>
<Event name="AdversaryChangesLane" priority="overwrite">
<Action name="AdversaryChangesLane">
<PrivateAction>
<LateralAction>
<LaneChangeAction>
<LaneChangeActionDynamics dynamicsShape="linear" value="25" dynamicsDimension="distance"/>
<LaneChangeTarget>
<RelativeTargetLane entityRef="adversary" value="-1"/>
</LaneChangeTarget>
</LaneChangeAction>
</LateralAction>
</PrivateAction>
</Action>
<StartTrigger>
<ConditionGroup>
<Condition name="AfterAdversaryAccelerates" delay="0" conditionEdge="rising">
<ByValueCondition>
<StoryboardElementStateCondition storyboardElementType="action" storyboardElementRef="AdversaryAccelerates" state="completeState"/>
</ByValueCondition>
</Condition>
</ConditionGroup>
</StartTrigger>
</Event>
</Maneuver>
</ManeuverGroup>
<StartTrigger>
<ConditionGroup>
<Condition name="OverallStartCondition" delay="0" conditionEdge="rising">
<ByEntityCondition>
<TriggeringEntities triggeringEntitiesRule="any">
<EntityRef entityRef="hero"/>
</TriggeringEntities>
<EntityCondition>
<TraveledDistanceCondition value="1.0"/>
</EntityCondition>
</ByEntityCondition>
</Condition>
<Condition name="StartTime" delay="0" conditionEdge="rising">
<ByValueCondition>
<SimulationTimeCondition value="0" rule="equalTo"/>
</ByValueCondition>
</Condition>
</ConditionGroup>
</StartTrigger>
<StopTrigger>
<ConditionGroup>
<Condition name="EndCondition" delay="0" conditionEdge="rising">
<ByEntityCondition>
<TriggeringEntities triggeringEntitiesRule="any">
<EntityRef entityRef="hero"/>
</TriggeringEntities>
<EntityCondition>
<TraveledDistanceCondition value="200.0"/>
</EntityCondition>
</ByEntityCondition>
</Condition>
</ConditionGroup>
</StopTrigger>
</Act>
</Story>
<StopTrigger>
<ConditionGroup>
<Condition name="criteria_RunningStopTest" delay="0" conditionEdge="rising">
<ByValueCondition>
<ParameterCondition parameterRef="" value="" rule="lessThan"/>
</ByValueCondition>
</Condition>
<Condition name="criteria_RunningRedLightTest" delay="0" conditionEdge="rising">
<ByValueCondition>
<ParameterCondition parameterRef="" value="" rule="lessThan"/>
</ByValueCondition>
</Condition>
<Condition name="criteria_WrongLaneTest" delay="0" conditionEdge="rising">
<ByValueCondition>
<ParameterCondition parameterRef="" value="" rule="lessThan"/>
</ByValueCondition>
</Condition>
<Condition name="criteria_OnSidewalkTest" delay="0" conditionEdge="rising">
<ByValueCondition>
<ParameterCondition parameterRef="" value="" rule="lessThan"/>
</ByValueCondition>
</Condition>
<Condition name="criteria_KeepLaneTest" delay="0" conditionEdge="rising">
<ByValueCondition>
<ParameterCondition parameterRef="" value="" rule="lessThan"/>
</ByValueCondition>
</Condition>
<Condition name="criteria_CollisionTest" delay="0" conditionEdge="rising">
<ByValueCondition>
<ParameterCondition parameterRef="" value="" rule="lessThan"/>
</ByValueCondition>
</Condition>
<Condition name="criteria_DrivenDistanceTest" delay="0" conditionEdge="rising">
<ByValueCondition>
<ParameterCondition parameterRef="distance_success" value="100" rule="lessThan"/>
</ByValueCondition>
</Condition>
</ConditionGroup>
</StopTrigger>
</Storyboard>
</OpenSCENARIO>
``` | Here is the result:
```
<?xml version="1.0" ?>
<OpenSCENARIO>
<FileHeader revMajor="1" revMinor="0" date="2020-03-24T12:00:00" description="CARLA:LaneChangeSimple" author=""/>
<ParameterDeclarations/>
<CatalogLocations/>
<RoadNetwork>
<LogicFile filepath="Town04"/>
<SceneGraphFile filepath=""/>
</RoadNetwork>
<Entities>
<ScenarioObject name="hero">
<Vehicle name="vehicle.tesla.model3" vehicleCategory="car">
<ParameterDeclarations/>
<Performance maxSpeed="69.444" maxAcceleration="200" maxDeceleration="10.0"/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2.1" length="4.5" height="1.8"/>
</BoundingBox>
<Axles>
<FrontAxle maxSteering="0.5" wheelDiameter="0.6" trackWidth="1.8" positionX="3.1" positionZ="0.3"/>
<RearAxle maxSteering="0.0" wheelDiameter="0.6" trackWidth="1.8" positionX="0.0" positionZ="0.3"/>
</Axles>
<Properties>
<Property name="type" value="ego_vehicle"/>
</Properties>
</Vehicle>
</ScenarioObject>
<ScenarioObject name="adversary">
<Vehicle name="vehicle.lincoln.mkz_2017" vehicleCategory="car">
<ParameterDeclarations/>
<Performance maxSpeed="69.444" maxAcceleration="200" maxDeceleration="10.0"/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2.1" length="4.5" height="1.8"/>
</BoundingBox>
<Axles>
<FrontAxle maxSteering="0.5" wheelDiameter="0.6" trackWidth="1.8" positionX="3.1" positionZ="0.3"/>
<RearAxle maxSteering="0.0" wheelDiameter="0.6" trackWidth="1.8" positionX="0.0" positionZ="0.3"/>
</Axles>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Vehicle>
</ScenarioObject>
<ScenarioObject name="standing">
<Vehicle name="vehicle.volkswagen.t2" vehicleCategory="car">
<ParameterDeclarations/>
<Performance maxSpeed="69.444" maxAcceleration="200" maxDeceleration="10.0"/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2.1" length="4.5" height="1.8"/>
</BoundingBox>
<Axles>
<FrontAxle maxSteering="0.5" wheelDiameter="0.6" trackWidth="1.8" positionX="3.1" positionZ="0.3"/>
<RearAxle maxSteering="0.0" wheelDiameter="0.6" 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_2109">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_w_transform_2110">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_w_transform_2111">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_close_to_standing_2112">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_w_transform_2113">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_w_transform_2114">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_w_transform_2115">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_w_transform_2116">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_close_to_standing_2117">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_close_to_hero_2118">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
</Entities>
<Storyboard>
<Init>
<Actions>
<GlobalAction>
<EnvironmentAction>
<Environment name="Environment1">
<TimeOfDay animation="false" dateTime="2019-06-25T12:00:00"/>
<Weather cloudState="free">
<Sun intensity="0.85" azimuth="0" elevation="1.31"/>
<Fog visualRange="100000.0"/>
<Precipitation precipitationType="dry" intensity="0.0"/>
</Weather>
<RoadCondition frictionScaleFactor="1.0"/>
</Environment>
</EnvironmentAction>
</GlobalAction>
<Private entityRef="hero">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-9.4" y="-152.8" z="0.5" h="1.57079632679"/>
</Position>
</TeleportAction>
</PrivateAction>
<PrivateAction>
<ControllerAction>
<AssignControllerAction>
<Controller name="HeroAgent">
<Properties>
<Property name="module" value="external_control"/>
</Properties>
</Controller>
</AssignControllerAction>
<OverrideControllerValueAction>
<Throttle value="0" active="false"/>
<Brake value="0" active="false"/>
<Clutch value="0" active="false"/>
<ParkingBrake value="0" active="false"/>
<SteeringWheel value="0" active="false"/>
<Gear number="0" active="false"/>
</OverrideControllerValueAction>
</ControllerAction>
</PrivateAction>
</Private>
<Private entityRef="adversary">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-9.4" y="-71.0" z="0.5" h="1.57079632679"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="standing">
<PrivateAction>
<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_2109">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-7.873204231262207" y="-157.34429931640625" z="0.0015143966302275658"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_w_transform_2110">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="46.733734130859375" y="34.8851318359375" z="0.5"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_w_transform_2111">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-63.53970718383789" y="91.68342590332031" z="0.5"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_close_to_standing_2112">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-14.32824993133545" y="31.46623992919922" z="0.0031099319458007812"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_w_transform_2113">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="21.020076751708984" y="-51.505096435546875" z="0.5"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_w_transform_2114">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-43.5595817565918" y="-14.641962051391602" z="0.5"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_w_transform_2115">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="95.16596221923828" y="95.89958953857422" z="0.5"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_w_transform_2116">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-67.28633117675781" y="-36.75814437866211" z="0.5"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_close_to_standing_2117">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="3.960070848464966" y="27.950204849243164" z="0.0031249618623405695"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_close_to_hero_2118">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="4.4436845779418945" y="-150.4609375" z="0.0015143966302275658"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
</Actions>
</Init>
<Story name="MyStory">
<Act name="Behavior">
<ManeuverGroup maximumExecutionCount="1" name="ManeuverSequence">
<Actors selectTriggeringEntities="false">
<EntityRef entityRef="adversary"/>
</Actors>
<Maneuver name="LaneChangeSimpleManeuver">
<Event name="AdversaryAccelerates" priority="overwrite">
<Action name="AdversaryAccelerates">
<PrivateAction>
<LongitudinalAction>
<SpeedAction>
<SpeedActionDynamics dynamicsShape="step" value="50" dynamicsDimension="distance"/>
<SpeedActionTarget>
<AbsoluteTargetSpeed value="5.0"/>
</SpeedActionTarget>
</SpeedAction>
</LongitudinalAction>
</PrivateAction>
</Action>
<StartTrigger>
<ConditionGroup>
<Condition name="StartCondition" delay="0" conditionEdge="rising">
<ByEntityCondition>
<TriggeringEntities triggeringEntitiesRule="any">
<EntityRef entityRef="hero"/>
</TriggeringEntities>
<EntityCondition>
<RelativeDistanceCondition entityRef="adversary" relativeDistanceType="cartesianDistance" value="40.0" freespace="false" rule="lessThan"/>
</EntityCondition>
</ByEntityCondition>
</Condition>
</ConditionGroup>
</StartTrigger>
</Event>
<Event name="AdversaryChangesLane" priority="overwrite">
<Action name="AdversaryChangesLane">
<PrivateAction>
<LateralAction>
<LaneChangeAction>
<LaneChangeActionDynamics dynamicsShape="linear" value="25" dynamicsDimension="distance"/>
<LaneChangeTarget>
<RelativeTargetLane entityRef="adversary" value="-1"/>
</LaneChangeTarget>
</LaneChangeAction>
</LateralAction>
</PrivateAction>
</Action>
<StartTrigger>
<ConditionGroup>
<Condition name="AfterAdversaryAccelerates" delay="0" conditionEdge="rising">
<ByValueCondition>
<StoryboardElementStateCondition storyboardElementType="action" storyboardElementRef="AdversaryAccelerates" state="completeState"/>
</ByValueCondition>
</Condition>
</ConditionGroup>
</StartTrigger>
</Event>
</Maneuver>
</ManeuverGroup>
<StartTrigger>
<ConditionGroup>
<Condition name="OverallStartCondition" delay="0" conditionEdge="rising">
<ByEntityCondition>
<TriggeringEntities triggeringEntitiesRule="any">
<EntityRef entityRef="hero"/>
</TriggeringEntities>
<EntityCondition>
<TraveledDistanceCondition value="1.0"/>
</EntityCondition>
</ByEntityCondition>
</Condition>
<Condition name="StartTime" delay="0" conditionEdge="rising">
<ByValueCondition>
<SimulationTimeCondition value="0" rule="equalTo"/>
</ByValueCondition>
</Condition>
</ConditionGroup>
</StartTrigger>
<StopTrigger>
<ConditionGroup>
<Condition name="EndCondition" delay="0" conditionEdge="rising">
<ByEntityCondition>
<TriggeringEntities triggeringEntitiesRule="any">
<EntityRef entityRef="hero"/>
</TriggeringEntities>
<EntityCondition>
<TraveledDistanceCondition value="200.0"/>
</EntityCondition>
</ByEntityCondition>
</Condition>
</ConditionGroup>
</StopTrigger>
</Act>
</Story>
<StopTrigger>
<ConditionGroup>
<Condition name="criteria_RunningStopTest" delay="0" conditionEdge="rising">
<ByValueCondition>
<ParameterCondition parameterRef="" value="" rule="lessThan"/>
</ByValueCondition>
</Condition>
<Condition name="criteria_RunningRedLightTest" delay="0" conditionEdge="rising">
<ByValueCondition>
<ParameterCondition parameterRef="" value="" rule="lessThan"/>
</ByValueCondition>
</Condition>
<Condition name="criteria_WrongLaneTest" delay="0" conditionEdge="rising">
<ByValueCondition>
<ParameterCondition parameterRef="" value="" rule="lessThan"/>
</ByValueCondition>
</Condition>
<Condition name="criteria_OnSidewalkTest" delay="0" conditionEdge="rising">
<ByValueCondition>
<ParameterCondition parameterRef="" value="" rule="lessThan"/>
</ByValueCondition>
</Condition>
<Condition name="criteria_KeepLaneTest" delay="0" conditionEdge="rising">
<ByValueCondition>
<ParameterCondition parameterRef="" value="" rule="lessThan"/>
</ByValueCondition>
</Condition>
<Condition name="criteria_CollisionTest" delay="0" conditionEdge="rising">
<ByValueCondition>
<ParameterCondition parameterRef="" value="" rule="lessThan"/>
</ByValueCondition>
</Condition>
<Condition name="criteria_DrivenDistanceTest" delay="0" conditionEdge="rising">
<ByValueCondition>
<ParameterCondition parameterRef="distance_success" value="100" rule="lessThan"/>
</ByValueCondition>
</Condition>
</ConditionGroup>
</StopTrigger>
</Storyboard>
</OpenSCENARIO>
``` |
i would like to tell you to remove pedestrian actor named pedestrian_w_transform_18870?
```
<?xml version="1.0" ?>
<OpenSCENARIO>
<FileHeader revMajor="1" revMinor="0" date="2020-03-24T12:00:00" description="CARLA:LaneChangeSimple" author=""/>
<ParameterDeclarations/>
<CatalogLocations/>
<RoadNetwork>
<LogicFile filepath="Town04"/>
<SceneGraphFile filepath=""/>
</RoadNetwork>
<Entities>
<ScenarioObject name="hero">
<Vehicle name="vehicle.tesla.model3" vehicleCategory="car">
<ParameterDeclarations/>
<Performance maxSpeed="69.444" maxAcceleration="200" maxDeceleration="10.0"/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2.1" length="4.5" height="1.8"/>
</BoundingBox>
<Axles>
<FrontAxle maxSteering="0.5" wheelDiameter="0.6" trackWidth="1.8" positionX="3.1" positionZ="0.3"/>
<RearAxle maxSteering="0.0" wheelDiameter="0.6" trackWidth="1.8" positionX="0.0" positionZ="0.3"/>
</Axles>
<Properties>
<Property name="type" value="ego_vehicle"/>
</Properties>
</Vehicle>
</ScenarioObject>
<ScenarioObject name="adversary">
<Vehicle name="vehicle.lincoln.mkz_2017" vehicleCategory="car">
<ParameterDeclarations/>
<Performance maxSpeed="69.444" maxAcceleration="200" maxDeceleration="10.0"/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2.1" length="4.5" height="1.8"/>
</BoundingBox>
<Axles>
<FrontAxle maxSteering="0.5" wheelDiameter="0.6" trackWidth="1.8" positionX="3.1" positionZ="0.3"/>
<RearAxle maxSteering="0.0" wheelDiameter="0.6" trackWidth="1.8" positionX="0.0" positionZ="0.3"/>
</Axles>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Vehicle>
</ScenarioObject>
<ScenarioObject name="standing">
<Vehicle name="vehicle.volkswagen.t2" vehicleCategory="car">
<ParameterDeclarations/>
<Performance maxSpeed="69.444" maxAcceleration="200" maxDeceleration="10.0"/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2.1" length="4.5" height="1.8"/>
</BoundingBox>
<Axles>
<FrontAxle maxSteering="0.5" wheelDiameter="0.6" trackWidth="1.8" positionX="3.1" positionZ="0.3"/>
<RearAxle maxSteering="0.0" wheelDiameter="0.6" 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_18853">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_w_transform_18854">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_close_to_standing_18855">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_close_to_adversary_18856">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_w_transform_18857">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_close_to_hero_18858">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_close_to_standing_18859">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_close_to_adversary_18861">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_close_to_adversary_18862">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_w_transform_18863">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_w_transform_18864">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_w_transform_18865">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_w_transform_18866">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_close_to_adversary_18867">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_w_transform_18868">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_close_to_standing_18869">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_w_transform_18870">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_close_to_adversary_18871">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_close_to_hero_18872">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_w_transform_18873">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_w_transform_18874">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_w_transform_18875">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_close_to_standing_18876">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_close_to_standing_18877">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
</Entities>
<Storyboard>
<Init>
<Actions>
<GlobalAction>
<EnvironmentAction>
<Environment name="Environment1">
<TimeOfDay animation="false" dateTime="2019-06-25T12:00:00"/>
<Weather cloudState="free">
<Sun intensity="0.85" azimuth="0" elevation="1.31"/>
<Fog visualRange="100000.0"/>
<Precipitation precipitationType="dry" intensity="0.0"/>
</Weather>
<RoadCondition frictionScaleFactor="1.0"/>
</Environment>
</EnvironmentAction>
</GlobalAction>
<Private entityRef="hero">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-9.4" y="-152.8" z="0.5" h="1.57079632679"/>
</Position>
</TeleportAction>
</PrivateAction>
<PrivateAction>
<ControllerAction>
<AssignControllerAction>
<Controller name="HeroAgent">
<Properties>
<Property name="module" value="external_control"/>
</Properties>
</Controller>
</AssignControllerAction>
<OverrideControllerValueAction>
<Throttle value="0" active="false"/>
<Brake value="0" active="false"/>
<Clutch value="0" active="false"/>
<ParkingBrake value="0" active="false"/>
<SteeringWheel value="0" active="false"/>
<Gear number="0" active="false"/>
</OverrideControllerValueAction>
</ControllerAction>
</PrivateAction>
</Private>
<Private entityRef="adversary">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-9.4" y="-71.0" z="0.5" h="1.57079632679"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="standing">
<PrivateAction>
<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_18853">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-20.601924896240234" y="-150.635986328125" z="0.0016471862327307463"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_w_transform_18854">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="14.97995662689209" y="88.15065002441406" z="0.5"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_close_to_standing_18855">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-6.118705749511719" y="27.84133529663086" z="0.0029935073107481003"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_close_to_adversary_18856">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-6.407181262969971" y="-67.38497924804688" z="0.0338328555226326"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_w_transform_18857">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="29.520668029785156" y="47.09427261352539" z="0.5"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_close_to_hero_18858">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="3.860813617706299" y="-163.96994018554688" z="0.0016471862327307463"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_close_to_standing_18859">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-7.485058307647705" y="23.87098503112793" z="0.0030849457252770662"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_close_to_adversary_18861">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-13.142173767089844" y="-62.006832122802734" z="0.03383655473589897"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_close_to_adversary_18862">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-14.459228515625" y="-82.29698944091797" z="0.03377235308289528"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_w_transform_18863">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="28.205415725708008" y="61.76722717285156" z="0.5"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_w_transform_18864">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-90.91433715820312" y="-75.53512573242188" z="0.5"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_w_transform_18865">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-2.6411919593811035" y="-2.9441418647766113" z="0.5"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_w_transform_18866">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="74.00611114501953" y="-77.0378189086914" z="0.5"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_close_to_adversary_18867">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-10.024126052856445" y="-71.72152709960938" z="0.033814240247011185"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_w_transform_18868">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-85.82097625732422" y="95.55606842041016" z="0.5"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_close_to_standing_18869">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="0.8385754823684692" y="23.210166931152344" z="0.0030466841999441385"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_w_transform_18870">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="29.00878143310547" y="-9.05855655670166" z="0.5"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_close_to_adversary_18871">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="9.041468620300293" y="-67.69148254394531" z="0.03379085287451744"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_close_to_hero_18872">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-8.201616287231445" y="-161.4615478515625" z="0.0016471862327307463"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_w_transform_18873">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="16.51433563232422" y="-52.12257766723633" z="0.5"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_w_transform_18874">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="28.670513153076172" y="51.854156494140625" z="0.5"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_w_transform_18875">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-87.4298324584961" y="33.78241729736328" z="0.5"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_close_to_standing_18876">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-13.507835388183594" y="37.421592712402344" z="0.0030682373326271772"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_close_to_standing_18877">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-2.260159969329834" y="25.612783432006836" z="0.0030719756614416838"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
</Actions>
</Init>
<Story name="MyStory">
<Act name="Behavior">
<ManeuverGroup maximumExecutionCount="1" name="ManeuverSequence">
<Actors selectTriggeringEntities="false">
<EntityRef entityRef="adversary"/>
</Actors>
<Maneuver name="LaneChangeSimpleManeuver">
<Event name="AdversaryAccelerates" priority="overwrite">
<Action name="AdversaryAccelerates">
<PrivateAction>
<LongitudinalAction>
<SpeedAction>
<SpeedActionDynamics dynamicsShape="step" value="50" dynamicsDimension="distance"/>
<SpeedActionTarget>
<AbsoluteTargetSpeed value="5.0"/>
</SpeedActionTarget>
</SpeedAction>
</LongitudinalAction>
</PrivateAction>
</Action>
<StartTrigger>
<ConditionGroup>
<Condition name="StartCondition" delay="0" conditionEdge="rising">
<ByEntityCondition>
<TriggeringEntities triggeringEntitiesRule="any">
<EntityRef entityRef="hero"/>
</TriggeringEntities>
<EntityCondition>
<RelativeDistanceCondition entityRef="adversary" relativeDistanceType="cartesianDistance" value="40.0" freespace="false" rule="lessThan"/>
</EntityCondition>
</ByEntityCondition>
</Condition>
</ConditionGroup>
</StartTrigger>
</Event>
<Event name="AdversaryChangesLane" priority="overwrite">
<Action name="AdversaryChangesLane">
<PrivateAction>
<LateralAction>
<LaneChangeAction>
<LaneChangeActionDynamics dynamicsShape="linear" value="25" dynamicsDimension="distance"/>
<LaneChangeTarget>
<RelativeTargetLane entityRef="adversary" value="-1"/>
</LaneChangeTarget>
</LaneChangeAction>
</LateralAction>
</PrivateAction>
</Action>
<StartTrigger>
<ConditionGroup>
<Condition name="AfterAdversaryAccelerates" delay="0" conditionEdge="rising">
<ByValueCondition>
<StoryboardElementStateCondition storyboardElementType="action" storyboardElementRef="AdversaryAccelerates" state="completeState"/>
</ByValueCondition>
</Condition>
</ConditionGroup>
</StartTrigger>
</Event>
</Maneuver>
</ManeuverGroup>
<StartTrigger>
<ConditionGroup>
<Condition name="OverallStartCondition" delay="0" conditionEdge="rising">
<ByEntityCondition>
<TriggeringEntities triggeringEntitiesRule="any">
<EntityRef entityRef="hero"/>
</TriggeringEntities>
<EntityCondition>
<TraveledDistanceCondition value="1.0"/>
</EntityCondition>
</ByEntityCondition>
</Condition>
<Condition name="StartTime" delay="0" conditionEdge="rising">
<ByValueCondition>
<SimulationTimeCondition value="0" rule="equalTo"/>
</ByValueCondition>
</Condition>
</ConditionGroup>
</StartTrigger>
<StopTrigger>
<ConditionGroup>
<Condition name="EndCondition" delay="0" conditionEdge="rising">
<ByEntityCondition>
<TriggeringEntities triggeringEntitiesRule="any">
<EntityRef entityRef="hero"/>
</TriggeringEntities>
<EntityCondition>
<TraveledDistanceCondition value="200.0"/>
</EntityCondition>
</ByEntityCondition>
</Condition>
</ConditionGroup>
</StopTrigger>
</Act>
</Story>
<StopTrigger>
<ConditionGroup>
<Condition name="criteria_RunningStopTest" delay="0" conditionEdge="rising">
<ByValueCondition>
<ParameterCondition parameterRef="" value="" rule="lessThan"/>
</ByValueCondition>
</Condition>
<Condition name="criteria_RunningRedLightTest" delay="0" conditionEdge="rising">
<ByValueCondition>
<ParameterCondition parameterRef="" value="" rule="lessThan"/>
</ByValueCondition>
</Condition>
<Condition name="criteria_WrongLaneTest" delay="0" conditionEdge="rising">
<ByValueCondition>
<ParameterCondition parameterRef="" value="" rule="lessThan"/>
</ByValueCondition>
</Condition>
<Condition name="criteria_OnSidewalkTest" delay="0" conditionEdge="rising">
<ByValueCondition>
<ParameterCondition parameterRef="" value="" rule="lessThan"/>
</ByValueCondition>
</Condition>
<Condition name="criteria_KeepLaneTest" delay="0" conditionEdge="rising">
<ByValueCondition>
<ParameterCondition parameterRef="" value="" rule="lessThan"/>
</ByValueCondition>
</Condition>
<Condition name="criteria_CollisionTest" delay="0" conditionEdge="rising">
<ByValueCondition>
<ParameterCondition parameterRef="" value="" rule="lessThan"/>
</ByValueCondition>
</Condition>
<Condition name="criteria_DrivenDistanceTest" delay="0" conditionEdge="rising">
<ByValueCondition>
<ParameterCondition parameterRef="distance_success" value="100" rule="lessThan"/>
</ByValueCondition>
</Condition>
</ConditionGroup>
</StopTrigger>
</Storyboard>
</OpenSCENARIO>
``` | Here is the result:
```
<?xml version="1.0" ?>
<OpenSCENARIO>
<FileHeader revMajor="1" revMinor="0" date="2020-03-24T12:00:00" description="CARLA:LaneChangeSimple" author=""/>
<ParameterDeclarations/>
<CatalogLocations/>
<RoadNetwork>
<LogicFile filepath="Town04"/>
<SceneGraphFile filepath=""/>
</RoadNetwork>
<Entities>
<ScenarioObject name="hero">
<Vehicle name="vehicle.tesla.model3" vehicleCategory="car">
<ParameterDeclarations/>
<Performance maxSpeed="69.444" maxAcceleration="200" maxDeceleration="10.0"/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2.1" length="4.5" height="1.8"/>
</BoundingBox>
<Axles>
<FrontAxle maxSteering="0.5" wheelDiameter="0.6" trackWidth="1.8" positionX="3.1" positionZ="0.3"/>
<RearAxle maxSteering="0.0" wheelDiameter="0.6" trackWidth="1.8" positionX="0.0" positionZ="0.3"/>
</Axles>
<Properties>
<Property name="type" value="ego_vehicle"/>
</Properties>
</Vehicle>
</ScenarioObject>
<ScenarioObject name="adversary">
<Vehicle name="vehicle.lincoln.mkz_2017" vehicleCategory="car">
<ParameterDeclarations/>
<Performance maxSpeed="69.444" maxAcceleration="200" maxDeceleration="10.0"/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2.1" length="4.5" height="1.8"/>
</BoundingBox>
<Axles>
<FrontAxle maxSteering="0.5" wheelDiameter="0.6" trackWidth="1.8" positionX="3.1" positionZ="0.3"/>
<RearAxle maxSteering="0.0" wheelDiameter="0.6" trackWidth="1.8" positionX="0.0" positionZ="0.3"/>
</Axles>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Vehicle>
</ScenarioObject>
<ScenarioObject name="standing">
<Vehicle name="vehicle.volkswagen.t2" vehicleCategory="car">
<ParameterDeclarations/>
<Performance maxSpeed="69.444" maxAcceleration="200" maxDeceleration="10.0"/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2.1" length="4.5" height="1.8"/>
</BoundingBox>
<Axles>
<FrontAxle maxSteering="0.5" wheelDiameter="0.6" trackWidth="1.8" positionX="3.1" positionZ="0.3"/>
<RearAxle maxSteering="0.0" wheelDiameter="0.6" 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_18853">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_w_transform_18854">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_close_to_standing_18855">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_close_to_adversary_18856">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_w_transform_18857">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_close_to_hero_18858">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_close_to_standing_18859">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_close_to_adversary_18861">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_close_to_adversary_18862">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_w_transform_18863">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_w_transform_18864">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_w_transform_18865">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_w_transform_18866">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_close_to_adversary_18867">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_w_transform_18868">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_close_to_standing_18869">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_close_to_adversary_18871">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_close_to_hero_18872">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_w_transform_18873">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_w_transform_18874">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_w_transform_18875">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_close_to_standing_18876">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_close_to_standing_18877">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
</Entities>
<Storyboard>
<Init>
<Actions>
<GlobalAction>
<EnvironmentAction>
<Environment name="Environment1">
<TimeOfDay animation="false" dateTime="2019-06-25T12:00:00"/>
<Weather cloudState="free">
<Sun intensity="0.85" azimuth="0" elevation="1.31"/>
<Fog visualRange="100000.0"/>
<Precipitation precipitationType="dry" intensity="0.0"/>
</Weather>
<RoadCondition frictionScaleFactor="1.0"/>
</Environment>
</EnvironmentAction>
</GlobalAction>
<Private entityRef="hero">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-9.4" y="-152.8" z="0.5" h="1.57079632679"/>
</Position>
</TeleportAction>
</PrivateAction>
<PrivateAction>
<ControllerAction>
<AssignControllerAction>
<Controller name="HeroAgent">
<Properties>
<Property name="module" value="external_control"/>
</Properties>
</Controller>
</AssignControllerAction>
<OverrideControllerValueAction>
<Throttle value="0" active="false"/>
<Brake value="0" active="false"/>
<Clutch value="0" active="false"/>
<ParkingBrake value="0" active="false"/>
<SteeringWheel value="0" active="false"/>
<Gear number="0" active="false"/>
</OverrideControllerValueAction>
</ControllerAction>
</PrivateAction>
</Private>
<Private entityRef="adversary">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-9.4" y="-71.0" z="0.5" h="1.57079632679"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="standing">
<PrivateAction>
<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_18853">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-20.601924896240234" y="-150.635986328125" z="0.0016471862327307463"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_w_transform_18854">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="14.97995662689209" y="88.15065002441406" z="0.5"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_close_to_standing_18855">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-6.118705749511719" y="27.84133529663086" z="0.0029935073107481003"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_close_to_adversary_18856">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-6.407181262969971" y="-67.38497924804688" z="0.0338328555226326"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_w_transform_18857">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="29.520668029785156" y="47.09427261352539" z="0.5"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_close_to_hero_18858">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="3.860813617706299" y="-163.96994018554688" z="0.0016471862327307463"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_close_to_standing_18859">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-7.485058307647705" y="23.87098503112793" z="0.0030849457252770662"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_close_to_adversary_18861">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-13.142173767089844" y="-62.006832122802734" z="0.03383655473589897"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_close_to_adversary_18862">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-14.459228515625" y="-82.29698944091797" z="0.03377235308289528"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_w_transform_18863">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="28.205415725708008" y="61.76722717285156" z="0.5"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_w_transform_18864">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-90.91433715820312" y="-75.53512573242188" z="0.5"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_w_transform_18865">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-2.6411919593811035" y="-2.9441418647766113" z="0.5"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_w_transform_18866">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="74.00611114501953" y="-77.0378189086914" z="0.5"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_close_to_adversary_18867">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-10.024126052856445" y="-71.72152709960938" z="0.033814240247011185"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_w_transform_18868">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-85.82097625732422" y="95.55606842041016" z="0.5"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_close_to_standing_18869">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="0.8385754823684692" y="23.210166931152344" z="0.0030466841999441385"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_close_to_adversary_18871">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="9.041468620300293" y="-67.69148254394531" z="0.03379085287451744"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_close_to_hero_18872">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-8.201616287231445" y="-161.4615478515625" z="0.0016471862327307463"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_w_transform_18873">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="16.51433563232422" y="-52.12257766723633" z="0.5"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_w_transform_18874">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="28.670513153076172" y="51.854156494140625" z="0.5"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_w_transform_18875">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-87.4298324584961" y="33.78241729736328" z="0.5"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_close_to_standing_18876">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-13.507835388183594" y="37.421592712402344" z="0.0030682373326271772"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_close_to_standing_18877">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-2.260159969329834" y="25.612783432006836" z="0.0030719756614416838"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
</Actions>
</Init>
<Story name="MyStory">
<Act name="Behavior">
<ManeuverGroup maximumExecutionCount="1" name="ManeuverSequence">
<Actors selectTriggeringEntities="false">
<EntityRef entityRef="adversary"/>
</Actors>
<Maneuver name="LaneChangeSimpleManeuver">
<Event name="AdversaryAccelerates" priority="overwrite">
<Action name="AdversaryAccelerates">
<PrivateAction>
<LongitudinalAction>
<SpeedAction>
<SpeedActionDynamics dynamicsShape="step" value="50" dynamicsDimension="distance"/>
<SpeedActionTarget>
<AbsoluteTargetSpeed value="5.0"/>
</SpeedActionTarget>
</SpeedAction>
</LongitudinalAction>
</PrivateAction>
</Action>
<StartTrigger>
<ConditionGroup>
<Condition name="StartCondition" delay="0" conditionEdge="rising">
<ByEntityCondition>
<TriggeringEntities triggeringEntitiesRule="any">
<EntityRef entityRef="hero"/>
</TriggeringEntities>
<EntityCondition>
<RelativeDistanceCondition entityRef="adversary" relativeDistanceType="cartesianDistance" value="40.0" freespace="false" rule="lessThan"/>
</EntityCondition>
</ByEntityCondition>
</Condition>
</ConditionGroup>
</StartTrigger>
</Event>
<Event name="AdversaryChangesLane" priority="overwrite">
<Action name="AdversaryChangesLane">
<PrivateAction>
<LateralAction>
<LaneChangeAction>
<LaneChangeActionDynamics dynamicsShape="linear" value="25" dynamicsDimension="distance"/>
<LaneChangeTarget>
<RelativeTargetLane entityRef="adversary" value="-1"/>
</LaneChangeTarget>
</LaneChangeAction>
</LateralAction>
</PrivateAction>
</Action>
<StartTrigger>
<ConditionGroup>
<Condition name="AfterAdversaryAccelerates" delay="0" conditionEdge="rising">
<ByValueCondition>
<StoryboardElementStateCondition storyboardElementType="action" storyboardElementRef="AdversaryAccelerates" state="completeState"/>
</ByValueCondition>
</Condition>
</ConditionGroup>
</StartTrigger>
</Event>
</Maneuver>
</ManeuverGroup>
<StartTrigger>
<ConditionGroup>
<Condition name="OverallStartCondition" delay="0" conditionEdge="rising">
<ByEntityCondition>
<TriggeringEntities triggeringEntitiesRule="any">
<EntityRef entityRef="hero"/>
</TriggeringEntities>
<EntityCondition>
<TraveledDistanceCondition value="1.0"/>
</EntityCondition>
</ByEntityCondition>
</Condition>
<Condition name="StartTime" delay="0" conditionEdge="rising">
<ByValueCondition>
<SimulationTimeCondition value="0" rule="equalTo"/>
</ByValueCondition>
</Condition>
</ConditionGroup>
</StartTrigger>
<StopTrigger>
<ConditionGroup>
<Condition name="EndCondition" delay="0" conditionEdge="rising">
<ByEntityCondition>
<TriggeringEntities triggeringEntitiesRule="any">
<EntityRef entityRef="hero"/>
</TriggeringEntities>
<EntityCondition>
<TraveledDistanceCondition value="200.0"/>
</EntityCondition>
</ByEntityCondition>
</Condition>
</ConditionGroup>
</StopTrigger>
</Act>
</Story>
<StopTrigger>
<ConditionGroup>
<Condition name="criteria_RunningStopTest" delay="0" conditionEdge="rising">
<ByValueCondition>
<ParameterCondition parameterRef="" value="" rule="lessThan"/>
</ByValueCondition>
</Condition>
<Condition name="criteria_RunningRedLightTest" delay="0" conditionEdge="rising">
<ByValueCondition>
<ParameterCondition parameterRef="" value="" rule="lessThan"/>
</ByValueCondition>
</Condition>
<Condition name="criteria_WrongLaneTest" delay="0" conditionEdge="rising">
<ByValueCondition>
<ParameterCondition parameterRef="" value="" rule="lessThan"/>
</ByValueCondition>
</Condition>
<Condition name="criteria_OnSidewalkTest" delay="0" conditionEdge="rising">
<ByValueCondition>
<ParameterCondition parameterRef="" value="" rule="lessThan"/>
</ByValueCondition>
</Condition>
<Condition name="criteria_KeepLaneTest" delay="0" conditionEdge="rising">
<ByValueCondition>
<ParameterCondition parameterRef="" value="" rule="lessThan"/>
</ByValueCondition>
</Condition>
<Condition name="criteria_CollisionTest" delay="0" conditionEdge="rising">
<ByValueCondition>
<ParameterCondition parameterRef="" value="" rule="lessThan"/>
</ByValueCondition>
</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 (65.98, -65.3, 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_30344">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_w_transform_30345">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
</Entities>
<Storyboard>
<Init>
<Actions>
<GlobalAction>
<EnvironmentAction>
<Environment name="Environment1">
<TimeOfDay animation="false" dateTime="2019-06-25T12:00:00"/>
<Weather cloudState="free">
<Sun intensity="0.85" azimuth="0" elevation="1.31"/>
<Fog visualRange="100000.0"/>
<Precipitation precipitationType="dry" intensity="0.0"/>
</Weather>
<RoadCondition frictionScaleFactor="1.0"/>
</Environment>
</EnvironmentAction>
</GlobalAction>
<Private entityRef="hero">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-9.4" y="-152.8" z="0.5" h="1.57079632679"/>
</Position>
</TeleportAction>
</PrivateAction>
<PrivateAction>
<ControllerAction>
<AssignControllerAction>
<Controller name="HeroAgent">
<Properties>
<Property name="module" value="external_control"/>
</Properties>
</Controller>
</AssignControllerAction>
<OverrideControllerValueAction>
<Throttle value="0" active="false"/>
<Brake value="0" active="false"/>
<Clutch value="0" active="false"/>
<ParkingBrake value="0" active="false"/>
<SteeringWheel value="0" active="false"/>
<Gear number="0" active="false"/>
</OverrideControllerValueAction>
</ControllerAction>
</PrivateAction>
</Private>
<Private entityRef="adversary">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-9.4" y="-71.0" z="0.5" h="1.57079632679"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="standing">
<PrivateAction>
<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_30344">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-3.2953391075134277" y="-142.98948669433594" z="0.0014652633108198643"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_w_transform_30345">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-57.04065704345703" y="-65.74020385742188" 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_30344">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_w_transform_30345">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_w_transform_30346">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
</Entities>
<Storyboard>
<Init>
<Actions>
<GlobalAction>
<EnvironmentAction>
<Environment name="Environment1">
<TimeOfDay animation="false" dateTime="2019-06-25T12:00:00"/>
<Weather cloudState="free">
<Sun intensity="0.85" azimuth="0" elevation="1.31"/>
<Fog visualRange="100000.0"/>
<Precipitation precipitationType="dry" intensity="0.0"/>
</Weather>
<RoadCondition frictionScaleFactor="1.0"/>
</Environment>
</EnvironmentAction>
</GlobalAction>
<Private entityRef="hero">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-9.4" y="-152.8" z="0.5" h="1.57079632679"/>
</Position>
</TeleportAction>
</PrivateAction>
<PrivateAction>
<ControllerAction>
<AssignControllerAction>
<Controller name="HeroAgent">
<Properties>
<Property name="module" value="external_control"/>
</Properties>
</Controller>
</AssignControllerAction>
<OverrideControllerValueAction>
<Throttle value="0" active="false"/>
<Brake value="0" active="false"/>
<Clutch value="0" active="false"/>
<ParkingBrake value="0" active="false"/>
<SteeringWheel value="0" active="false"/>
<Gear number="0" active="false"/>
</OverrideControllerValueAction>
</ControllerAction>
</PrivateAction>
</Private>
<Private entityRef="adversary">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-9.4" y="-71.0" z="0.5" h="1.57079632679"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="standing">
<PrivateAction>
<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_30344">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-3.2953391075134277" y="-142.98948669433594" z="0.0014652633108198643"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_w_transform_30345">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-57.04065704345703" y="-65.74020385742188" z="0.5"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_w_transform_30346">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="65.97769165039062" y="-65.29976654052734" z="0.5"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
</Actions>
</Init>
<Story name="MyStory">
<Act name="Behavior">
<ManeuverGroup maximumExecutionCount="1" name="ManeuverSequence">
<Actors selectTriggeringEntities="false">
<EntityRef entityRef="adversary"/>
</Actors>
<Maneuver name="LaneChangeSimpleManeuver">
<Event name="AdversaryAccelerates" priority="overwrite">
<Action name="AdversaryAccelerates">
<PrivateAction>
<LongitudinalAction>
<SpeedAction>
<SpeedActionDynamics dynamicsShape="step" value="50" dynamicsDimension="distance"/>
<SpeedActionTarget>
<AbsoluteTargetSpeed value="5.0"/>
</SpeedActionTarget>
</SpeedAction>
</LongitudinalAction>
</PrivateAction>
</Action>
<StartTrigger>
<ConditionGroup>
<Condition name="StartCondition" delay="0" conditionEdge="rising">
<ByEntityCondition>
<TriggeringEntities triggeringEntitiesRule="any">
<EntityRef entityRef="hero"/>
</TriggeringEntities>
<EntityCondition>
<RelativeDistanceCondition entityRef="adversary" relativeDistanceType="cartesianDistance" value="40.0" freespace="false" rule="lessThan"/>
</EntityCondition>
</ByEntityCondition>
</Condition>
</ConditionGroup>
</StartTrigger>
</Event>
<Event name="AdversaryChangesLane" priority="overwrite">
<Action name="AdversaryChangesLane">
<PrivateAction>
<LateralAction>
<LaneChangeAction>
<LaneChangeActionDynamics dynamicsShape="linear" value="25" dynamicsDimension="distance"/>
<LaneChangeTarget>
<RelativeTargetLane entityRef="adversary" value="-1"/>
</LaneChangeTarget>
</LaneChangeAction>
</LateralAction>
</PrivateAction>
</Action>
<StartTrigger>
<ConditionGroup>
<Condition name="AfterAdversaryAccelerates" delay="0" conditionEdge="rising">
<ByValueCondition>
<StoryboardElementStateCondition storyboardElementType="action" storyboardElementRef="AdversaryAccelerates" state="completeState"/>
</ByValueCondition>
</Condition>
</ConditionGroup>
</StartTrigger>
</Event>
</Maneuver>
</ManeuverGroup>
<StartTrigger>
<ConditionGroup>
<Condition name="OverallStartCondition" delay="0" conditionEdge="rising">
<ByEntityCondition>
<TriggeringEntities triggeringEntitiesRule="any">
<EntityRef entityRef="hero"/>
</TriggeringEntities>
<EntityCondition>
<TraveledDistanceCondition value="1.0"/>
</EntityCondition>
</ByEntityCondition>
</Condition>
<Condition name="StartTime" delay="0" conditionEdge="rising">
<ByValueCondition>
<SimulationTimeCondition value="0" rule="equalTo"/>
</ByValueCondition>
</Condition>
</ConditionGroup>
</StartTrigger>
<StopTrigger>
<ConditionGroup>
<Condition name="EndCondition" delay="0" conditionEdge="rising">
<ByEntityCondition>
<TriggeringEntities triggeringEntitiesRule="any">
<EntityRef entityRef="hero"/>
</TriggeringEntities>
<EntityCondition>
<TraveledDistanceCondition value="200.0"/>
</EntityCondition>
</ByEntityCondition>
</Condition>
</ConditionGroup>
</StopTrigger>
</Act>
</Story>
<StopTrigger>
<ConditionGroup>
<Condition name="criteria_RunningStopTest" delay="0" conditionEdge="rising">
<ByValueCondition>
<ParameterCondition parameterRef="" value="" rule="lessThan"/>
</ByValueCondition>
</Condition>
<Condition name="criteria_RunningRedLightTest" delay="0" conditionEdge="rising">
<ByValueCondition>
<ParameterCondition parameterRef="" value="" rule="lessThan"/>
</ByValueCondition>
</Condition>
<Condition name="criteria_WrongLaneTest" delay="0" conditionEdge="rising">
<ByValueCondition>
<ParameterCondition parameterRef="" value="" rule="lessThan"/>
</ByValueCondition>
</Condition>
<Condition name="criteria_OnSidewalkTest" delay="0" conditionEdge="rising">
<ByValueCondition>
<ParameterCondition parameterRef="" value="" rule="lessThan"/>
</ByValueCondition>
</Condition>
<Condition name="criteria_KeepLaneTest" delay="0" conditionEdge="rising">
<ByValueCondition>
<ParameterCondition parameterRef="" value="" rule="lessThan"/>
</ByValueCondition>
</Condition>
<Condition name="criteria_CollisionTest" delay="0" conditionEdge="rising">
<ByValueCondition>
<ParameterCondition parameterRef="" value="" rule="lessThan"/>
</ByValueCondition>
</Condition>
<Condition name="criteria_DrivenDistanceTest" delay="0" conditionEdge="rising">
<ByValueCondition>
<ParameterCondition parameterRef="distance_success" value="100" rule="lessThan"/>
</ByValueCondition>
</Condition>
</ConditionGroup>
</StopTrigger>
</Storyboard>
</OpenSCENARIO>
``` |
i would like to ask you to remove pedestrian close to hero?
```
<?xml version="1.0" ?>
<OpenSCENARIO>
<FileHeader revMajor="1" revMinor="0" date="2020-03-24T12:00:00" description="CARLA:LaneChangeSimple" author=""/>
<ParameterDeclarations/>
<CatalogLocations/>
<RoadNetwork>
<LogicFile filepath="Town04"/>
<SceneGraphFile filepath=""/>
</RoadNetwork>
<Entities>
<ScenarioObject name="hero">
<Vehicle name="vehicle.tesla.model3" vehicleCategory="car">
<ParameterDeclarations/>
<Performance maxSpeed="69.444" maxAcceleration="200" maxDeceleration="10.0"/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2.1" length="4.5" height="1.8"/>
</BoundingBox>
<Axles>
<FrontAxle maxSteering="0.5" wheelDiameter="0.6" trackWidth="1.8" positionX="3.1" positionZ="0.3"/>
<RearAxle maxSteering="0.0" wheelDiameter="0.6" trackWidth="1.8" positionX="0.0" positionZ="0.3"/>
</Axles>
<Properties>
<Property name="type" value="ego_vehicle"/>
</Properties>
</Vehicle>
</ScenarioObject>
<ScenarioObject name="adversary">
<Vehicle name="vehicle.lincoln.mkz_2017" vehicleCategory="car">
<ParameterDeclarations/>
<Performance maxSpeed="69.444" maxAcceleration="200" maxDeceleration="10.0"/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2.1" length="4.5" height="1.8"/>
</BoundingBox>
<Axles>
<FrontAxle maxSteering="0.5" wheelDiameter="0.6" trackWidth="1.8" positionX="3.1" positionZ="0.3"/>
<RearAxle maxSteering="0.0" wheelDiameter="0.6" trackWidth="1.8" positionX="0.0" positionZ="0.3"/>
</Axles>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Vehicle>
</ScenarioObject>
<ScenarioObject name="standing">
<Vehicle name="vehicle.volkswagen.t2" vehicleCategory="car">
<ParameterDeclarations/>
<Performance maxSpeed="69.444" maxAcceleration="200" maxDeceleration="10.0"/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2.1" length="4.5" height="1.8"/>
</BoundingBox>
<Axles>
<FrontAxle maxSteering="0.5" wheelDiameter="0.6" trackWidth="1.8" positionX="3.1" positionZ="0.3"/>
<RearAxle maxSteering="0.0" wheelDiameter="0.6" trackWidth="1.8" positionX="0.0" positionZ="0.3"/>
</Axles>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Vehicle>
</ScenarioObject>
<ScenarioObject name="pedestrian_close_to_hero_1219">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_close_to_standing_1220">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_w_transform_1221">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_w_transform_1222">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_close_to_adversary_1223">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_close_to_adversary_1224">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_close_to_hero_1226">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_close_to_adversary_1227">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_close_to_standing_1228">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_close_to_standing_1229">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_w_transform_1230">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_close_to_standing_1231">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_close_to_adversary_1232">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_w_transform_1233">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_w_transform_1234">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_w_transform_1235">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
</Entities>
<Storyboard>
<Init>
<Actions>
<GlobalAction>
<EnvironmentAction>
<Environment name="Environment1">
<TimeOfDay animation="false" dateTime="2019-06-25T12:00:00"/>
<Weather cloudState="free">
<Sun intensity="0.85" azimuth="0" elevation="1.31"/>
<Fog visualRange="100000.0"/>
<Precipitation precipitationType="dry" intensity="0.0"/>
</Weather>
<RoadCondition frictionScaleFactor="1.0"/>
</Environment>
</EnvironmentAction>
</GlobalAction>
<Private entityRef="hero">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-9.4" y="-152.8" z="0.5" h="1.57079632679"/>
</Position>
</TeleportAction>
</PrivateAction>
<PrivateAction>
<ControllerAction>
<AssignControllerAction>
<Controller name="HeroAgent">
<Properties>
<Property name="module" value="external_control"/>
</Properties>
</Controller>
</AssignControllerAction>
<OverrideControllerValueAction>
<Throttle value="0" active="false"/>
<Brake value="0" active="false"/>
<Clutch value="0" active="false"/>
<ParkingBrake value="0" active="false"/>
<SteeringWheel value="0" active="false"/>
<Gear number="0" active="false"/>
</OverrideControllerValueAction>
</ControllerAction>
</PrivateAction>
</Private>
<Private entityRef="adversary">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-9.4" y="-71.0" z="0.5" h="1.57079632679"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="standing">
<PrivateAction>
<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_1219">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-8.813162803649902" y="-152.92970275878906" z="0.0016365813789889216"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_close_to_standing_1220">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-12.082599639892578" y="25.789766311645508" z="0.003114318707957864"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_w_transform_1221">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="33.78162384033203" y="-25.25438690185547" z="0.5"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_w_transform_1222">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-3.132277488708496" y="23.019695281982422" z="0.5"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_close_to_adversary_1223">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-13.86142635345459" y="-72.22660827636719" z="0.0338447168469429"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_close_to_adversary_1224">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="3.8996801376342773" y="-63.78764724731445" z="0.03383442014455795"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_close_to_hero_1226">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="1.2101852893829346" y="-151.11708068847656" z="0.0016365813789889216"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_close_to_adversary_1227">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-16.440921783447266" y="-76.96231079101562" z="0.033858831971883774"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_close_to_standing_1228">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-10.044652938842773" y="28.237611770629883" z="0.0031130218412727118"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_close_to_standing_1229">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-14.491087913513184" y="25.306108474731445" z="0.00311450962908566"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_w_transform_1230">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="46.25760269165039" y="-43.301631927490234" z="0.5"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_close_to_standing_1231">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-10.573521614074707" y="21.132354736328125" z="0.0030965805053710938"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_close_to_adversary_1232">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-3.0301427841186523" y="-64.69232177734375" z="0.03382999449968338"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_w_transform_1233">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-50.183937072753906" y="-51.23269271850586" z="0.5"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_w_transform_1234">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-47.26460647583008" y="-62.78862762451172" z="0.5"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_w_transform_1235">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-72.30606842041016" y="92.6650390625" 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_1220">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_w_transform_1221">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_w_transform_1222">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_close_to_adversary_1223">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_close_to_adversary_1224">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_close_to_hero_1226">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_close_to_adversary_1227">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_close_to_standing_1228">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_close_to_standing_1229">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_w_transform_1230">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_close_to_standing_1231">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_close_to_adversary_1232">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_w_transform_1233">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_w_transform_1234">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_w_transform_1235">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
</Entities>
<Storyboard>
<Init>
<Actions>
<GlobalAction>
<EnvironmentAction>
<Environment name="Environment1">
<TimeOfDay animation="false" dateTime="2019-06-25T12:00:00"/>
<Weather cloudState="free">
<Sun intensity="0.85" azimuth="0" elevation="1.31"/>
<Fog visualRange="100000.0"/>
<Precipitation precipitationType="dry" intensity="0.0"/>
</Weather>
<RoadCondition frictionScaleFactor="1.0"/>
</Environment>
</EnvironmentAction>
</GlobalAction>
<Private entityRef="hero">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-9.4" y="-152.8" z="0.5" h="1.57079632679"/>
</Position>
</TeleportAction>
</PrivateAction>
<PrivateAction>
<ControllerAction>
<AssignControllerAction>
<Controller name="HeroAgent">
<Properties>
<Property name="module" value="external_control"/>
</Properties>
</Controller>
</AssignControllerAction>
<OverrideControllerValueAction>
<Throttle value="0" active="false"/>
<Brake value="0" active="false"/>
<Clutch value="0" active="false"/>
<ParkingBrake value="0" active="false"/>
<SteeringWheel value="0" active="false"/>
<Gear number="0" active="false"/>
</OverrideControllerValueAction>
</ControllerAction>
</PrivateAction>
</Private>
<Private entityRef="adversary">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-9.4" y="-71.0" z="0.5" h="1.57079632679"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="standing">
<PrivateAction>
<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_1220">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-12.082599639892578" y="25.789766311645508" z="0.003114318707957864"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_w_transform_1221">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="33.78162384033203" y="-25.25438690185547" z="0.5"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_w_transform_1222">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-3.132277488708496" y="23.019695281982422" z="0.5"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_close_to_adversary_1223">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-13.86142635345459" y="-72.22660827636719" z="0.0338447168469429"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_close_to_adversary_1224">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="3.8996801376342773" y="-63.78764724731445" z="0.03383442014455795"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_close_to_hero_1226">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="1.2101852893829346" y="-151.11708068847656" z="0.0016365813789889216"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_close_to_adversary_1227">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-16.440921783447266" y="-76.96231079101562" z="0.033858831971883774"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_close_to_standing_1228">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-10.044652938842773" y="28.237611770629883" z="0.0031130218412727118"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_close_to_standing_1229">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-14.491087913513184" y="25.306108474731445" z="0.00311450962908566"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_w_transform_1230">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="46.25760269165039" y="-43.301631927490234" z="0.5"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_close_to_standing_1231">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-10.573521614074707" y="21.132354736328125" z="0.0030965805053710938"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_close_to_adversary_1232">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-3.0301427841186523" y="-64.69232177734375" z="0.03382999449968338"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_w_transform_1233">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-50.183937072753906" y="-51.23269271850586" z="0.5"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_w_transform_1234">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-47.26460647583008" y="-62.78862762451172" z="0.5"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_w_transform_1235">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-72.30606842041016" y="92.6650390625" z="0.5"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
</Actions>
</Init>
<Story name="MyStory">
<Act name="Behavior">
<ManeuverGroup maximumExecutionCount="1" name="ManeuverSequence">
<Actors selectTriggeringEntities="false">
<EntityRef entityRef="adversary"/>
</Actors>
<Maneuver name="LaneChangeSimpleManeuver">
<Event name="AdversaryAccelerates" priority="overwrite">
<Action name="AdversaryAccelerates">
<PrivateAction>
<LongitudinalAction>
<SpeedAction>
<SpeedActionDynamics dynamicsShape="step" value="50" dynamicsDimension="distance"/>
<SpeedActionTarget>
<AbsoluteTargetSpeed value="5.0"/>
</SpeedActionTarget>
</SpeedAction>
</LongitudinalAction>
</PrivateAction>
</Action>
<StartTrigger>
<ConditionGroup>
<Condition name="StartCondition" delay="0" conditionEdge="rising">
<ByEntityCondition>
<TriggeringEntities triggeringEntitiesRule="any">
<EntityRef entityRef="hero"/>
</TriggeringEntities>
<EntityCondition>
<RelativeDistanceCondition entityRef="adversary" relativeDistanceType="cartesianDistance" value="40.0" freespace="false" rule="lessThan"/>
</EntityCondition>
</ByEntityCondition>
</Condition>
</ConditionGroup>
</StartTrigger>
</Event>
<Event name="AdversaryChangesLane" priority="overwrite">
<Action name="AdversaryChangesLane">
<PrivateAction>
<LateralAction>
<LaneChangeAction>
<LaneChangeActionDynamics dynamicsShape="linear" value="25" dynamicsDimension="distance"/>
<LaneChangeTarget>
<RelativeTargetLane entityRef="adversary" value="-1"/>
</LaneChangeTarget>
</LaneChangeAction>
</LateralAction>
</PrivateAction>
</Action>
<StartTrigger>
<ConditionGroup>
<Condition name="AfterAdversaryAccelerates" delay="0" conditionEdge="rising">
<ByValueCondition>
<StoryboardElementStateCondition storyboardElementType="action" storyboardElementRef="AdversaryAccelerates" state="completeState"/>
</ByValueCondition>
</Condition>
</ConditionGroup>
</StartTrigger>
</Event>
</Maneuver>
</ManeuverGroup>
<StartTrigger>
<ConditionGroup>
<Condition name="OverallStartCondition" delay="0" conditionEdge="rising">
<ByEntityCondition>
<TriggeringEntities triggeringEntitiesRule="any">
<EntityRef entityRef="hero"/>
</TriggeringEntities>
<EntityCondition>
<TraveledDistanceCondition value="1.0"/>
</EntityCondition>
</ByEntityCondition>
</Condition>
<Condition name="StartTime" delay="0" conditionEdge="rising">
<ByValueCondition>
<SimulationTimeCondition value="0" rule="equalTo"/>
</ByValueCondition>
</Condition>
</ConditionGroup>
</StartTrigger>
<StopTrigger>
<ConditionGroup>
<Condition name="EndCondition" delay="0" conditionEdge="rising">
<ByEntityCondition>
<TriggeringEntities triggeringEntitiesRule="any">
<EntityRef entityRef="hero"/>
</TriggeringEntities>
<EntityCondition>
<TraveledDistanceCondition value="200.0"/>
</EntityCondition>
</ByEntityCondition>
</Condition>
</ConditionGroup>
</StopTrigger>
</Act>
</Story>
<StopTrigger>
<ConditionGroup>
<Condition name="criteria_RunningStopTest" delay="0" conditionEdge="rising">
<ByValueCondition>
<ParameterCondition parameterRef="" value="" rule="lessThan"/>
</ByValueCondition>
</Condition>
<Condition name="criteria_RunningRedLightTest" delay="0" conditionEdge="rising">
<ByValueCondition>
<ParameterCondition parameterRef="" value="" rule="lessThan"/>
</ByValueCondition>
</Condition>
<Condition name="criteria_WrongLaneTest" delay="0" conditionEdge="rising">
<ByValueCondition>
<ParameterCondition parameterRef="" value="" rule="lessThan"/>
</ByValueCondition>
</Condition>
<Condition name="criteria_OnSidewalkTest" delay="0" conditionEdge="rising">
<ByValueCondition>
<ParameterCondition parameterRef="" value="" rule="lessThan"/>
</ByValueCondition>
</Condition>
<Condition name="criteria_KeepLaneTest" delay="0" conditionEdge="rising">
<ByValueCondition>
<ParameterCondition parameterRef="" value="" rule="lessThan"/>
</ByValueCondition>
</Condition>
<Condition name="criteria_CollisionTest" delay="0" conditionEdge="rising">
<ByValueCondition>
<ParameterCondition parameterRef="" value="" rule="lessThan"/>
</ByValueCondition>
</Condition>
<Condition name="criteria_DrivenDistanceTest" delay="0" conditionEdge="rising">
<ByValueCondition>
<ParameterCondition parameterRef="distance_success" value="100" rule="lessThan"/>
</ByValueCondition>
</Condition>
</ConditionGroup>
</StopTrigger>
</Storyboard>
</OpenSCENARIO>
``` |
i would like to order you to remove pedestrian actor named pedestrian_w_transform_22891?
```
<?xml version="1.0" ?>
<OpenSCENARIO>
<FileHeader revMajor="1" revMinor="0" date="2020-03-24T12:00:00" description="CARLA:LaneChangeSimple" author=""/>
<ParameterDeclarations/>
<CatalogLocations/>
<RoadNetwork>
<LogicFile filepath="Town04"/>
<SceneGraphFile filepath=""/>
</RoadNetwork>
<Entities>
<ScenarioObject name="hero">
<Vehicle name="vehicle.tesla.model3" vehicleCategory="car">
<ParameterDeclarations/>
<Performance maxSpeed="69.444" maxAcceleration="200" maxDeceleration="10.0"/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2.1" length="4.5" height="1.8"/>
</BoundingBox>
<Axles>
<FrontAxle maxSteering="0.5" wheelDiameter="0.6" trackWidth="1.8" positionX="3.1" positionZ="0.3"/>
<RearAxle maxSteering="0.0" wheelDiameter="0.6" trackWidth="1.8" positionX="0.0" positionZ="0.3"/>
</Axles>
<Properties>
<Property name="type" value="ego_vehicle"/>
</Properties>
</Vehicle>
</ScenarioObject>
<ScenarioObject name="adversary">
<Vehicle name="vehicle.lincoln.mkz_2017" vehicleCategory="car">
<ParameterDeclarations/>
<Performance maxSpeed="69.444" maxAcceleration="200" maxDeceleration="10.0"/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2.1" length="4.5" height="1.8"/>
</BoundingBox>
<Axles>
<FrontAxle maxSteering="0.5" wheelDiameter="0.6" trackWidth="1.8" positionX="3.1" positionZ="0.3"/>
<RearAxle maxSteering="0.0" wheelDiameter="0.6" trackWidth="1.8" positionX="0.0" positionZ="0.3"/>
</Axles>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Vehicle>
</ScenarioObject>
<ScenarioObject name="standing">
<Vehicle name="vehicle.volkswagen.t2" vehicleCategory="car">
<ParameterDeclarations/>
<Performance maxSpeed="69.444" maxAcceleration="200" maxDeceleration="10.0"/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2.1" length="4.5" height="1.8"/>
</BoundingBox>
<Axles>
<FrontAxle maxSteering="0.5" wheelDiameter="0.6" trackWidth="1.8" positionX="3.1" positionZ="0.3"/>
<RearAxle maxSteering="0.0" wheelDiameter="0.6" 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_22881">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_w_transform_22882">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_close_to_hero_22883">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_close_to_hero_22885">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_w_transform_22886">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_close_to_adversary_22887">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_close_to_hero_22888">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_w_transform_22889">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_w_transform_22890">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_w_transform_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_w_transform_22892">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
</Entities>
<Storyboard>
<Init>
<Actions>
<GlobalAction>
<EnvironmentAction>
<Environment name="Environment1">
<TimeOfDay animation="false" dateTime="2019-06-25T12:00:00"/>
<Weather cloudState="free">
<Sun intensity="0.85" azimuth="0" elevation="1.31"/>
<Fog visualRange="100000.0"/>
<Precipitation precipitationType="dry" intensity="0.0"/>
</Weather>
<RoadCondition frictionScaleFactor="1.0"/>
</Environment>
</EnvironmentAction>
</GlobalAction>
<Private entityRef="hero">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-9.4" y="-152.8" z="0.5" h="1.57079632679"/>
</Position>
</TeleportAction>
</PrivateAction>
<PrivateAction>
<ControllerAction>
<AssignControllerAction>
<Controller name="HeroAgent">
<Properties>
<Property name="module" value="external_control"/>
</Properties>
</Controller>
</AssignControllerAction>
<OverrideControllerValueAction>
<Throttle value="0" active="false"/>
<Brake value="0" active="false"/>
<Clutch value="0" active="false"/>
<ParkingBrake value="0" active="false"/>
<SteeringWheel value="0" active="false"/>
<Gear number="0" active="false"/>
</OverrideControllerValueAction>
</ControllerAction>
</PrivateAction>
</Private>
<Private entityRef="adversary">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-9.4" y="-71.0" z="0.5" h="1.57079632679"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="standing">
<PrivateAction>
<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_22881">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-7.652869701385498" y="-147.43064880371094" z="0.0014652633108198643"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_w_transform_22882">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-5.906855583190918" y="-10.661489486694336" z="0.5"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_close_to_hero_22883">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-5.348663330078125" y="-161.54261779785156" z="0.0014652633108198643"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_close_to_hero_22885">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-7.955820560455322" y="-145.65113830566406" z="0.0014652633108198643"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_w_transform_22886">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-37.20156478881836" y="47.34658432006836" z="0.5"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_close_to_adversary_22887">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-1.744060754776001" y="-63.75015640258789" z="0.03374706208705902"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_close_to_hero_22888">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-10.198792457580566" y="-155.5546417236328" z="0.0014652633108198643"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_w_transform_22889">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-86.14183807373047" y="-88.16458892822266" z="0.5"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_w_transform_22890">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-51.14170837402344" y="92.87071990966797" z="0.5"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_w_transform_22891">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-51.35078811645508" y="85.36577606201172" z="0.5"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_w_transform_22892">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-81.34695434570312" y="-94.6140365600586" 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_22881">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_w_transform_22882">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_close_to_hero_22883">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_close_to_hero_22885">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_w_transform_22886">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_close_to_adversary_22887">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_close_to_hero_22888">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_w_transform_22889">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_w_transform_22890">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_w_transform_22892">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
</Entities>
<Storyboard>
<Init>
<Actions>
<GlobalAction>
<EnvironmentAction>
<Environment name="Environment1">
<TimeOfDay animation="false" dateTime="2019-06-25T12:00:00"/>
<Weather cloudState="free">
<Sun intensity="0.85" azimuth="0" elevation="1.31"/>
<Fog visualRange="100000.0"/>
<Precipitation precipitationType="dry" intensity="0.0"/>
</Weather>
<RoadCondition frictionScaleFactor="1.0"/>
</Environment>
</EnvironmentAction>
</GlobalAction>
<Private entityRef="hero">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-9.4" y="-152.8" z="0.5" h="1.57079632679"/>
</Position>
</TeleportAction>
</PrivateAction>
<PrivateAction>
<ControllerAction>
<AssignControllerAction>
<Controller name="HeroAgent">
<Properties>
<Property name="module" value="external_control"/>
</Properties>
</Controller>
</AssignControllerAction>
<OverrideControllerValueAction>
<Throttle value="0" active="false"/>
<Brake value="0" active="false"/>
<Clutch value="0" active="false"/>
<ParkingBrake value="0" active="false"/>
<SteeringWheel value="0" active="false"/>
<Gear number="0" active="false"/>
</OverrideControllerValueAction>
</ControllerAction>
</PrivateAction>
</Private>
<Private entityRef="adversary">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-9.4" y="-71.0" z="0.5" h="1.57079632679"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="standing">
<PrivateAction>
<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_22881">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-7.652869701385498" y="-147.43064880371094" z="0.0014652633108198643"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_w_transform_22882">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-5.906855583190918" y="-10.661489486694336" z="0.5"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_close_to_hero_22883">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-5.348663330078125" y="-161.54261779785156" z="0.0014652633108198643"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_close_to_hero_22885">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-7.955820560455322" y="-145.65113830566406" z="0.0014652633108198643"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_w_transform_22886">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-37.20156478881836" y="47.34658432006836" z="0.5"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_close_to_adversary_22887">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-1.744060754776001" y="-63.75015640258789" z="0.03374706208705902"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_close_to_hero_22888">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-10.198792457580566" y="-155.5546417236328" z="0.0014652633108198643"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_w_transform_22889">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-86.14183807373047" y="-88.16458892822266" z="0.5"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_w_transform_22890">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-51.14170837402344" y="92.87071990966797" z="0.5"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_w_transform_22892">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-81.34695434570312" y="-94.6140365600586" 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 (-87.3, -65.75, 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_30948">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_close_to_standing_30949">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_w_transform_30950">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_close_to_adversary_30951">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
</Entities>
<Storyboard>
<Init>
<Actions>
<GlobalAction>
<EnvironmentAction>
<Environment name="Environment1">
<TimeOfDay animation="false" dateTime="2019-06-25T12:00:00"/>
<Weather cloudState="free">
<Sun intensity="0.85" azimuth="0" elevation="1.31"/>
<Fog visualRange="100000.0"/>
<Precipitation precipitationType="dry" intensity="0.0"/>
</Weather>
<RoadCondition frictionScaleFactor="1.0"/>
</Environment>
</EnvironmentAction>
</GlobalAction>
<Private entityRef="hero">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-9.4" y="-152.8" z="0.5" h="1.57079632679"/>
</Position>
</TeleportAction>
</PrivateAction>
<PrivateAction>
<ControllerAction>
<AssignControllerAction>
<Controller name="HeroAgent">
<Properties>
<Property name="module" value="external_control"/>
</Properties>
</Controller>
</AssignControllerAction>
<OverrideControllerValueAction>
<Throttle value="0" active="false"/>
<Brake value="0" active="false"/>
<Clutch value="0" active="false"/>
<ParkingBrake value="0" active="false"/>
<SteeringWheel value="0" active="false"/>
<Gear number="0" active="false"/>
</OverrideControllerValueAction>
</ControllerAction>
</PrivateAction>
</Private>
<Private entityRef="adversary">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-9.4" y="-71.0" z="0.5" h="1.57079632679"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="standing">
<PrivateAction>
<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_30948">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-11.012754440307617" y="-165.60072326660156" z="0.001708297641016543"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_close_to_standing_30949">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-9.175909042358398" y="22.630403518676758" z="0.003020439064130187"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_w_transform_30950">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="46.51441955566406" y="48.98797607421875" z="0.5"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_close_to_adversary_30951">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-19.4881649017334" y="-67.11680603027344" z="0.03381381928920746"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
</Actions>
</Init>
<Story name="MyStory">
<Act name="Behavior">
<ManeuverGroup maximumExecutionCount="1" name="ManeuverSequence">
<Actors selectTriggeringEntities="false">
<EntityRef entityRef="adversary"/>
</Actors>
<Maneuver name="LaneChangeSimpleManeuver">
<Event name="AdversaryAccelerates" priority="overwrite">
<Action name="AdversaryAccelerates">
<PrivateAction>
<LongitudinalAction>
<SpeedAction>
<SpeedActionDynamics dynamicsShape="step" value="50" dynamicsDimension="distance"/>
<SpeedActionTarget>
<AbsoluteTargetSpeed value="5.0"/>
</SpeedActionTarget>
</SpeedAction>
</LongitudinalAction>
</PrivateAction>
</Action>
<StartTrigger>
<ConditionGroup>
<Condition name="StartCondition" delay="0" conditionEdge="rising">
<ByEntityCondition>
<TriggeringEntities triggeringEntitiesRule="any">
<EntityRef entityRef="hero"/>
</TriggeringEntities>
<EntityCondition>
<RelativeDistanceCondition entityRef="adversary" relativeDistanceType="cartesianDistance" value="40.0" freespace="false" rule="lessThan"/>
</EntityCondition>
</ByEntityCondition>
</Condition>
</ConditionGroup>
</StartTrigger>
</Event>
<Event name="AdversaryChangesLane" priority="overwrite">
<Action name="AdversaryChangesLane">
<PrivateAction>
<LateralAction>
<LaneChangeAction>
<LaneChangeActionDynamics dynamicsShape="linear" value="25" dynamicsDimension="distance"/>
<LaneChangeTarget>
<RelativeTargetLane entityRef="adversary" value="-1"/>
</LaneChangeTarget>
</LaneChangeAction>
</LateralAction>
</PrivateAction>
</Action>
<StartTrigger>
<ConditionGroup>
<Condition name="AfterAdversaryAccelerates" delay="0" conditionEdge="rising">
<ByValueCondition>
<StoryboardElementStateCondition storyboardElementType="action" storyboardElementRef="AdversaryAccelerates" state="completeState"/>
</ByValueCondition>
</Condition>
</ConditionGroup>
</StartTrigger>
</Event>
</Maneuver>
</ManeuverGroup>
<StartTrigger>
<ConditionGroup>
<Condition name="OverallStartCondition" delay="0" conditionEdge="rising">
<ByEntityCondition>
<TriggeringEntities triggeringEntitiesRule="any">
<EntityRef entityRef="hero"/>
</TriggeringEntities>
<EntityCondition>
<TraveledDistanceCondition value="1.0"/>
</EntityCondition>
</ByEntityCondition>
</Condition>
<Condition name="StartTime" delay="0" conditionEdge="rising">
<ByValueCondition>
<SimulationTimeCondition value="0" rule="equalTo"/>
</ByValueCondition>
</Condition>
</ConditionGroup>
</StartTrigger>
<StopTrigger>
<ConditionGroup>
<Condition name="EndCondition" delay="0" conditionEdge="rising">
<ByEntityCondition>
<TriggeringEntities triggeringEntitiesRule="any">
<EntityRef entityRef="hero"/>
</TriggeringEntities>
<EntityCondition>
<TraveledDistanceCondition value="200.0"/>
</EntityCondition>
</ByEntityCondition>
</Condition>
</ConditionGroup>
</StopTrigger>
</Act>
</Story>
<StopTrigger>
<ConditionGroup>
<Condition name="criteria_RunningStopTest" delay="0" conditionEdge="rising">
<ByValueCondition>
<ParameterCondition parameterRef="" value="" rule="lessThan"/>
</ByValueCondition>
</Condition>
<Condition name="criteria_RunningRedLightTest" delay="0" conditionEdge="rising">
<ByValueCondition>
<ParameterCondition parameterRef="" value="" rule="lessThan"/>
</ByValueCondition>
</Condition>
<Condition name="criteria_WrongLaneTest" delay="0" conditionEdge="rising">
<ByValueCondition>
<ParameterCondition parameterRef="" value="" rule="lessThan"/>
</ByValueCondition>
</Condition>
<Condition name="criteria_OnSidewalkTest" delay="0" conditionEdge="rising">
<ByValueCondition>
<ParameterCondition parameterRef="" value="" rule="lessThan"/>
</ByValueCondition>
</Condition>
<Condition name="criteria_KeepLaneTest" delay="0" conditionEdge="rising">
<ByValueCondition>
<ParameterCondition parameterRef="" value="" rule="lessThan"/>
</ByValueCondition>
</Condition>
<Condition name="criteria_CollisionTest" delay="0" conditionEdge="rising">
<ByValueCondition>
<ParameterCondition parameterRef="" value="" rule="lessThan"/>
</ByValueCondition>
</Condition>
<Condition name="criteria_DrivenDistanceTest" delay="0" conditionEdge="rising">
<ByValueCondition>
<ParameterCondition parameterRef="distance_success" value="100" rule="lessThan"/>
</ByValueCondition>
</Condition>
</ConditionGroup>
</StopTrigger>
</Storyboard>
</OpenSCENARIO>
``` | Here is the result:
```
<?xml version="1.0" ?>
<OpenSCENARIO>
<FileHeader revMajor="1" revMinor="0" date="2020-03-24T12:00:00" description="CARLA:LaneChangeSimple" author=""/>
<ParameterDeclarations/>
<CatalogLocations/>
<RoadNetwork>
<LogicFile filepath="Town04"/>
<SceneGraphFile filepath=""/>
</RoadNetwork>
<Entities>
<ScenarioObject name="hero">
<Vehicle name="vehicle.tesla.model3" vehicleCategory="car">
<ParameterDeclarations/>
<Performance maxSpeed="69.444" maxAcceleration="200" maxDeceleration="10.0"/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2.1" length="4.5" height="1.8"/>
</BoundingBox>
<Axles>
<FrontAxle maxSteering="0.5" wheelDiameter="0.6" trackWidth="1.8" positionX="3.1" positionZ="0.3"/>
<RearAxle maxSteering="0.0" wheelDiameter="0.6" trackWidth="1.8" positionX="0.0" positionZ="0.3"/>
</Axles>
<Properties>
<Property name="type" value="ego_vehicle"/>
</Properties>
</Vehicle>
</ScenarioObject>
<ScenarioObject name="adversary">
<Vehicle name="vehicle.lincoln.mkz_2017" vehicleCategory="car">
<ParameterDeclarations/>
<Performance maxSpeed="69.444" maxAcceleration="200" maxDeceleration="10.0"/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2.1" length="4.5" height="1.8"/>
</BoundingBox>
<Axles>
<FrontAxle maxSteering="0.5" wheelDiameter="0.6" trackWidth="1.8" positionX="3.1" positionZ="0.3"/>
<RearAxle maxSteering="0.0" wheelDiameter="0.6" trackWidth="1.8" positionX="0.0" positionZ="0.3"/>
</Axles>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Vehicle>
</ScenarioObject>
<ScenarioObject name="standing">
<Vehicle name="vehicle.volkswagen.t2" vehicleCategory="car">
<ParameterDeclarations/>
<Performance maxSpeed="69.444" maxAcceleration="200" maxDeceleration="10.0"/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2.1" length="4.5" height="1.8"/>
</BoundingBox>
<Axles>
<FrontAxle maxSteering="0.5" wheelDiameter="0.6" trackWidth="1.8" positionX="3.1" positionZ="0.3"/>
<RearAxle maxSteering="0.0" wheelDiameter="0.6" 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_30948">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_close_to_standing_30949">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_w_transform_30950">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_close_to_adversary_30951">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_w_transform_30953">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
</Entities>
<Storyboard>
<Init>
<Actions>
<GlobalAction>
<EnvironmentAction>
<Environment name="Environment1">
<TimeOfDay animation="false" dateTime="2019-06-25T12:00:00"/>
<Weather cloudState="free">
<Sun intensity="0.85" azimuth="0" elevation="1.31"/>
<Fog visualRange="100000.0"/>
<Precipitation precipitationType="dry" intensity="0.0"/>
</Weather>
<RoadCondition frictionScaleFactor="1.0"/>
</Environment>
</EnvironmentAction>
</GlobalAction>
<Private entityRef="hero">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-9.4" y="-152.8" z="0.5" h="1.57079632679"/>
</Position>
</TeleportAction>
</PrivateAction>
<PrivateAction>
<ControllerAction>
<AssignControllerAction>
<Controller name="HeroAgent">
<Properties>
<Property name="module" value="external_control"/>
</Properties>
</Controller>
</AssignControllerAction>
<OverrideControllerValueAction>
<Throttle value="0" active="false"/>
<Brake value="0" active="false"/>
<Clutch value="0" active="false"/>
<ParkingBrake value="0" active="false"/>
<SteeringWheel value="0" active="false"/>
<Gear number="0" active="false"/>
</OverrideControllerValueAction>
</ControllerAction>
</PrivateAction>
</Private>
<Private entityRef="adversary">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-9.4" y="-71.0" z="0.5" h="1.57079632679"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="standing">
<PrivateAction>
<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_30948">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-11.012754440307617" y="-165.60072326660156" z="0.001708297641016543"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_close_to_standing_30949">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-9.175909042358398" y="22.630403518676758" z="0.003020439064130187"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_w_transform_30950">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="46.51441955566406" y="48.98797607421875" z="0.5"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_close_to_adversary_30951">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-19.4881649017334" y="-67.11680603027344" z="0.03381381928920746"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_w_transform_30953">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-87.30318450927734" y="-65.74916076660156" 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_standing_3161?
```
<?xml version="1.0" ?>
<OpenSCENARIO>
<FileHeader revMajor="1" revMinor="0" date="2020-03-24T12:00:00" description="CARLA:LaneChangeSimple" author=""/>
<ParameterDeclarations/>
<CatalogLocations/>
<RoadNetwork>
<LogicFile filepath="Town04"/>
<SceneGraphFile filepath=""/>
</RoadNetwork>
<Entities>
<ScenarioObject name="hero">
<Vehicle name="vehicle.tesla.model3" vehicleCategory="car">
<ParameterDeclarations/>
<Performance maxSpeed="69.444" maxAcceleration="200" maxDeceleration="10.0"/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2.1" length="4.5" height="1.8"/>
</BoundingBox>
<Axles>
<FrontAxle maxSteering="0.5" wheelDiameter="0.6" trackWidth="1.8" positionX="3.1" positionZ="0.3"/>
<RearAxle maxSteering="0.0" wheelDiameter="0.6" trackWidth="1.8" positionX="0.0" positionZ="0.3"/>
</Axles>
<Properties>
<Property name="type" value="ego_vehicle"/>
</Properties>
</Vehicle>
</ScenarioObject>
<ScenarioObject name="adversary">
<Vehicle name="vehicle.lincoln.mkz_2017" vehicleCategory="car">
<ParameterDeclarations/>
<Performance maxSpeed="69.444" maxAcceleration="200" maxDeceleration="10.0"/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2.1" length="4.5" height="1.8"/>
</BoundingBox>
<Axles>
<FrontAxle maxSteering="0.5" wheelDiameter="0.6" trackWidth="1.8" positionX="3.1" positionZ="0.3"/>
<RearAxle maxSteering="0.0" wheelDiameter="0.6" trackWidth="1.8" positionX="0.0" positionZ="0.3"/>
</Axles>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Vehicle>
</ScenarioObject>
<ScenarioObject name="standing">
<Vehicle name="vehicle.volkswagen.t2" vehicleCategory="car">
<ParameterDeclarations/>
<Performance maxSpeed="69.444" maxAcceleration="200" maxDeceleration="10.0"/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2.1" length="4.5" height="1.8"/>
</BoundingBox>
<Axles>
<FrontAxle maxSteering="0.5" wheelDiameter="0.6" trackWidth="1.8" positionX="3.1" positionZ="0.3"/>
<RearAxle maxSteering="0.0" wheelDiameter="0.6" 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_3159">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_close_to_hero_3160">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_close_to_standing_3161">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_w_transform_3162">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_close_to_standing_3164">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_close_to_hero_3165">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_w_transform_3166">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_close_to_standing_3167">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_close_to_hero_3169">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_w_transform_3170">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_w_transform_3171">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_w_transform_3172">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_w_transform_3173">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_w_transform_3174">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_close_to_standing_3175">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
</Entities>
<Storyboard>
<Init>
<Actions>
<GlobalAction>
<EnvironmentAction>
<Environment name="Environment1">
<TimeOfDay animation="false" dateTime="2019-06-25T12:00:00"/>
<Weather cloudState="free">
<Sun intensity="0.85" azimuth="0" elevation="1.31"/>
<Fog visualRange="100000.0"/>
<Precipitation precipitationType="dry" intensity="0.0"/>
</Weather>
<RoadCondition frictionScaleFactor="1.0"/>
</Environment>
</EnvironmentAction>
</GlobalAction>
<Private entityRef="hero">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-9.4" y="-152.8" z="0.5" h="1.57079632679"/>
</Position>
</TeleportAction>
</PrivateAction>
<PrivateAction>
<ControllerAction>
<AssignControllerAction>
<Controller name="HeroAgent">
<Properties>
<Property name="module" value="external_control"/>
</Properties>
</Controller>
</AssignControllerAction>
<OverrideControllerValueAction>
<Throttle value="0" active="false"/>
<Brake value="0" active="false"/>
<Clutch value="0" active="false"/>
<ParkingBrake value="0" active="false"/>
<SteeringWheel value="0" active="false"/>
<Gear number="0" active="false"/>
</OverrideControllerValueAction>
</ControllerAction>
</PrivateAction>
</Private>
<Private entityRef="adversary">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-9.4" y="-71.0" z="0.5" h="1.57079632679"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="standing">
<PrivateAction>
<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_3159">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-11.798385620117188" y="-145.80343627929688" z="0.0013900374760851264"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_close_to_hero_3160">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-9.038185119628906" y="-156.0908203125" z="0.0013900374760851264"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_close_to_standing_3161">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="0.34847167134284973" y="33.549400329589844" z="0.0030056380201131105"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_w_transform_3162">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="91.5837173461914" y="57.2902946472168" z="0.5"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_close_to_standing_3164">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-27.041196823120117" y="16.96390724182129" z="0.003037414513528347"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_close_to_hero_3165">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-11.638493537902832" y="-145.25753784179688" z="0.0013900374760851264"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_w_transform_3166">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-34.37546157836914" y="56.13766098022461" z="0.5"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_close_to_standing_3167">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-1.5561747550964355" y="26.801719665527344" z="0.003051605075597763"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_close_to_hero_3169">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-10.711544036865234" y="-146.90155029296875" z="0.0013900374760851264"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_w_transform_3170">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="90.5535659790039" y="38.568031311035156" z="0.5"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_w_transform_3171">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-79.84455108642578" y="13.180366516113281" z="0.5"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_w_transform_3172">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-91.9482421875" y="-68.42125701904297" z="0.5"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_w_transform_3173">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-26.436662673950195" y="40.20988845825195" z="0.5"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_w_transform_3174">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="39.92780685424805" y="52.5604133605957" z="0.5"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_close_to_standing_3175">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-1.4753551483154297" y="30.814027786254883" z="0.0030416487716138363"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
</Actions>
</Init>
<Story name="MyStory">
<Act name="Behavior">
<ManeuverGroup maximumExecutionCount="1" name="ManeuverSequence">
<Actors selectTriggeringEntities="false">
<EntityRef entityRef="adversary"/>
</Actors>
<Maneuver name="LaneChangeSimpleManeuver">
<Event name="AdversaryAccelerates" priority="overwrite">
<Action name="AdversaryAccelerates">
<PrivateAction>
<LongitudinalAction>
<SpeedAction>
<SpeedActionDynamics dynamicsShape="step" value="50" dynamicsDimension="distance"/>
<SpeedActionTarget>
<AbsoluteTargetSpeed value="5.0"/>
</SpeedActionTarget>
</SpeedAction>
</LongitudinalAction>
</PrivateAction>
</Action>
<StartTrigger>
<ConditionGroup>
<Condition name="StartCondition" delay="0" conditionEdge="rising">
<ByEntityCondition>
<TriggeringEntities triggeringEntitiesRule="any">
<EntityRef entityRef="hero"/>
</TriggeringEntities>
<EntityCondition>
<RelativeDistanceCondition entityRef="adversary" relativeDistanceType="cartesianDistance" value="40.0" freespace="false" rule="lessThan"/>
</EntityCondition>
</ByEntityCondition>
</Condition>
</ConditionGroup>
</StartTrigger>
</Event>
<Event name="AdversaryChangesLane" priority="overwrite">
<Action name="AdversaryChangesLane">
<PrivateAction>
<LateralAction>
<LaneChangeAction>
<LaneChangeActionDynamics dynamicsShape="linear" value="25" dynamicsDimension="distance"/>
<LaneChangeTarget>
<RelativeTargetLane entityRef="adversary" value="-1"/>
</LaneChangeTarget>
</LaneChangeAction>
</LateralAction>
</PrivateAction>
</Action>
<StartTrigger>
<ConditionGroup>
<Condition name="AfterAdversaryAccelerates" delay="0" conditionEdge="rising">
<ByValueCondition>
<StoryboardElementStateCondition storyboardElementType="action" storyboardElementRef="AdversaryAccelerates" state="completeState"/>
</ByValueCondition>
</Condition>
</ConditionGroup>
</StartTrigger>
</Event>
</Maneuver>
</ManeuverGroup>
<StartTrigger>
<ConditionGroup>
<Condition name="OverallStartCondition" delay="0" conditionEdge="rising">
<ByEntityCondition>
<TriggeringEntities triggeringEntitiesRule="any">
<EntityRef entityRef="hero"/>
</TriggeringEntities>
<EntityCondition>
<TraveledDistanceCondition value="1.0"/>
</EntityCondition>
</ByEntityCondition>
</Condition>
<Condition name="StartTime" delay="0" conditionEdge="rising">
<ByValueCondition>
<SimulationTimeCondition value="0" rule="equalTo"/>
</ByValueCondition>
</Condition>
</ConditionGroup>
</StartTrigger>
<StopTrigger>
<ConditionGroup>
<Condition name="EndCondition" delay="0" conditionEdge="rising">
<ByEntityCondition>
<TriggeringEntities triggeringEntitiesRule="any">
<EntityRef entityRef="hero"/>
</TriggeringEntities>
<EntityCondition>
<TraveledDistanceCondition value="200.0"/>
</EntityCondition>
</ByEntityCondition>
</Condition>
</ConditionGroup>
</StopTrigger>
</Act>
</Story>
<StopTrigger>
<ConditionGroup>
<Condition name="criteria_RunningStopTest" delay="0" conditionEdge="rising">
<ByValueCondition>
<ParameterCondition parameterRef="" value="" rule="lessThan"/>
</ByValueCondition>
</Condition>
<Condition name="criteria_RunningRedLightTest" delay="0" conditionEdge="rising">
<ByValueCondition>
<ParameterCondition parameterRef="" value="" rule="lessThan"/>
</ByValueCondition>
</Condition>
<Condition name="criteria_WrongLaneTest" delay="0" conditionEdge="rising">
<ByValueCondition>
<ParameterCondition parameterRef="" value="" rule="lessThan"/>
</ByValueCondition>
</Condition>
<Condition name="criteria_OnSidewalkTest" delay="0" conditionEdge="rising">
<ByValueCondition>
<ParameterCondition parameterRef="" value="" rule="lessThan"/>
</ByValueCondition>
</Condition>
<Condition name="criteria_KeepLaneTest" delay="0" conditionEdge="rising">
<ByValueCondition>
<ParameterCondition parameterRef="" value="" rule="lessThan"/>
</ByValueCondition>
</Condition>
<Condition name="criteria_CollisionTest" delay="0" conditionEdge="rising">
<ByValueCondition>
<ParameterCondition parameterRef="" value="" rule="lessThan"/>
</ByValueCondition>
</Condition>
<Condition name="criteria_DrivenDistanceTest" delay="0" conditionEdge="rising">
<ByValueCondition>
<ParameterCondition parameterRef="distance_success" value="100" rule="lessThan"/>
</ByValueCondition>
</Condition>
</ConditionGroup>
</StopTrigger>
</Storyboard>
</OpenSCENARIO>
``` | Here is the result:
```
<?xml version="1.0" ?>
<OpenSCENARIO>
<FileHeader revMajor="1" revMinor="0" date="2020-03-24T12:00:00" description="CARLA:LaneChangeSimple" author=""/>
<ParameterDeclarations/>
<CatalogLocations/>
<RoadNetwork>
<LogicFile filepath="Town04"/>
<SceneGraphFile filepath=""/>
</RoadNetwork>
<Entities>
<ScenarioObject name="hero">
<Vehicle name="vehicle.tesla.model3" vehicleCategory="car">
<ParameterDeclarations/>
<Performance maxSpeed="69.444" maxAcceleration="200" maxDeceleration="10.0"/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2.1" length="4.5" height="1.8"/>
</BoundingBox>
<Axles>
<FrontAxle maxSteering="0.5" wheelDiameter="0.6" trackWidth="1.8" positionX="3.1" positionZ="0.3"/>
<RearAxle maxSteering="0.0" wheelDiameter="0.6" trackWidth="1.8" positionX="0.0" positionZ="0.3"/>
</Axles>
<Properties>
<Property name="type" value="ego_vehicle"/>
</Properties>
</Vehicle>
</ScenarioObject>
<ScenarioObject name="adversary">
<Vehicle name="vehicle.lincoln.mkz_2017" vehicleCategory="car">
<ParameterDeclarations/>
<Performance maxSpeed="69.444" maxAcceleration="200" maxDeceleration="10.0"/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2.1" length="4.5" height="1.8"/>
</BoundingBox>
<Axles>
<FrontAxle maxSteering="0.5" wheelDiameter="0.6" trackWidth="1.8" positionX="3.1" positionZ="0.3"/>
<RearAxle maxSteering="0.0" wheelDiameter="0.6" trackWidth="1.8" positionX="0.0" positionZ="0.3"/>
</Axles>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Vehicle>
</ScenarioObject>
<ScenarioObject name="standing">
<Vehicle name="vehicle.volkswagen.t2" vehicleCategory="car">
<ParameterDeclarations/>
<Performance maxSpeed="69.444" maxAcceleration="200" maxDeceleration="10.0"/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2.1" length="4.5" height="1.8"/>
</BoundingBox>
<Axles>
<FrontAxle maxSteering="0.5" wheelDiameter="0.6" trackWidth="1.8" positionX="3.1" positionZ="0.3"/>
<RearAxle maxSteering="0.0" wheelDiameter="0.6" 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_3159">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_close_to_hero_3160">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_w_transform_3162">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_close_to_standing_3164">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_close_to_hero_3165">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_w_transform_3166">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_close_to_standing_3167">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_close_to_hero_3169">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_w_transform_3170">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_w_transform_3171">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_w_transform_3172">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_w_transform_3173">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_w_transform_3174">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_close_to_standing_3175">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
</Entities>
<Storyboard>
<Init>
<Actions>
<GlobalAction>
<EnvironmentAction>
<Environment name="Environment1">
<TimeOfDay animation="false" dateTime="2019-06-25T12:00:00"/>
<Weather cloudState="free">
<Sun intensity="0.85" azimuth="0" elevation="1.31"/>
<Fog visualRange="100000.0"/>
<Precipitation precipitationType="dry" intensity="0.0"/>
</Weather>
<RoadCondition frictionScaleFactor="1.0"/>
</Environment>
</EnvironmentAction>
</GlobalAction>
<Private entityRef="hero">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-9.4" y="-152.8" z="0.5" h="1.57079632679"/>
</Position>
</TeleportAction>
</PrivateAction>
<PrivateAction>
<ControllerAction>
<AssignControllerAction>
<Controller name="HeroAgent">
<Properties>
<Property name="module" value="external_control"/>
</Properties>
</Controller>
</AssignControllerAction>
<OverrideControllerValueAction>
<Throttle value="0" active="false"/>
<Brake value="0" active="false"/>
<Clutch value="0" active="false"/>
<ParkingBrake value="0" active="false"/>
<SteeringWheel value="0" active="false"/>
<Gear number="0" active="false"/>
</OverrideControllerValueAction>
</ControllerAction>
</PrivateAction>
</Private>
<Private entityRef="adversary">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-9.4" y="-71.0" z="0.5" h="1.57079632679"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="standing">
<PrivateAction>
<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_3159">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-11.798385620117188" y="-145.80343627929688" z="0.0013900374760851264"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_close_to_hero_3160">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-9.038185119628906" y="-156.0908203125" z="0.0013900374760851264"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_w_transform_3162">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="91.5837173461914" y="57.2902946472168" z="0.5"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_close_to_standing_3164">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-27.041196823120117" y="16.96390724182129" z="0.003037414513528347"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_close_to_hero_3165">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-11.638493537902832" y="-145.25753784179688" z="0.0013900374760851264"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_w_transform_3166">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-34.37546157836914" y="56.13766098022461" z="0.5"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_close_to_standing_3167">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-1.5561747550964355" y="26.801719665527344" z="0.003051605075597763"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_close_to_hero_3169">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-10.711544036865234" y="-146.90155029296875" z="0.0013900374760851264"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_w_transform_3170">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="90.5535659790039" y="38.568031311035156" z="0.5"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_w_transform_3171">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-79.84455108642578" y="13.180366516113281" z="0.5"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_w_transform_3172">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-91.9482421875" y="-68.42125701904297" z="0.5"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_w_transform_3173">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-26.436662673950195" y="40.20988845825195" z="0.5"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_w_transform_3174">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="39.92780685424805" y="52.5604133605957" z="0.5"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_close_to_standing_3175">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-1.4753551483154297" y="30.814027786254883" z="0.0030416487716138363"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
</Actions>
</Init>
<Story name="MyStory">
<Act name="Behavior">
<ManeuverGroup maximumExecutionCount="1" name="ManeuverSequence">
<Actors selectTriggeringEntities="false">
<EntityRef entityRef="adversary"/>
</Actors>
<Maneuver name="LaneChangeSimpleManeuver">
<Event name="AdversaryAccelerates" priority="overwrite">
<Action name="AdversaryAccelerates">
<PrivateAction>
<LongitudinalAction>
<SpeedAction>
<SpeedActionDynamics dynamicsShape="step" value="50" dynamicsDimension="distance"/>
<SpeedActionTarget>
<AbsoluteTargetSpeed value="5.0"/>
</SpeedActionTarget>
</SpeedAction>
</LongitudinalAction>
</PrivateAction>
</Action>
<StartTrigger>
<ConditionGroup>
<Condition name="StartCondition" delay="0" conditionEdge="rising">
<ByEntityCondition>
<TriggeringEntities triggeringEntitiesRule="any">
<EntityRef entityRef="hero"/>
</TriggeringEntities>
<EntityCondition>
<RelativeDistanceCondition entityRef="adversary" relativeDistanceType="cartesianDistance" value="40.0" freespace="false" rule="lessThan"/>
</EntityCondition>
</ByEntityCondition>
</Condition>
</ConditionGroup>
</StartTrigger>
</Event>
<Event name="AdversaryChangesLane" priority="overwrite">
<Action name="AdversaryChangesLane">
<PrivateAction>
<LateralAction>
<LaneChangeAction>
<LaneChangeActionDynamics dynamicsShape="linear" value="25" dynamicsDimension="distance"/>
<LaneChangeTarget>
<RelativeTargetLane entityRef="adversary" value="-1"/>
</LaneChangeTarget>
</LaneChangeAction>
</LateralAction>
</PrivateAction>
</Action>
<StartTrigger>
<ConditionGroup>
<Condition name="AfterAdversaryAccelerates" delay="0" conditionEdge="rising">
<ByValueCondition>
<StoryboardElementStateCondition storyboardElementType="action" storyboardElementRef="AdversaryAccelerates" state="completeState"/>
</ByValueCondition>
</Condition>
</ConditionGroup>
</StartTrigger>
</Event>
</Maneuver>
</ManeuverGroup>
<StartTrigger>
<ConditionGroup>
<Condition name="OverallStartCondition" delay="0" conditionEdge="rising">
<ByEntityCondition>
<TriggeringEntities triggeringEntitiesRule="any">
<EntityRef entityRef="hero"/>
</TriggeringEntities>
<EntityCondition>
<TraveledDistanceCondition value="1.0"/>
</EntityCondition>
</ByEntityCondition>
</Condition>
<Condition name="StartTime" delay="0" conditionEdge="rising">
<ByValueCondition>
<SimulationTimeCondition value="0" rule="equalTo"/>
</ByValueCondition>
</Condition>
</ConditionGroup>
</StartTrigger>
<StopTrigger>
<ConditionGroup>
<Condition name="EndCondition" delay="0" conditionEdge="rising">
<ByEntityCondition>
<TriggeringEntities triggeringEntitiesRule="any">
<EntityRef entityRef="hero"/>
</TriggeringEntities>
<EntityCondition>
<TraveledDistanceCondition value="200.0"/>
</EntityCondition>
</ByEntityCondition>
</Condition>
</ConditionGroup>
</StopTrigger>
</Act>
</Story>
<StopTrigger>
<ConditionGroup>
<Condition name="criteria_RunningStopTest" delay="0" conditionEdge="rising">
<ByValueCondition>
<ParameterCondition parameterRef="" value="" rule="lessThan"/>
</ByValueCondition>
</Condition>
<Condition name="criteria_RunningRedLightTest" delay="0" conditionEdge="rising">
<ByValueCondition>
<ParameterCondition parameterRef="" value="" rule="lessThan"/>
</ByValueCondition>
</Condition>
<Condition name="criteria_WrongLaneTest" delay="0" conditionEdge="rising">
<ByValueCondition>
<ParameterCondition parameterRef="" value="" rule="lessThan"/>
</ByValueCondition>
</Condition>
<Condition name="criteria_OnSidewalkTest" delay="0" conditionEdge="rising">
<ByValueCondition>
<ParameterCondition parameterRef="" value="" rule="lessThan"/>
</ByValueCondition>
</Condition>
<Condition name="criteria_KeepLaneTest" delay="0" conditionEdge="rising">
<ByValueCondition>
<ParameterCondition parameterRef="" value="" rule="lessThan"/>
</ByValueCondition>
</Condition>
<Condition name="criteria_CollisionTest" delay="0" conditionEdge="rising">
<ByValueCondition>
<ParameterCondition parameterRef="" value="" rule="lessThan"/>
</ByValueCondition>
</Condition>
<Condition name="criteria_DrivenDistanceTest" delay="0" conditionEdge="rising">
<ByValueCondition>
<ParameterCondition parameterRef="distance_success" value="100" rule="lessThan"/>
</ByValueCondition>
</Condition>
</ConditionGroup>
</StopTrigger>
</Storyboard>
</OpenSCENARIO>
``` |
would you add pedestrian close to hero?
```
<?xml version="1.0" ?>
<OpenSCENARIO>
<FileHeader revMajor="1" revMinor="0" date="2020-03-24T12:00:00" description="CARLA:LaneChangeSimple" author=""/>
<ParameterDeclarations/>
<CatalogLocations/>
<RoadNetwork>
<LogicFile filepath="Town04"/>
<SceneGraphFile filepath=""/>
</RoadNetwork>
<Entities>
<ScenarioObject name="hero">
<Vehicle name="vehicle.tesla.model3" vehicleCategory="car">
<ParameterDeclarations/>
<Performance maxSpeed="69.444" maxAcceleration="200" maxDeceleration="10.0"/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2.1" length="4.5" height="1.8"/>
</BoundingBox>
<Axles>
<FrontAxle maxSteering="0.5" wheelDiameter="0.6" trackWidth="1.8" positionX="3.1" positionZ="0.3"/>
<RearAxle maxSteering="0.0" wheelDiameter="0.6" trackWidth="1.8" positionX="0.0" positionZ="0.3"/>
</Axles>
<Properties>
<Property name="type" value="ego_vehicle"/>
</Properties>
</Vehicle>
</ScenarioObject>
<ScenarioObject name="adversary">
<Vehicle name="vehicle.lincoln.mkz_2017" vehicleCategory="car">
<ParameterDeclarations/>
<Performance maxSpeed="69.444" maxAcceleration="200" maxDeceleration="10.0"/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2.1" length="4.5" height="1.8"/>
</BoundingBox>
<Axles>
<FrontAxle maxSteering="0.5" wheelDiameter="0.6" trackWidth="1.8" positionX="3.1" positionZ="0.3"/>
<RearAxle maxSteering="0.0" wheelDiameter="0.6" trackWidth="1.8" positionX="0.0" positionZ="0.3"/>
</Axles>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Vehicle>
</ScenarioObject>
<ScenarioObject name="standing">
<Vehicle name="vehicle.volkswagen.t2" vehicleCategory="car">
<ParameterDeclarations/>
<Performance maxSpeed="69.444" maxAcceleration="200" maxDeceleration="10.0"/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2.1" length="4.5" height="1.8"/>
</BoundingBox>
<Axles>
<FrontAxle maxSteering="0.5" wheelDiameter="0.6" trackWidth="1.8" positionX="3.1" positionZ="0.3"/>
<RearAxle maxSteering="0.0" wheelDiameter="0.6" trackWidth="1.8" positionX="0.0" positionZ="0.3"/>
</Axles>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Vehicle>
</ScenarioObject>
<ScenarioObject name="pedestrian_close_to_hero_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_w_transform_2572">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<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_close_to_adversary_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_close_to_adversary_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_close_to_standing_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_2578">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
</Entities>
<Storyboard>
<Init>
<Actions>
<GlobalAction>
<EnvironmentAction>
<Environment name="Environment1">
<TimeOfDay animation="false" dateTime="2019-06-25T12:00:00"/>
<Weather cloudState="free">
<Sun intensity="0.85" azimuth="0" elevation="1.31"/>
<Fog visualRange="100000.0"/>
<Precipitation precipitationType="dry" intensity="0.0"/>
</Weather>
<RoadCondition frictionScaleFactor="1.0"/>
</Environment>
</EnvironmentAction>
</GlobalAction>
<Private entityRef="hero">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-9.4" y="-152.8" z="0.5" h="1.57079632679"/>
</Position>
</TeleportAction>
</PrivateAction>
<PrivateAction>
<ControllerAction>
<AssignControllerAction>
<Controller name="HeroAgent">
<Properties>
<Property name="module" value="external_control"/>
</Properties>
</Controller>
</AssignControllerAction>
<OverrideControllerValueAction>
<Throttle value="0" active="false"/>
<Brake value="0" active="false"/>
<Clutch value="0" active="false"/>
<ParkingBrake value="0" active="false"/>
<SteeringWheel value="0" active="false"/>
<Gear number="0" active="false"/>
</OverrideControllerValueAction>
</ControllerAction>
</PrivateAction>
</Private>
<Private entityRef="adversary">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-9.4" y="-71.0" z="0.5" h="1.57079632679"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="standing">
<PrivateAction>
<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_2571">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-8.507936477661133" y="-149.89967346191406" z="0.0014652633108198643"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_w_transform_2572">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-1.2484709024429321" y="9.690597534179688" z="0.5"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_close_to_standing_2573">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-11.887467384338379" y="38.07872772216797" z="0.0030364226549863815"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_close_to_standing_2574">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-11.707551002502441" y="36.82511520385742" z="0.0030252838041633368"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_close_to_adversary_2575">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-4.669878005981445" y="-66.45387268066406" z="0.03379722684621811"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_close_to_adversary_2576">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-16.881956100463867" y="-72.31082916259766" z="0.033810921013355255"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_close_to_standing_2577">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-9.607158660888672" y="27.379186630249023" z="0.0030636214651167393"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_w_transform_2578">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-58.3731575012207" y="-78.59375" 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_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_w_transform_2572">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<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_close_to_adversary_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_close_to_adversary_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_close_to_standing_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_2578">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_close_to_hero_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>
</Entities>
<Storyboard>
<Init>
<Actions>
<GlobalAction>
<EnvironmentAction>
<Environment name="Environment1">
<TimeOfDay animation="false" dateTime="2019-06-25T12:00:00"/>
<Weather cloudState="free">
<Sun intensity="0.85" azimuth="0" elevation="1.31"/>
<Fog visualRange="100000.0"/>
<Precipitation precipitationType="dry" intensity="0.0"/>
</Weather>
<RoadCondition frictionScaleFactor="1.0"/>
</Environment>
</EnvironmentAction>
</GlobalAction>
<Private entityRef="hero">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-9.4" y="-152.8" z="0.5" h="1.57079632679"/>
</Position>
</TeleportAction>
</PrivateAction>
<PrivateAction>
<ControllerAction>
<AssignControllerAction>
<Controller name="HeroAgent">
<Properties>
<Property name="module" value="external_control"/>
</Properties>
</Controller>
</AssignControllerAction>
<OverrideControllerValueAction>
<Throttle value="0" active="false"/>
<Brake value="0" active="false"/>
<Clutch value="0" active="false"/>
<ParkingBrake value="0" active="false"/>
<SteeringWheel value="0" active="false"/>
<Gear number="0" active="false"/>
</OverrideControllerValueAction>
</ControllerAction>
</PrivateAction>
</Private>
<Private entityRef="adversary">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-9.4" y="-71.0" z="0.5" h="1.57079632679"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="standing">
<PrivateAction>
<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_2571">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-8.507936477661133" y="-149.89967346191406" z="0.0014652633108198643"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_w_transform_2572">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-1.2484709024429321" y="9.690597534179688" z="0.5"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_close_to_standing_2573">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-11.887467384338379" y="38.07872772216797" z="0.0030364226549863815"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_close_to_standing_2574">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-11.707551002502441" y="36.82511520385742" z="0.0030252838041633368"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_close_to_adversary_2575">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-4.669878005981445" y="-66.45387268066406" z="0.03379722684621811"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_close_to_adversary_2576">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-16.881956100463867" y="-72.31082916259766" z="0.033810921013355255"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_close_to_standing_2577">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-9.607158660888672" y="27.379186630249023" z="0.0030636214651167393"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_w_transform_2578">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-58.3731575012207" y="-78.59375" z="0.5"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_close_to_hero_2579">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-2.526097297668457" y="-152.04208374023438" 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>
``` |
can you 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_4898">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_close_to_hero_4899">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_w_transform_4900">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_w_transform_4901">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_close_to_adversary_4905">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_w_transform_4908">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_close_to_standing_4909">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_w_transform_4910">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_w_transform_4912">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_close_to_standing_4913">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_close_to_adversary_4914">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_w_transform_4915">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_close_to_adversary_4917">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_w_transform_4918">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_w_transform_4919">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_w_transform_4920">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_w_transform_4921">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
</Entities>
<Storyboard>
<Init>
<Actions>
<GlobalAction>
<EnvironmentAction>
<Environment name="Environment1">
<TimeOfDay animation="false" dateTime="2019-06-25T12:00:00"/>
<Weather cloudState="free">
<Sun intensity="0.85" azimuth="0" elevation="1.31"/>
<Fog visualRange="100000.0"/>
<Precipitation precipitationType="dry" intensity="0.0"/>
</Weather>
<RoadCondition frictionScaleFactor="1.0"/>
</Environment>
</EnvironmentAction>
</GlobalAction>
<Private entityRef="hero">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-9.4" y="-152.8" z="0.5" h="1.57079632679"/>
</Position>
</TeleportAction>
</PrivateAction>
<PrivateAction>
<ControllerAction>
<AssignControllerAction>
<Controller name="HeroAgent">
<Properties>
<Property name="module" value="external_control"/>
</Properties>
</Controller>
</AssignControllerAction>
<OverrideControllerValueAction>
<Throttle value="0" active="false"/>
<Brake value="0" active="false"/>
<Clutch value="0" active="false"/>
<ParkingBrake value="0" active="false"/>
<SteeringWheel value="0" active="false"/>
<Gear number="0" active="false"/>
</OverrideControllerValueAction>
</ControllerAction>
</PrivateAction>
</Private>
<Private entityRef="adversary">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-9.4" y="-71.0" z="0.5" h="1.57079632679"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="standing">
<PrivateAction>
<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_4898">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-14.216498374938965" y="-154.39422607421875" z="0.0015143966302275658"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_close_to_hero_4899">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-18.76354217529297" y="-145.41729736328125" z="0.0015143966302275658"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_w_transform_4900">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-77.95249938964844" y="1.7840241193771362" z="0.5"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_w_transform_4901">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-9.733671188354492" y="33.2945671081543" z="0.5"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_close_to_adversary_4905">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-6.138518333435059" y="-69.90955352783203" z="0.03382072225213051"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_w_transform_4908">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-24.592483520507812" y="58.73421859741211" z="0.5"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_close_to_standing_4909">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="0.7495512366294861" y="24.183988571166992" z="0.003099975408986211"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_w_transform_4910">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-40.64131164550781" y="-90.97109985351562" z="0.5"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_w_transform_4912">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-44.455013275146484" y="32.0605583190918" z="0.5"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_close_to_standing_4913">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-10.94082260131836" y="33.07771301269531" z="0.0030646133236587048"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_close_to_adversary_4914">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-13.72195053100586" y="-77.62189483642578" z="0.033780019730329514"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_w_transform_4915">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="62.69857406616211" y="19.258041381835938" z="0.5"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_close_to_adversary_4917">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-1.8185052871704102" y="-76.6417236328125" z="0.03376384824514389"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_w_transform_4918">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-28.227699279785156" y="27.108850479125977" z="0.5"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_w_transform_4919">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-19.64901351928711" y="65.90199279785156" z="0.5"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_w_transform_4920">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="86.31629943847656" y="-35.04389190673828" z="0.5"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_w_transform_4921">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-93.96461486816406" y="-85.95018768310547" 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_4898">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_close_to_hero_4899">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_w_transform_4900">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_w_transform_4901">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_close_to_adversary_4905">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_w_transform_4908">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_close_to_standing_4909">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_w_transform_4910">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_w_transform_4912">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_close_to_adversary_4914">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_w_transform_4915">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_close_to_adversary_4917">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_w_transform_4918">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_w_transform_4919">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_w_transform_4920">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_w_transform_4921">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
</Entities>
<Storyboard>
<Init>
<Actions>
<GlobalAction>
<EnvironmentAction>
<Environment name="Environment1">
<TimeOfDay animation="false" dateTime="2019-06-25T12:00:00"/>
<Weather cloudState="free">
<Sun intensity="0.85" azimuth="0" elevation="1.31"/>
<Fog visualRange="100000.0"/>
<Precipitation precipitationType="dry" intensity="0.0"/>
</Weather>
<RoadCondition frictionScaleFactor="1.0"/>
</Environment>
</EnvironmentAction>
</GlobalAction>
<Private entityRef="hero">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-9.4" y="-152.8" z="0.5" h="1.57079632679"/>
</Position>
</TeleportAction>
</PrivateAction>
<PrivateAction>
<ControllerAction>
<AssignControllerAction>
<Controller name="HeroAgent">
<Properties>
<Property name="module" value="external_control"/>
</Properties>
</Controller>
</AssignControllerAction>
<OverrideControllerValueAction>
<Throttle value="0" active="false"/>
<Brake value="0" active="false"/>
<Clutch value="0" active="false"/>
<ParkingBrake value="0" active="false"/>
<SteeringWheel value="0" active="false"/>
<Gear number="0" active="false"/>
</OverrideControllerValueAction>
</ControllerAction>
</PrivateAction>
</Private>
<Private entityRef="adversary">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-9.4" y="-71.0" z="0.5" h="1.57079632679"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="standing">
<PrivateAction>
<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_4898">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-14.216498374938965" y="-154.39422607421875" z="0.0015143966302275658"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_close_to_hero_4899">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-18.76354217529297" y="-145.41729736328125" z="0.0015143966302275658"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_w_transform_4900">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-77.95249938964844" y="1.7840241193771362" z="0.5"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_w_transform_4901">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-9.733671188354492" y="33.2945671081543" z="0.5"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_close_to_adversary_4905">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-6.138518333435059" y="-69.90955352783203" z="0.03382072225213051"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_w_transform_4908">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-24.592483520507812" y="58.73421859741211" z="0.5"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_close_to_standing_4909">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="0.7495512366294861" y="24.183988571166992" z="0.003099975408986211"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_w_transform_4910">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-40.64131164550781" y="-90.97109985351562" z="0.5"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_w_transform_4912">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-44.455013275146484" y="32.0605583190918" z="0.5"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_close_to_adversary_4914">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-13.72195053100586" y="-77.62189483642578" z="0.033780019730329514"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_w_transform_4915">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="62.69857406616211" y="19.258041381835938" z="0.5"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_close_to_adversary_4917">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-1.8185052871704102" y="-76.6417236328125" z="0.03376384824514389"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_w_transform_4918">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-28.227699279785156" y="27.108850479125977" z="0.5"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_w_transform_4919">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-19.64901351928711" y="65.90199279785156" z="0.5"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_w_transform_4920">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="86.31629943847656" y="-35.04389190673828" z="0.5"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_w_transform_4921">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-93.96461486816406" y="-85.95018768310547" z="0.5"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
</Actions>
</Init>
<Story name="MyStory">
<Act name="Behavior">
<ManeuverGroup maximumExecutionCount="1" name="ManeuverSequence">
<Actors selectTriggeringEntities="false">
<EntityRef entityRef="adversary"/>
</Actors>
<Maneuver name="LaneChangeSimpleManeuver">
<Event name="AdversaryAccelerates" priority="overwrite">
<Action name="AdversaryAccelerates">
<PrivateAction>
<LongitudinalAction>
<SpeedAction>
<SpeedActionDynamics dynamicsShape="step" value="50" dynamicsDimension="distance"/>
<SpeedActionTarget>
<AbsoluteTargetSpeed value="5.0"/>
</SpeedActionTarget>
</SpeedAction>
</LongitudinalAction>
</PrivateAction>
</Action>
<StartTrigger>
<ConditionGroup>
<Condition name="StartCondition" delay="0" conditionEdge="rising">
<ByEntityCondition>
<TriggeringEntities triggeringEntitiesRule="any">
<EntityRef entityRef="hero"/>
</TriggeringEntities>
<EntityCondition>
<RelativeDistanceCondition entityRef="adversary" relativeDistanceType="cartesianDistance" value="40.0" freespace="false" rule="lessThan"/>
</EntityCondition>
</ByEntityCondition>
</Condition>
</ConditionGroup>
</StartTrigger>
</Event>
<Event name="AdversaryChangesLane" priority="overwrite">
<Action name="AdversaryChangesLane">
<PrivateAction>
<LateralAction>
<LaneChangeAction>
<LaneChangeActionDynamics dynamicsShape="linear" value="25" dynamicsDimension="distance"/>
<LaneChangeTarget>
<RelativeTargetLane entityRef="adversary" value="-1"/>
</LaneChangeTarget>
</LaneChangeAction>
</LateralAction>
</PrivateAction>
</Action>
<StartTrigger>
<ConditionGroup>
<Condition name="AfterAdversaryAccelerates" delay="0" conditionEdge="rising">
<ByValueCondition>
<StoryboardElementStateCondition storyboardElementType="action" storyboardElementRef="AdversaryAccelerates" state="completeState"/>
</ByValueCondition>
</Condition>
</ConditionGroup>
</StartTrigger>
</Event>
</Maneuver>
</ManeuverGroup>
<StartTrigger>
<ConditionGroup>
<Condition name="OverallStartCondition" delay="0" conditionEdge="rising">
<ByEntityCondition>
<TriggeringEntities triggeringEntitiesRule="any">
<EntityRef entityRef="hero"/>
</TriggeringEntities>
<EntityCondition>
<TraveledDistanceCondition value="1.0"/>
</EntityCondition>
</ByEntityCondition>
</Condition>
<Condition name="StartTime" delay="0" conditionEdge="rising">
<ByValueCondition>
<SimulationTimeCondition value="0" rule="equalTo"/>
</ByValueCondition>
</Condition>
</ConditionGroup>
</StartTrigger>
<StopTrigger>
<ConditionGroup>
<Condition name="EndCondition" delay="0" conditionEdge="rising">
<ByEntityCondition>
<TriggeringEntities triggeringEntitiesRule="any">
<EntityRef entityRef="hero"/>
</TriggeringEntities>
<EntityCondition>
<TraveledDistanceCondition value="200.0"/>
</EntityCondition>
</ByEntityCondition>
</Condition>
</ConditionGroup>
</StopTrigger>
</Act>
</Story>
<StopTrigger>
<ConditionGroup>
<Condition name="criteria_RunningStopTest" delay="0" conditionEdge="rising">
<ByValueCondition>
<ParameterCondition parameterRef="" value="" rule="lessThan"/>
</ByValueCondition>
</Condition>
<Condition name="criteria_RunningRedLightTest" delay="0" conditionEdge="rising">
<ByValueCondition>
<ParameterCondition parameterRef="" value="" rule="lessThan"/>
</ByValueCondition>
</Condition>
<Condition name="criteria_WrongLaneTest" delay="0" conditionEdge="rising">
<ByValueCondition>
<ParameterCondition parameterRef="" value="" rule="lessThan"/>
</ByValueCondition>
</Condition>
<Condition name="criteria_OnSidewalkTest" delay="0" conditionEdge="rising">
<ByValueCondition>
<ParameterCondition parameterRef="" value="" rule="lessThan"/>
</ByValueCondition>
</Condition>
<Condition name="criteria_KeepLaneTest" delay="0" conditionEdge="rising">
<ByValueCondition>
<ParameterCondition parameterRef="" value="" rule="lessThan"/>
</ByValueCondition>
</Condition>
<Condition name="criteria_CollisionTest" delay="0" conditionEdge="rising">
<ByValueCondition>
<ParameterCondition parameterRef="" value="" rule="lessThan"/>
</ByValueCondition>
</Condition>
<Condition name="criteria_DrivenDistanceTest" delay="0" conditionEdge="rising">
<ByValueCondition>
<ParameterCondition parameterRef="distance_success" value="100" rule="lessThan"/>
</ByValueCondition>
</Condition>
</ConditionGroup>
</StopTrigger>
</Storyboard>
</OpenSCENARIO>
``` |
i would like to lead you to add pedestrian close to standing?
```
<?xml version="1.0" ?>
<OpenSCENARIO>
<FileHeader revMajor="1" revMinor="0" date="2020-03-24T12:00:00" description="CARLA:LaneChangeSimple" author=""/>
<ParameterDeclarations/>
<CatalogLocations/>
<RoadNetwork>
<LogicFile filepath="Town04"/>
<SceneGraphFile filepath=""/>
</RoadNetwork>
<Entities>
<ScenarioObject name="hero">
<Vehicle name="vehicle.tesla.model3" vehicleCategory="car">
<ParameterDeclarations/>
<Performance maxSpeed="69.444" maxAcceleration="200" maxDeceleration="10.0"/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2.1" length="4.5" height="1.8"/>
</BoundingBox>
<Axles>
<FrontAxle maxSteering="0.5" wheelDiameter="0.6" trackWidth="1.8" positionX="3.1" positionZ="0.3"/>
<RearAxle maxSteering="0.0" wheelDiameter="0.6" trackWidth="1.8" positionX="0.0" positionZ="0.3"/>
</Axles>
<Properties>
<Property name="type" value="ego_vehicle"/>
</Properties>
</Vehicle>
</ScenarioObject>
<ScenarioObject name="adversary">
<Vehicle name="vehicle.lincoln.mkz_2017" vehicleCategory="car">
<ParameterDeclarations/>
<Performance maxSpeed="69.444" maxAcceleration="200" maxDeceleration="10.0"/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2.1" length="4.5" height="1.8"/>
</BoundingBox>
<Axles>
<FrontAxle maxSteering="0.5" wheelDiameter="0.6" trackWidth="1.8" positionX="3.1" positionZ="0.3"/>
<RearAxle maxSteering="0.0" wheelDiameter="0.6" trackWidth="1.8" positionX="0.0" positionZ="0.3"/>
</Axles>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Vehicle>
</ScenarioObject>
<ScenarioObject name="standing">
<Vehicle name="vehicle.volkswagen.t2" vehicleCategory="car">
<ParameterDeclarations/>
<Performance maxSpeed="69.444" maxAcceleration="200" maxDeceleration="10.0"/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2.1" length="4.5" height="1.8"/>
</BoundingBox>
<Axles>
<FrontAxle maxSteering="0.5" wheelDiameter="0.6" trackWidth="1.8" positionX="3.1" positionZ="0.3"/>
<RearAxle maxSteering="0.0" wheelDiameter="0.6" trackWidth="1.8" positionX="0.0" positionZ="0.3"/>
</Axles>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Vehicle>
</ScenarioObject>
</Entities>
<Storyboard>
<Init>
<Actions>
<GlobalAction>
<EnvironmentAction>
<Environment name="Environment1">
<TimeOfDay animation="false" dateTime="2019-06-25T12:00:00"/>
<Weather cloudState="free">
<Sun intensity="0.85" azimuth="0" elevation="1.31"/>
<Fog visualRange="100000.0"/>
<Precipitation precipitationType="dry" intensity="0.0"/>
</Weather>
<RoadCondition frictionScaleFactor="1.0"/>
</Environment>
</EnvironmentAction>
</GlobalAction>
<Private entityRef="hero">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-9.4" y="-152.8" z="0.5" h="1.57079632679"/>
</Position>
</TeleportAction>
</PrivateAction>
<PrivateAction>
<ControllerAction>
<AssignControllerAction>
<Controller name="HeroAgent">
<Properties>
<Property name="module" value="external_control"/>
</Properties>
</Controller>
</AssignControllerAction>
<OverrideControllerValueAction>
<Throttle value="0" active="false"/>
<Brake value="0" active="false"/>
<Clutch value="0" active="false"/>
<ParkingBrake value="0" active="false"/>
<SteeringWheel value="0" active="false"/>
<Gear number="0" active="false"/>
</OverrideControllerValueAction>
</ControllerAction>
</PrivateAction>
</Private>
<Private entityRef="adversary">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-9.4" y="-71.0" z="0.5" h="1.57079632679"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="standing">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-8.2" y="29.2" z="0.5" h="1.57079632679"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
</Actions>
</Init>
<Story name="MyStory">
<Act name="Behavior">
<ManeuverGroup maximumExecutionCount="1" name="ManeuverSequence">
<Actors selectTriggeringEntities="false">
<EntityRef entityRef="adversary"/>
</Actors>
<Maneuver name="LaneChangeSimpleManeuver">
<Event name="AdversaryAccelerates" priority="overwrite">
<Action name="AdversaryAccelerates">
<PrivateAction>
<LongitudinalAction>
<SpeedAction>
<SpeedActionDynamics dynamicsShape="step" value="50" dynamicsDimension="distance"/>
<SpeedActionTarget>
<AbsoluteTargetSpeed value="5.0"/>
</SpeedActionTarget>
</SpeedAction>
</LongitudinalAction>
</PrivateAction>
</Action>
<StartTrigger>
<ConditionGroup>
<Condition name="StartCondition" delay="0" conditionEdge="rising">
<ByEntityCondition>
<TriggeringEntities triggeringEntitiesRule="any">
<EntityRef entityRef="hero"/>
</TriggeringEntities>
<EntityCondition>
<RelativeDistanceCondition entityRef="adversary" relativeDistanceType="cartesianDistance" value="40.0" freespace="false" rule="lessThan"/>
</EntityCondition>
</ByEntityCondition>
</Condition>
</ConditionGroup>
</StartTrigger>
</Event>
<Event name="AdversaryChangesLane" priority="overwrite">
<Action name="AdversaryChangesLane">
<PrivateAction>
<LateralAction>
<LaneChangeAction>
<LaneChangeActionDynamics dynamicsShape="linear" value="25" dynamicsDimension="distance"/>
<LaneChangeTarget>
<RelativeTargetLane entityRef="adversary" value="-1"/>
</LaneChangeTarget>
</LaneChangeAction>
</LateralAction>
</PrivateAction>
</Action>
<StartTrigger>
<ConditionGroup>
<Condition name="AfterAdversaryAccelerates" delay="0" conditionEdge="rising">
<ByValueCondition>
<StoryboardElementStateCondition storyboardElementType="action" storyboardElementRef="AdversaryAccelerates" state="completeState"/>
</ByValueCondition>
</Condition>
</ConditionGroup>
</StartTrigger>
</Event>
</Maneuver>
</ManeuverGroup>
<StartTrigger>
<ConditionGroup>
<Condition name="OverallStartCondition" delay="0" conditionEdge="rising">
<ByEntityCondition>
<TriggeringEntities triggeringEntitiesRule="any">
<EntityRef entityRef="hero"/>
</TriggeringEntities>
<EntityCondition>
<TraveledDistanceCondition value="1.0"/>
</EntityCondition>
</ByEntityCondition>
</Condition>
<Condition name="StartTime" delay="0" conditionEdge="rising">
<ByValueCondition>
<SimulationTimeCondition value="0" rule="equalTo"/>
</ByValueCondition>
</Condition>
</ConditionGroup>
</StartTrigger>
<StopTrigger>
<ConditionGroup>
<Condition name="EndCondition" delay="0" conditionEdge="rising">
<ByEntityCondition>
<TriggeringEntities triggeringEntitiesRule="any">
<EntityRef entityRef="hero"/>
</TriggeringEntities>
<EntityCondition>
<TraveledDistanceCondition value="200.0"/>
</EntityCondition>
</ByEntityCondition>
</Condition>
</ConditionGroup>
</StopTrigger>
</Act>
</Story>
<StopTrigger>
<ConditionGroup>
<Condition name="criteria_RunningStopTest" delay="0" conditionEdge="rising">
<ByValueCondition>
<ParameterCondition parameterRef="" value="" rule="lessThan"/>
</ByValueCondition>
</Condition>
<Condition name="criteria_RunningRedLightTest" delay="0" conditionEdge="rising">
<ByValueCondition>
<ParameterCondition parameterRef="" value="" rule="lessThan"/>
</ByValueCondition>
</Condition>
<Condition name="criteria_WrongLaneTest" delay="0" conditionEdge="rising">
<ByValueCondition>
<ParameterCondition parameterRef="" value="" rule="lessThan"/>
</ByValueCondition>
</Condition>
<Condition name="criteria_OnSidewalkTest" delay="0" conditionEdge="rising">
<ByValueCondition>
<ParameterCondition parameterRef="" value="" rule="lessThan"/>
</ByValueCondition>
</Condition>
<Condition name="criteria_KeepLaneTest" delay="0" conditionEdge="rising">
<ByValueCondition>
<ParameterCondition parameterRef="" value="" rule="lessThan"/>
</ByValueCondition>
</Condition>
<Condition name="criteria_CollisionTest" delay="0" conditionEdge="rising">
<ByValueCondition>
<ParameterCondition parameterRef="" value="" rule="lessThan"/>
</ByValueCondition>
</Condition>
<Condition name="criteria_DrivenDistanceTest" delay="0" conditionEdge="rising">
<ByValueCondition>
<ParameterCondition parameterRef="distance_success" value="100" rule="lessThan"/>
</ByValueCondition>
</Condition>
</ConditionGroup>
</StopTrigger>
</Storyboard>
</OpenSCENARIO>
``` | Here is the result:
```
<?xml version="1.0" ?>
<OpenSCENARIO>
<FileHeader revMajor="1" revMinor="0" date="2020-03-24T12:00:00" description="CARLA:LaneChangeSimple" author=""/>
<ParameterDeclarations/>
<CatalogLocations/>
<RoadNetwork>
<LogicFile filepath="Town04"/>
<SceneGraphFile filepath=""/>
</RoadNetwork>
<Entities>
<ScenarioObject name="hero">
<Vehicle name="vehicle.tesla.model3" vehicleCategory="car">
<ParameterDeclarations/>
<Performance maxSpeed="69.444" maxAcceleration="200" maxDeceleration="10.0"/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2.1" length="4.5" height="1.8"/>
</BoundingBox>
<Axles>
<FrontAxle maxSteering="0.5" wheelDiameter="0.6" trackWidth="1.8" positionX="3.1" positionZ="0.3"/>
<RearAxle maxSteering="0.0" wheelDiameter="0.6" trackWidth="1.8" positionX="0.0" positionZ="0.3"/>
</Axles>
<Properties>
<Property name="type" value="ego_vehicle"/>
</Properties>
</Vehicle>
</ScenarioObject>
<ScenarioObject name="adversary">
<Vehicle name="vehicle.lincoln.mkz_2017" vehicleCategory="car">
<ParameterDeclarations/>
<Performance maxSpeed="69.444" maxAcceleration="200" maxDeceleration="10.0"/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2.1" length="4.5" height="1.8"/>
</BoundingBox>
<Axles>
<FrontAxle maxSteering="0.5" wheelDiameter="0.6" trackWidth="1.8" positionX="3.1" positionZ="0.3"/>
<RearAxle maxSteering="0.0" wheelDiameter="0.6" trackWidth="1.8" positionX="0.0" positionZ="0.3"/>
</Axles>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Vehicle>
</ScenarioObject>
<ScenarioObject name="standing">
<Vehicle name="vehicle.volkswagen.t2" vehicleCategory="car">
<ParameterDeclarations/>
<Performance maxSpeed="69.444" maxAcceleration="200" maxDeceleration="10.0"/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2.1" length="4.5" height="1.8"/>
</BoundingBox>
<Axles>
<FrontAxle maxSteering="0.5" wheelDiameter="0.6" trackWidth="1.8" positionX="3.1" positionZ="0.3"/>
<RearAxle maxSteering="0.0" wheelDiameter="0.6" trackWidth="1.8" positionX="0.0" positionZ="0.3"/>
</Axles>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Vehicle>
</ScenarioObject>
<ScenarioObject name="pedestrian_close_to_standing_23323">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
</Entities>
<Storyboard>
<Init>
<Actions>
<GlobalAction>
<EnvironmentAction>
<Environment name="Environment1">
<TimeOfDay animation="false" dateTime="2019-06-25T12:00:00"/>
<Weather cloudState="free">
<Sun intensity="0.85" azimuth="0" elevation="1.31"/>
<Fog visualRange="100000.0"/>
<Precipitation precipitationType="dry" intensity="0.0"/>
</Weather>
<RoadCondition frictionScaleFactor="1.0"/>
</Environment>
</EnvironmentAction>
</GlobalAction>
<Private entityRef="hero">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-9.4" y="-152.8" z="0.5" h="1.57079632679"/>
</Position>
</TeleportAction>
</PrivateAction>
<PrivateAction>
<ControllerAction>
<AssignControllerAction>
<Controller name="HeroAgent">
<Properties>
<Property name="module" value="external_control"/>
</Properties>
</Controller>
</AssignControllerAction>
<OverrideControllerValueAction>
<Throttle value="0" active="false"/>
<Brake value="0" active="false"/>
<Clutch value="0" active="false"/>
<ParkingBrake value="0" active="false"/>
<SteeringWheel value="0" active="false"/>
<Gear number="0" active="false"/>
</OverrideControllerValueAction>
</ControllerAction>
</PrivateAction>
</Private>
<Private entityRef="adversary">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-9.4" y="-71.0" z="0.5" h="1.57079632679"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="standing">
<PrivateAction>
<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_23323">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-4.183267116546631" y="30.059986114501953" z="0.0030381393153220415"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
</Actions>
</Init>
<Story name="MyStory">
<Act name="Behavior">
<ManeuverGroup maximumExecutionCount="1" name="ManeuverSequence">
<Actors selectTriggeringEntities="false">
<EntityRef entityRef="adversary"/>
</Actors>
<Maneuver name="LaneChangeSimpleManeuver">
<Event name="AdversaryAccelerates" priority="overwrite">
<Action name="AdversaryAccelerates">
<PrivateAction>
<LongitudinalAction>
<SpeedAction>
<SpeedActionDynamics dynamicsShape="step" value="50" dynamicsDimension="distance"/>
<SpeedActionTarget>
<AbsoluteTargetSpeed value="5.0"/>
</SpeedActionTarget>
</SpeedAction>
</LongitudinalAction>
</PrivateAction>
</Action>
<StartTrigger>
<ConditionGroup>
<Condition name="StartCondition" delay="0" conditionEdge="rising">
<ByEntityCondition>
<TriggeringEntities triggeringEntitiesRule="any">
<EntityRef entityRef="hero"/>
</TriggeringEntities>
<EntityCondition>
<RelativeDistanceCondition entityRef="adversary" relativeDistanceType="cartesianDistance" value="40.0" freespace="false" rule="lessThan"/>
</EntityCondition>
</ByEntityCondition>
</Condition>
</ConditionGroup>
</StartTrigger>
</Event>
<Event name="AdversaryChangesLane" priority="overwrite">
<Action name="AdversaryChangesLane">
<PrivateAction>
<LateralAction>
<LaneChangeAction>
<LaneChangeActionDynamics dynamicsShape="linear" value="25" dynamicsDimension="distance"/>
<LaneChangeTarget>
<RelativeTargetLane entityRef="adversary" value="-1"/>
</LaneChangeTarget>
</LaneChangeAction>
</LateralAction>
</PrivateAction>
</Action>
<StartTrigger>
<ConditionGroup>
<Condition name="AfterAdversaryAccelerates" delay="0" conditionEdge="rising">
<ByValueCondition>
<StoryboardElementStateCondition storyboardElementType="action" storyboardElementRef="AdversaryAccelerates" state="completeState"/>
</ByValueCondition>
</Condition>
</ConditionGroup>
</StartTrigger>
</Event>
</Maneuver>
</ManeuverGroup>
<StartTrigger>
<ConditionGroup>
<Condition name="OverallStartCondition" delay="0" conditionEdge="rising">
<ByEntityCondition>
<TriggeringEntities triggeringEntitiesRule="any">
<EntityRef entityRef="hero"/>
</TriggeringEntities>
<EntityCondition>
<TraveledDistanceCondition value="1.0"/>
</EntityCondition>
</ByEntityCondition>
</Condition>
<Condition name="StartTime" delay="0" conditionEdge="rising">
<ByValueCondition>
<SimulationTimeCondition value="0" rule="equalTo"/>
</ByValueCondition>
</Condition>
</ConditionGroup>
</StartTrigger>
<StopTrigger>
<ConditionGroup>
<Condition name="EndCondition" delay="0" conditionEdge="rising">
<ByEntityCondition>
<TriggeringEntities triggeringEntitiesRule="any">
<EntityRef entityRef="hero"/>
</TriggeringEntities>
<EntityCondition>
<TraveledDistanceCondition value="200.0"/>
</EntityCondition>
</ByEntityCondition>
</Condition>
</ConditionGroup>
</StopTrigger>
</Act>
</Story>
<StopTrigger>
<ConditionGroup>
<Condition name="criteria_RunningStopTest" delay="0" conditionEdge="rising">
<ByValueCondition>
<ParameterCondition parameterRef="" value="" rule="lessThan"/>
</ByValueCondition>
</Condition>
<Condition name="criteria_RunningRedLightTest" delay="0" conditionEdge="rising">
<ByValueCondition>
<ParameterCondition parameterRef="" value="" rule="lessThan"/>
</ByValueCondition>
</Condition>
<Condition name="criteria_WrongLaneTest" delay="0" conditionEdge="rising">
<ByValueCondition>
<ParameterCondition parameterRef="" value="" rule="lessThan"/>
</ByValueCondition>
</Condition>
<Condition name="criteria_OnSidewalkTest" delay="0" conditionEdge="rising">
<ByValueCondition>
<ParameterCondition parameterRef="" value="" rule="lessThan"/>
</ByValueCondition>
</Condition>
<Condition name="criteria_KeepLaneTest" delay="0" conditionEdge="rising">
<ByValueCondition>
<ParameterCondition parameterRef="" value="" rule="lessThan"/>
</ByValueCondition>
</Condition>
<Condition name="criteria_CollisionTest" delay="0" conditionEdge="rising">
<ByValueCondition>
<ParameterCondition parameterRef="" value="" rule="lessThan"/>
</ByValueCondition>
</Condition>
<Condition name="criteria_DrivenDistanceTest" delay="0" conditionEdge="rising">
<ByValueCondition>
<ParameterCondition parameterRef="distance_success" value="100" rule="lessThan"/>
</ByValueCondition>
</Condition>
</ConditionGroup>
</StopTrigger>
</Storyboard>
</OpenSCENARIO>
``` |
i want you to add pedestrian close to standing?
```
<?xml version="1.0" ?>
<OpenSCENARIO>
<FileHeader revMajor="1" revMinor="0" date="2020-03-24T12:00:00" description="CARLA:LaneChangeSimple" author=""/>
<ParameterDeclarations/>
<CatalogLocations/>
<RoadNetwork>
<LogicFile filepath="Town04"/>
<SceneGraphFile filepath=""/>
</RoadNetwork>
<Entities>
<ScenarioObject name="hero">
<Vehicle name="vehicle.tesla.model3" vehicleCategory="car">
<ParameterDeclarations/>
<Performance maxSpeed="69.444" maxAcceleration="200" maxDeceleration="10.0"/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2.1" length="4.5" height="1.8"/>
</BoundingBox>
<Axles>
<FrontAxle maxSteering="0.5" wheelDiameter="0.6" trackWidth="1.8" positionX="3.1" positionZ="0.3"/>
<RearAxle maxSteering="0.0" wheelDiameter="0.6" trackWidth="1.8" positionX="0.0" positionZ="0.3"/>
</Axles>
<Properties>
<Property name="type" value="ego_vehicle"/>
</Properties>
</Vehicle>
</ScenarioObject>
<ScenarioObject name="adversary">
<Vehicle name="vehicle.lincoln.mkz_2017" vehicleCategory="car">
<ParameterDeclarations/>
<Performance maxSpeed="69.444" maxAcceleration="200" maxDeceleration="10.0"/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2.1" length="4.5" height="1.8"/>
</BoundingBox>
<Axles>
<FrontAxle maxSteering="0.5" wheelDiameter="0.6" trackWidth="1.8" positionX="3.1" positionZ="0.3"/>
<RearAxle maxSteering="0.0" wheelDiameter="0.6" trackWidth="1.8" positionX="0.0" positionZ="0.3"/>
</Axles>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Vehicle>
</ScenarioObject>
<ScenarioObject name="standing">
<Vehicle name="vehicle.volkswagen.t2" vehicleCategory="car">
<ParameterDeclarations/>
<Performance maxSpeed="69.444" maxAcceleration="200" maxDeceleration="10.0"/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2.1" length="4.5" height="1.8"/>
</BoundingBox>
<Axles>
<FrontAxle maxSteering="0.5" wheelDiameter="0.6" trackWidth="1.8" positionX="3.1" positionZ="0.3"/>
<RearAxle maxSteering="0.0" wheelDiameter="0.6" trackWidth="1.8" positionX="0.0" positionZ="0.3"/>
</Axles>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Vehicle>
</ScenarioObject>
<ScenarioObject name="pedestrian_close_to_hero_7688">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_w_transform_7689">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_close_to_hero_7690">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_close_to_adversary_7691">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_close_to_adversary_7692">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_w_transform_7693">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
</Entities>
<Storyboard>
<Init>
<Actions>
<GlobalAction>
<EnvironmentAction>
<Environment name="Environment1">
<TimeOfDay animation="false" dateTime="2019-06-25T12:00:00"/>
<Weather cloudState="free">
<Sun intensity="0.85" azimuth="0" elevation="1.31"/>
<Fog visualRange="100000.0"/>
<Precipitation precipitationType="dry" intensity="0.0"/>
</Weather>
<RoadCondition frictionScaleFactor="1.0"/>
</Environment>
</EnvironmentAction>
</GlobalAction>
<Private entityRef="hero">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-9.4" y="-152.8" z="0.5" h="1.57079632679"/>
</Position>
</TeleportAction>
</PrivateAction>
<PrivateAction>
<ControllerAction>
<AssignControllerAction>
<Controller name="HeroAgent">
<Properties>
<Property name="module" value="external_control"/>
</Properties>
</Controller>
</AssignControllerAction>
<OverrideControllerValueAction>
<Throttle value="0" active="false"/>
<Brake value="0" active="false"/>
<Clutch value="0" active="false"/>
<ParkingBrake value="0" active="false"/>
<SteeringWheel value="0" active="false"/>
<Gear number="0" active="false"/>
</OverrideControllerValueAction>
</ControllerAction>
</PrivateAction>
</Private>
<Private entityRef="adversary">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-9.4" y="-71.0" z="0.5" h="1.57079632679"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="standing">
<PrivateAction>
<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_7688">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-6.351790904998779" y="-232.12245178222656" z="0.0017178343841806054"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_w_transform_7689">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-50.196048736572266" y="-69.51780700683594" z="0.5"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_close_to_hero_7690">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-10.487195014953613" y="-226.17337036132812" z="0.0017033767653629184"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_close_to_adversary_7691">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="5.549252033233643" y="-72.93528747558594" z="0.03379100561141968"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_close_to_adversary_7692">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-1.2014272212982178" y="-61.8598518371582" z="0.03376403823494911"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_w_transform_7693">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="92.53327178955078" y="-78.19895935058594" 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_7688">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_w_transform_7689">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_close_to_hero_7690">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_close_to_adversary_7691">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_close_to_adversary_7692">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_w_transform_7693">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_close_to_standing_7694">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
</Entities>
<Storyboard>
<Init>
<Actions>
<GlobalAction>
<EnvironmentAction>
<Environment name="Environment1">
<TimeOfDay animation="false" dateTime="2019-06-25T12:00:00"/>
<Weather cloudState="free">
<Sun intensity="0.85" azimuth="0" elevation="1.31"/>
<Fog visualRange="100000.0"/>
<Precipitation precipitationType="dry" intensity="0.0"/>
</Weather>
<RoadCondition frictionScaleFactor="1.0"/>
</Environment>
</EnvironmentAction>
</GlobalAction>
<Private entityRef="hero">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-9.4" y="-152.8" z="0.5" h="1.57079632679"/>
</Position>
</TeleportAction>
</PrivateAction>
<PrivateAction>
<ControllerAction>
<AssignControllerAction>
<Controller name="HeroAgent">
<Properties>
<Property name="module" value="external_control"/>
</Properties>
</Controller>
</AssignControllerAction>
<OverrideControllerValueAction>
<Throttle value="0" active="false"/>
<Brake value="0" active="false"/>
<Clutch value="0" active="false"/>
<ParkingBrake value="0" active="false"/>
<SteeringWheel value="0" active="false"/>
<Gear number="0" active="false"/>
</OverrideControllerValueAction>
</ControllerAction>
</PrivateAction>
</Private>
<Private entityRef="adversary">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-9.4" y="-71.0" z="0.5" h="1.57079632679"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="standing">
<PrivateAction>
<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_7688">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-6.351790904998779" y="-232.12245178222656" z="0.0017178343841806054"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_w_transform_7689">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-50.196048736572266" y="-69.51780700683594" z="0.5"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_close_to_hero_7690">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-10.487195014953613" y="-226.17337036132812" z="0.0017033767653629184"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_close_to_adversary_7691">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="5.549252033233643" y="-72.93528747558594" z="0.03379100561141968"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_close_to_adversary_7692">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-1.2014272212982178" y="-61.8598518371582" z="0.03376403823494911"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_w_transform_7693">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="92.53327178955078" y="-78.19895935058594" z="0.5"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_close_to_standing_7694">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-8.36546802520752" y="37.31900405883789" z="0.0030378722585737705"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
</Actions>
</Init>
<Story name="MyStory">
<Act name="Behavior">
<ManeuverGroup maximumExecutionCount="1" name="ManeuverSequence">
<Actors selectTriggeringEntities="false">
<EntityRef entityRef="adversary"/>
</Actors>
<Maneuver name="LaneChangeSimpleManeuver">
<Event name="AdversaryAccelerates" priority="overwrite">
<Action name="AdversaryAccelerates">
<PrivateAction>
<LongitudinalAction>
<SpeedAction>
<SpeedActionDynamics dynamicsShape="step" value="50" dynamicsDimension="distance"/>
<SpeedActionTarget>
<AbsoluteTargetSpeed value="5.0"/>
</SpeedActionTarget>
</SpeedAction>
</LongitudinalAction>
</PrivateAction>
</Action>
<StartTrigger>
<ConditionGroup>
<Condition name="StartCondition" delay="0" conditionEdge="rising">
<ByEntityCondition>
<TriggeringEntities triggeringEntitiesRule="any">
<EntityRef entityRef="hero"/>
</TriggeringEntities>
<EntityCondition>
<RelativeDistanceCondition entityRef="adversary" relativeDistanceType="cartesianDistance" value="40.0" freespace="false" rule="lessThan"/>
</EntityCondition>
</ByEntityCondition>
</Condition>
</ConditionGroup>
</StartTrigger>
</Event>
<Event name="AdversaryChangesLane" priority="overwrite">
<Action name="AdversaryChangesLane">
<PrivateAction>
<LateralAction>
<LaneChangeAction>
<LaneChangeActionDynamics dynamicsShape="linear" value="25" dynamicsDimension="distance"/>
<LaneChangeTarget>
<RelativeTargetLane entityRef="adversary" value="-1"/>
</LaneChangeTarget>
</LaneChangeAction>
</LateralAction>
</PrivateAction>
</Action>
<StartTrigger>
<ConditionGroup>
<Condition name="AfterAdversaryAccelerates" delay="0" conditionEdge="rising">
<ByValueCondition>
<StoryboardElementStateCondition storyboardElementType="action" storyboardElementRef="AdversaryAccelerates" state="completeState"/>
</ByValueCondition>
</Condition>
</ConditionGroup>
</StartTrigger>
</Event>
</Maneuver>
</ManeuverGroup>
<StartTrigger>
<ConditionGroup>
<Condition name="OverallStartCondition" delay="0" conditionEdge="rising">
<ByEntityCondition>
<TriggeringEntities triggeringEntitiesRule="any">
<EntityRef entityRef="hero"/>
</TriggeringEntities>
<EntityCondition>
<TraveledDistanceCondition value="1.0"/>
</EntityCondition>
</ByEntityCondition>
</Condition>
<Condition name="StartTime" delay="0" conditionEdge="rising">
<ByValueCondition>
<SimulationTimeCondition value="0" rule="equalTo"/>
</ByValueCondition>
</Condition>
</ConditionGroup>
</StartTrigger>
<StopTrigger>
<ConditionGroup>
<Condition name="EndCondition" delay="0" conditionEdge="rising">
<ByEntityCondition>
<TriggeringEntities triggeringEntitiesRule="any">
<EntityRef entityRef="hero"/>
</TriggeringEntities>
<EntityCondition>
<TraveledDistanceCondition value="200.0"/>
</EntityCondition>
</ByEntityCondition>
</Condition>
</ConditionGroup>
</StopTrigger>
</Act>
</Story>
<StopTrigger>
<ConditionGroup>
<Condition name="criteria_RunningStopTest" delay="0" conditionEdge="rising">
<ByValueCondition>
<ParameterCondition parameterRef="" value="" rule="lessThan"/>
</ByValueCondition>
</Condition>
<Condition name="criteria_RunningRedLightTest" delay="0" conditionEdge="rising">
<ByValueCondition>
<ParameterCondition parameterRef="" value="" rule="lessThan"/>
</ByValueCondition>
</Condition>
<Condition name="criteria_WrongLaneTest" delay="0" conditionEdge="rising">
<ByValueCondition>
<ParameterCondition parameterRef="" value="" rule="lessThan"/>
</ByValueCondition>
</Condition>
<Condition name="criteria_OnSidewalkTest" delay="0" conditionEdge="rising">
<ByValueCondition>
<ParameterCondition parameterRef="" value="" rule="lessThan"/>
</ByValueCondition>
</Condition>
<Condition name="criteria_KeepLaneTest" delay="0" conditionEdge="rising">
<ByValueCondition>
<ParameterCondition parameterRef="" value="" rule="lessThan"/>
</ByValueCondition>
</Condition>
<Condition name="criteria_CollisionTest" delay="0" conditionEdge="rising">
<ByValueCondition>
<ParameterCondition parameterRef="" value="" rule="lessThan"/>
</ByValueCondition>
</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 (23.06, 94.06, 0.5)?
```
<?xml version="1.0" ?>
<OpenSCENARIO>
<FileHeader revMajor="1" revMinor="0" date="2020-03-24T12:00:00" description="CARLA:LaneChangeSimple" author=""/>
<ParameterDeclarations/>
<CatalogLocations/>
<RoadNetwork>
<LogicFile filepath="Town04"/>
<SceneGraphFile filepath=""/>
</RoadNetwork>
<Entities>
<ScenarioObject name="hero">
<Vehicle name="vehicle.tesla.model3" vehicleCategory="car">
<ParameterDeclarations/>
<Performance maxSpeed="69.444" maxAcceleration="200" maxDeceleration="10.0"/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2.1" length="4.5" height="1.8"/>
</BoundingBox>
<Axles>
<FrontAxle maxSteering="0.5" wheelDiameter="0.6" trackWidth="1.8" positionX="3.1" positionZ="0.3"/>
<RearAxle maxSteering="0.0" wheelDiameter="0.6" trackWidth="1.8" positionX="0.0" positionZ="0.3"/>
</Axles>
<Properties>
<Property name="type" value="ego_vehicle"/>
</Properties>
</Vehicle>
</ScenarioObject>
<ScenarioObject name="adversary">
<Vehicle name="vehicle.lincoln.mkz_2017" vehicleCategory="car">
<ParameterDeclarations/>
<Performance maxSpeed="69.444" maxAcceleration="200" maxDeceleration="10.0"/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2.1" length="4.5" height="1.8"/>
</BoundingBox>
<Axles>
<FrontAxle maxSteering="0.5" wheelDiameter="0.6" trackWidth="1.8" positionX="3.1" positionZ="0.3"/>
<RearAxle maxSteering="0.0" wheelDiameter="0.6" trackWidth="1.8" positionX="0.0" positionZ="0.3"/>
</Axles>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Vehicle>
</ScenarioObject>
<ScenarioObject name="standing">
<Vehicle name="vehicle.volkswagen.t2" vehicleCategory="car">
<ParameterDeclarations/>
<Performance maxSpeed="69.444" maxAcceleration="200" maxDeceleration="10.0"/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2.1" length="4.5" height="1.8"/>
</BoundingBox>
<Axles>
<FrontAxle maxSteering="0.5" wheelDiameter="0.6" trackWidth="1.8" positionX="3.1" positionZ="0.3"/>
<RearAxle maxSteering="0.0" wheelDiameter="0.6" trackWidth="1.8" positionX="0.0" positionZ="0.3"/>
</Axles>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Vehicle>
</ScenarioObject>
<ScenarioObject name="pedestrian_close_to_standing_7036">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_close_to_adversary_7037">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_close_to_hero_7038">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
</Entities>
<Storyboard>
<Init>
<Actions>
<GlobalAction>
<EnvironmentAction>
<Environment name="Environment1">
<TimeOfDay animation="false" dateTime="2019-06-25T12:00:00"/>
<Weather cloudState="free">
<Sun intensity="0.85" azimuth="0" elevation="1.31"/>
<Fog visualRange="100000.0"/>
<Precipitation precipitationType="dry" intensity="0.0"/>
</Weather>
<RoadCondition frictionScaleFactor="1.0"/>
</Environment>
</EnvironmentAction>
</GlobalAction>
<Private entityRef="hero">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-9.4" y="-152.8" z="0.5" h="1.57079632679"/>
</Position>
</TeleportAction>
</PrivateAction>
<PrivateAction>
<ControllerAction>
<AssignControllerAction>
<Controller name="HeroAgent">
<Properties>
<Property name="module" value="external_control"/>
</Properties>
</Controller>
</AssignControllerAction>
<OverrideControllerValueAction>
<Throttle value="0" active="false"/>
<Brake value="0" active="false"/>
<Clutch value="0" active="false"/>
<ParkingBrake value="0" active="false"/>
<SteeringWheel value="0" active="false"/>
<Gear number="0" active="false"/>
</OverrideControllerValueAction>
</ControllerAction>
</PrivateAction>
</Private>
<Private entityRef="adversary">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-9.4" y="-71.0" z="0.5" h="1.57079632679"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="standing">
<PrivateAction>
<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_7036">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-12.145638465881348" y="29.675100326538086" z="0.0030917739495635033"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_close_to_adversary_7037">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-6.107816219329834" y="-67.18144226074219" z="0.03381885588169098"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_close_to_hero_7038">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-8.09766674041748" y="-149.2664031982422" z="0.0015143966302275658"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
</Actions>
</Init>
<Story name="MyStory">
<Act name="Behavior">
<ManeuverGroup maximumExecutionCount="1" name="ManeuverSequence">
<Actors selectTriggeringEntities="false">
<EntityRef entityRef="adversary"/>
</Actors>
<Maneuver name="LaneChangeSimpleManeuver">
<Event name="AdversaryAccelerates" priority="overwrite">
<Action name="AdversaryAccelerates">
<PrivateAction>
<LongitudinalAction>
<SpeedAction>
<SpeedActionDynamics dynamicsShape="step" value="50" dynamicsDimension="distance"/>
<SpeedActionTarget>
<AbsoluteTargetSpeed value="5.0"/>
</SpeedActionTarget>
</SpeedAction>
</LongitudinalAction>
</PrivateAction>
</Action>
<StartTrigger>
<ConditionGroup>
<Condition name="StartCondition" delay="0" conditionEdge="rising">
<ByEntityCondition>
<TriggeringEntities triggeringEntitiesRule="any">
<EntityRef entityRef="hero"/>
</TriggeringEntities>
<EntityCondition>
<RelativeDistanceCondition entityRef="adversary" relativeDistanceType="cartesianDistance" value="40.0" freespace="false" rule="lessThan"/>
</EntityCondition>
</ByEntityCondition>
</Condition>
</ConditionGroup>
</StartTrigger>
</Event>
<Event name="AdversaryChangesLane" priority="overwrite">
<Action name="AdversaryChangesLane">
<PrivateAction>
<LateralAction>
<LaneChangeAction>
<LaneChangeActionDynamics dynamicsShape="linear" value="25" dynamicsDimension="distance"/>
<LaneChangeTarget>
<RelativeTargetLane entityRef="adversary" value="-1"/>
</LaneChangeTarget>
</LaneChangeAction>
</LateralAction>
</PrivateAction>
</Action>
<StartTrigger>
<ConditionGroup>
<Condition name="AfterAdversaryAccelerates" delay="0" conditionEdge="rising">
<ByValueCondition>
<StoryboardElementStateCondition storyboardElementType="action" storyboardElementRef="AdversaryAccelerates" state="completeState"/>
</ByValueCondition>
</Condition>
</ConditionGroup>
</StartTrigger>
</Event>
</Maneuver>
</ManeuverGroup>
<StartTrigger>
<ConditionGroup>
<Condition name="OverallStartCondition" delay="0" conditionEdge="rising">
<ByEntityCondition>
<TriggeringEntities triggeringEntitiesRule="any">
<EntityRef entityRef="hero"/>
</TriggeringEntities>
<EntityCondition>
<TraveledDistanceCondition value="1.0"/>
</EntityCondition>
</ByEntityCondition>
</Condition>
<Condition name="StartTime" delay="0" conditionEdge="rising">
<ByValueCondition>
<SimulationTimeCondition value="0" rule="equalTo"/>
</ByValueCondition>
</Condition>
</ConditionGroup>
</StartTrigger>
<StopTrigger>
<ConditionGroup>
<Condition name="EndCondition" delay="0" conditionEdge="rising">
<ByEntityCondition>
<TriggeringEntities triggeringEntitiesRule="any">
<EntityRef entityRef="hero"/>
</TriggeringEntities>
<EntityCondition>
<TraveledDistanceCondition value="200.0"/>
</EntityCondition>
</ByEntityCondition>
</Condition>
</ConditionGroup>
</StopTrigger>
</Act>
</Story>
<StopTrigger>
<ConditionGroup>
<Condition name="criteria_RunningStopTest" delay="0" conditionEdge="rising">
<ByValueCondition>
<ParameterCondition parameterRef="" value="" rule="lessThan"/>
</ByValueCondition>
</Condition>
<Condition name="criteria_RunningRedLightTest" delay="0" conditionEdge="rising">
<ByValueCondition>
<ParameterCondition parameterRef="" value="" rule="lessThan"/>
</ByValueCondition>
</Condition>
<Condition name="criteria_WrongLaneTest" delay="0" conditionEdge="rising">
<ByValueCondition>
<ParameterCondition parameterRef="" value="" rule="lessThan"/>
</ByValueCondition>
</Condition>
<Condition name="criteria_OnSidewalkTest" delay="0" conditionEdge="rising">
<ByValueCondition>
<ParameterCondition parameterRef="" value="" rule="lessThan"/>
</ByValueCondition>
</Condition>
<Condition name="criteria_KeepLaneTest" delay="0" conditionEdge="rising">
<ByValueCondition>
<ParameterCondition parameterRef="" value="" rule="lessThan"/>
</ByValueCondition>
</Condition>
<Condition name="criteria_CollisionTest" delay="0" conditionEdge="rising">
<ByValueCondition>
<ParameterCondition parameterRef="" value="" rule="lessThan"/>
</ByValueCondition>
</Condition>
<Condition name="criteria_DrivenDistanceTest" delay="0" conditionEdge="rising">
<ByValueCondition>
<ParameterCondition parameterRef="distance_success" value="100" rule="lessThan"/>
</ByValueCondition>
</Condition>
</ConditionGroup>
</StopTrigger>
</Storyboard>
</OpenSCENARIO>
``` | Here is the result:
```
<?xml version="1.0" ?>
<OpenSCENARIO>
<FileHeader revMajor="1" revMinor="0" date="2020-03-24T12:00:00" description="CARLA:LaneChangeSimple" author=""/>
<ParameterDeclarations/>
<CatalogLocations/>
<RoadNetwork>
<LogicFile filepath="Town04"/>
<SceneGraphFile filepath=""/>
</RoadNetwork>
<Entities>
<ScenarioObject name="hero">
<Vehicle name="vehicle.tesla.model3" vehicleCategory="car">
<ParameterDeclarations/>
<Performance maxSpeed="69.444" maxAcceleration="200" maxDeceleration="10.0"/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2.1" length="4.5" height="1.8"/>
</BoundingBox>
<Axles>
<FrontAxle maxSteering="0.5" wheelDiameter="0.6" trackWidth="1.8" positionX="3.1" positionZ="0.3"/>
<RearAxle maxSteering="0.0" wheelDiameter="0.6" trackWidth="1.8" positionX="0.0" positionZ="0.3"/>
</Axles>
<Properties>
<Property name="type" value="ego_vehicle"/>
</Properties>
</Vehicle>
</ScenarioObject>
<ScenarioObject name="adversary">
<Vehicle name="vehicle.lincoln.mkz_2017" vehicleCategory="car">
<ParameterDeclarations/>
<Performance maxSpeed="69.444" maxAcceleration="200" maxDeceleration="10.0"/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2.1" length="4.5" height="1.8"/>
</BoundingBox>
<Axles>
<FrontAxle maxSteering="0.5" wheelDiameter="0.6" trackWidth="1.8" positionX="3.1" positionZ="0.3"/>
<RearAxle maxSteering="0.0" wheelDiameter="0.6" trackWidth="1.8" positionX="0.0" positionZ="0.3"/>
</Axles>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Vehicle>
</ScenarioObject>
<ScenarioObject name="standing">
<Vehicle name="vehicle.volkswagen.t2" vehicleCategory="car">
<ParameterDeclarations/>
<Performance maxSpeed="69.444" maxAcceleration="200" maxDeceleration="10.0"/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2.1" length="4.5" height="1.8"/>
</BoundingBox>
<Axles>
<FrontAxle maxSteering="0.5" wheelDiameter="0.6" trackWidth="1.8" positionX="3.1" positionZ="0.3"/>
<RearAxle maxSteering="0.0" wheelDiameter="0.6" trackWidth="1.8" positionX="0.0" positionZ="0.3"/>
</Axles>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Vehicle>
</ScenarioObject>
<ScenarioObject name="pedestrian_close_to_standing_7036">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_close_to_adversary_7037">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_close_to_hero_7038">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_w_transform_7039">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
</Entities>
<Storyboard>
<Init>
<Actions>
<GlobalAction>
<EnvironmentAction>
<Environment name="Environment1">
<TimeOfDay animation="false" dateTime="2019-06-25T12:00:00"/>
<Weather cloudState="free">
<Sun intensity="0.85" azimuth="0" elevation="1.31"/>
<Fog visualRange="100000.0"/>
<Precipitation precipitationType="dry" intensity="0.0"/>
</Weather>
<RoadCondition frictionScaleFactor="1.0"/>
</Environment>
</EnvironmentAction>
</GlobalAction>
<Private entityRef="hero">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-9.4" y="-152.8" z="0.5" h="1.57079632679"/>
</Position>
</TeleportAction>
</PrivateAction>
<PrivateAction>
<ControllerAction>
<AssignControllerAction>
<Controller name="HeroAgent">
<Properties>
<Property name="module" value="external_control"/>
</Properties>
</Controller>
</AssignControllerAction>
<OverrideControllerValueAction>
<Throttle value="0" active="false"/>
<Brake value="0" active="false"/>
<Clutch value="0" active="false"/>
<ParkingBrake value="0" active="false"/>
<SteeringWheel value="0" active="false"/>
<Gear number="0" active="false"/>
</OverrideControllerValueAction>
</ControllerAction>
</PrivateAction>
</Private>
<Private entityRef="adversary">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-9.4" y="-71.0" z="0.5" h="1.57079632679"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="standing">
<PrivateAction>
<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_7036">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-12.145638465881348" y="29.675100326538086" z="0.0030917739495635033"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_close_to_adversary_7037">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-6.107816219329834" y="-67.18144226074219" z="0.03381885588169098"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_close_to_hero_7038">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-8.09766674041748" y="-149.2664031982422" z="0.0015143966302275658"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_w_transform_7039">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="23.064085006713867" y="94.05553436279297" z="0.5"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
</Actions>
</Init>
<Story name="MyStory">
<Act name="Behavior">
<ManeuverGroup maximumExecutionCount="1" name="ManeuverSequence">
<Actors selectTriggeringEntities="false">
<EntityRef entityRef="adversary"/>
</Actors>
<Maneuver name="LaneChangeSimpleManeuver">
<Event name="AdversaryAccelerates" priority="overwrite">
<Action name="AdversaryAccelerates">
<PrivateAction>
<LongitudinalAction>
<SpeedAction>
<SpeedActionDynamics dynamicsShape="step" value="50" dynamicsDimension="distance"/>
<SpeedActionTarget>
<AbsoluteTargetSpeed value="5.0"/>
</SpeedActionTarget>
</SpeedAction>
</LongitudinalAction>
</PrivateAction>
</Action>
<StartTrigger>
<ConditionGroup>
<Condition name="StartCondition" delay="0" conditionEdge="rising">
<ByEntityCondition>
<TriggeringEntities triggeringEntitiesRule="any">
<EntityRef entityRef="hero"/>
</TriggeringEntities>
<EntityCondition>
<RelativeDistanceCondition entityRef="adversary" relativeDistanceType="cartesianDistance" value="40.0" freespace="false" rule="lessThan"/>
</EntityCondition>
</ByEntityCondition>
</Condition>
</ConditionGroup>
</StartTrigger>
</Event>
<Event name="AdversaryChangesLane" priority="overwrite">
<Action name="AdversaryChangesLane">
<PrivateAction>
<LateralAction>
<LaneChangeAction>
<LaneChangeActionDynamics dynamicsShape="linear" value="25" dynamicsDimension="distance"/>
<LaneChangeTarget>
<RelativeTargetLane entityRef="adversary" value="-1"/>
</LaneChangeTarget>
</LaneChangeAction>
</LateralAction>
</PrivateAction>
</Action>
<StartTrigger>
<ConditionGroup>
<Condition name="AfterAdversaryAccelerates" delay="0" conditionEdge="rising">
<ByValueCondition>
<StoryboardElementStateCondition storyboardElementType="action" storyboardElementRef="AdversaryAccelerates" state="completeState"/>
</ByValueCondition>
</Condition>
</ConditionGroup>
</StartTrigger>
</Event>
</Maneuver>
</ManeuverGroup>
<StartTrigger>
<ConditionGroup>
<Condition name="OverallStartCondition" delay="0" conditionEdge="rising">
<ByEntityCondition>
<TriggeringEntities triggeringEntitiesRule="any">
<EntityRef entityRef="hero"/>
</TriggeringEntities>
<EntityCondition>
<TraveledDistanceCondition value="1.0"/>
</EntityCondition>
</ByEntityCondition>
</Condition>
<Condition name="StartTime" delay="0" conditionEdge="rising">
<ByValueCondition>
<SimulationTimeCondition value="0" rule="equalTo"/>
</ByValueCondition>
</Condition>
</ConditionGroup>
</StartTrigger>
<StopTrigger>
<ConditionGroup>
<Condition name="EndCondition" delay="0" conditionEdge="rising">
<ByEntityCondition>
<TriggeringEntities triggeringEntitiesRule="any">
<EntityRef entityRef="hero"/>
</TriggeringEntities>
<EntityCondition>
<TraveledDistanceCondition value="200.0"/>
</EntityCondition>
</ByEntityCondition>
</Condition>
</ConditionGroup>
</StopTrigger>
</Act>
</Story>
<StopTrigger>
<ConditionGroup>
<Condition name="criteria_RunningStopTest" delay="0" conditionEdge="rising">
<ByValueCondition>
<ParameterCondition parameterRef="" value="" rule="lessThan"/>
</ByValueCondition>
</Condition>
<Condition name="criteria_RunningRedLightTest" delay="0" conditionEdge="rising">
<ByValueCondition>
<ParameterCondition parameterRef="" value="" rule="lessThan"/>
</ByValueCondition>
</Condition>
<Condition name="criteria_WrongLaneTest" delay="0" conditionEdge="rising">
<ByValueCondition>
<ParameterCondition parameterRef="" value="" rule="lessThan"/>
</ByValueCondition>
</Condition>
<Condition name="criteria_OnSidewalkTest" delay="0" conditionEdge="rising">
<ByValueCondition>
<ParameterCondition parameterRef="" value="" rule="lessThan"/>
</ByValueCondition>
</Condition>
<Condition name="criteria_KeepLaneTest" delay="0" conditionEdge="rising">
<ByValueCondition>
<ParameterCondition parameterRef="" value="" rule="lessThan"/>
</ByValueCondition>
</Condition>
<Condition name="criteria_CollisionTest" delay="0" conditionEdge="rising">
<ByValueCondition>
<ParameterCondition parameterRef="" value="" rule="lessThan"/>
</ByValueCondition>
</Condition>
<Condition name="criteria_DrivenDistanceTest" delay="0" conditionEdge="rising">
<ByValueCondition>
<ParameterCondition parameterRef="distance_success" value="100" rule="lessThan"/>
</ByValueCondition>
</Condition>
</ConditionGroup>
</StopTrigger>
</Storyboard>
</OpenSCENARIO>
``` |
can you add pedestrian at location (-13.79, -43.93, 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_8502">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_w_transform_8503">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_w_transform_8504">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_w_transform_8505">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_w_transform_8506">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_w_transform_8507">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_w_transform_8508">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
</Entities>
<Storyboard>
<Init>
<Actions>
<GlobalAction>
<EnvironmentAction>
<Environment name="Environment1">
<TimeOfDay animation="false" dateTime="2019-06-25T12:00:00"/>
<Weather cloudState="free">
<Sun intensity="0.85" azimuth="0" elevation="1.31"/>
<Fog visualRange="100000.0"/>
<Precipitation precipitationType="dry" intensity="0.0"/>
</Weather>
<RoadCondition frictionScaleFactor="1.0"/>
</Environment>
</EnvironmentAction>
</GlobalAction>
<Private entityRef="hero">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-9.4" y="-152.8" z="0.5" h="1.57079632679"/>
</Position>
</TeleportAction>
</PrivateAction>
<PrivateAction>
<ControllerAction>
<AssignControllerAction>
<Controller name="HeroAgent">
<Properties>
<Property name="module" value="external_control"/>
</Properties>
</Controller>
</AssignControllerAction>
<OverrideControllerValueAction>
<Throttle value="0" active="false"/>
<Brake value="0" active="false"/>
<Clutch value="0" active="false"/>
<ParkingBrake value="0" active="false"/>
<SteeringWheel value="0" active="false"/>
<Gear number="0" active="false"/>
</OverrideControllerValueAction>
</ControllerAction>
</PrivateAction>
</Private>
<Private entityRef="adversary">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-9.4" y="-71.0" z="0.5" h="1.57079632679"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="standing">
<PrivateAction>
<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_8502">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-14.126643180847168" y="-151.0375213623047" z="0.0015143966302275658"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_w_transform_8503">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="5.136419296264648" y="94.09819030761719" z="0.5"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_w_transform_8504">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="71.2083969116211" y="64.4743423461914" z="0.5"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_w_transform_8505">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="2.8910341262817383" y="-91.07093811035156" z="0.5"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_w_transform_8506">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="3.620495319366455" y="-32.4759635925293" z="0.5"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_w_transform_8507">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-22.656044006347656" y="6.527282238006592" z="0.5"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_w_transform_8508">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="17.988380432128906" y="-63.045204162597656" 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_8502">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_w_transform_8503">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_w_transform_8504">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_w_transform_8505">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_w_transform_8506">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_w_transform_8507">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_w_transform_8508">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_w_transform_8509">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
</Entities>
<Storyboard>
<Init>
<Actions>
<GlobalAction>
<EnvironmentAction>
<Environment name="Environment1">
<TimeOfDay animation="false" dateTime="2019-06-25T12:00:00"/>
<Weather cloudState="free">
<Sun intensity="0.85" azimuth="0" elevation="1.31"/>
<Fog visualRange="100000.0"/>
<Precipitation precipitationType="dry" intensity="0.0"/>
</Weather>
<RoadCondition frictionScaleFactor="1.0"/>
</Environment>
</EnvironmentAction>
</GlobalAction>
<Private entityRef="hero">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-9.4" y="-152.8" z="0.5" h="1.57079632679"/>
</Position>
</TeleportAction>
</PrivateAction>
<PrivateAction>
<ControllerAction>
<AssignControllerAction>
<Controller name="HeroAgent">
<Properties>
<Property name="module" value="external_control"/>
</Properties>
</Controller>
</AssignControllerAction>
<OverrideControllerValueAction>
<Throttle value="0" active="false"/>
<Brake value="0" active="false"/>
<Clutch value="0" active="false"/>
<ParkingBrake value="0" active="false"/>
<SteeringWheel value="0" active="false"/>
<Gear number="0" active="false"/>
</OverrideControllerValueAction>
</ControllerAction>
</PrivateAction>
</Private>
<Private entityRef="adversary">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-9.4" y="-71.0" z="0.5" h="1.57079632679"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="standing">
<PrivateAction>
<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_8502">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-14.126643180847168" y="-151.0375213623047" z="0.0015143966302275658"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_w_transform_8503">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="5.136419296264648" y="94.09819030761719" z="0.5"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_w_transform_8504">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="71.2083969116211" y="64.4743423461914" z="0.5"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_w_transform_8505">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="2.8910341262817383" y="-91.07093811035156" z="0.5"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_w_transform_8506">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="3.620495319366455" y="-32.4759635925293" z="0.5"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_w_transform_8507">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-22.656044006347656" y="6.527282238006592" z="0.5"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_w_transform_8508">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="17.988380432128906" y="-63.045204162597656" z="0.5"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_w_transform_8509">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-13.791260719299316" y="-43.93061447143555" z="0.5"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
</Actions>
</Init>
<Story name="MyStory">
<Act name="Behavior">
<ManeuverGroup maximumExecutionCount="1" name="ManeuverSequence">
<Actors selectTriggeringEntities="false">
<EntityRef entityRef="adversary"/>
</Actors>
<Maneuver name="LaneChangeSimpleManeuver">
<Event name="AdversaryAccelerates" priority="overwrite">
<Action name="AdversaryAccelerates">
<PrivateAction>
<LongitudinalAction>
<SpeedAction>
<SpeedActionDynamics dynamicsShape="step" value="50" dynamicsDimension="distance"/>
<SpeedActionTarget>
<AbsoluteTargetSpeed value="5.0"/>
</SpeedActionTarget>
</SpeedAction>
</LongitudinalAction>
</PrivateAction>
</Action>
<StartTrigger>
<ConditionGroup>
<Condition name="StartCondition" delay="0" conditionEdge="rising">
<ByEntityCondition>
<TriggeringEntities triggeringEntitiesRule="any">
<EntityRef entityRef="hero"/>
</TriggeringEntities>
<EntityCondition>
<RelativeDistanceCondition entityRef="adversary" relativeDistanceType="cartesianDistance" value="40.0" freespace="false" rule="lessThan"/>
</EntityCondition>
</ByEntityCondition>
</Condition>
</ConditionGroup>
</StartTrigger>
</Event>
<Event name="AdversaryChangesLane" priority="overwrite">
<Action name="AdversaryChangesLane">
<PrivateAction>
<LateralAction>
<LaneChangeAction>
<LaneChangeActionDynamics dynamicsShape="linear" value="25" dynamicsDimension="distance"/>
<LaneChangeTarget>
<RelativeTargetLane entityRef="adversary" value="-1"/>
</LaneChangeTarget>
</LaneChangeAction>
</LateralAction>
</PrivateAction>
</Action>
<StartTrigger>
<ConditionGroup>
<Condition name="AfterAdversaryAccelerates" delay="0" conditionEdge="rising">
<ByValueCondition>
<StoryboardElementStateCondition storyboardElementType="action" storyboardElementRef="AdversaryAccelerates" state="completeState"/>
</ByValueCondition>
</Condition>
</ConditionGroup>
</StartTrigger>
</Event>
</Maneuver>
</ManeuverGroup>
<StartTrigger>
<ConditionGroup>
<Condition name="OverallStartCondition" delay="0" conditionEdge="rising">
<ByEntityCondition>
<TriggeringEntities triggeringEntitiesRule="any">
<EntityRef entityRef="hero"/>
</TriggeringEntities>
<EntityCondition>
<TraveledDistanceCondition value="1.0"/>
</EntityCondition>
</ByEntityCondition>
</Condition>
<Condition name="StartTime" delay="0" conditionEdge="rising">
<ByValueCondition>
<SimulationTimeCondition value="0" rule="equalTo"/>
</ByValueCondition>
</Condition>
</ConditionGroup>
</StartTrigger>
<StopTrigger>
<ConditionGroup>
<Condition name="EndCondition" delay="0" conditionEdge="rising">
<ByEntityCondition>
<TriggeringEntities triggeringEntitiesRule="any">
<EntityRef entityRef="hero"/>
</TriggeringEntities>
<EntityCondition>
<TraveledDistanceCondition value="200.0"/>
</EntityCondition>
</ByEntityCondition>
</Condition>
</ConditionGroup>
</StopTrigger>
</Act>
</Story>
<StopTrigger>
<ConditionGroup>
<Condition name="criteria_RunningStopTest" delay="0" conditionEdge="rising">
<ByValueCondition>
<ParameterCondition parameterRef="" value="" rule="lessThan"/>
</ByValueCondition>
</Condition>
<Condition name="criteria_RunningRedLightTest" delay="0" conditionEdge="rising">
<ByValueCondition>
<ParameterCondition parameterRef="" value="" rule="lessThan"/>
</ByValueCondition>
</Condition>
<Condition name="criteria_WrongLaneTest" delay="0" conditionEdge="rising">
<ByValueCondition>
<ParameterCondition parameterRef="" value="" rule="lessThan"/>
</ByValueCondition>
</Condition>
<Condition name="criteria_OnSidewalkTest" delay="0" conditionEdge="rising">
<ByValueCondition>
<ParameterCondition parameterRef="" value="" rule="lessThan"/>
</ByValueCondition>
</Condition>
<Condition name="criteria_KeepLaneTest" delay="0" conditionEdge="rising">
<ByValueCondition>
<ParameterCondition parameterRef="" value="" rule="lessThan"/>
</ByValueCondition>
</Condition>
<Condition name="criteria_CollisionTest" delay="0" conditionEdge="rising">
<ByValueCondition>
<ParameterCondition parameterRef="" value="" rule="lessThan"/>
</ByValueCondition>
</Condition>
<Condition name="criteria_DrivenDistanceTest" delay="0" conditionEdge="rising">
<ByValueCondition>
<ParameterCondition parameterRef="distance_success" value="100" rule="lessThan"/>
</ByValueCondition>
</Condition>
</ConditionGroup>
</StopTrigger>
</Storyboard>
</OpenSCENARIO>
``` |
i want you to remove pedestrian actor named pedestrian_close_to_standing_24638?
```
<?xml version="1.0" ?>
<OpenSCENARIO>
<FileHeader revMajor="1" revMinor="0" date="2020-03-24T12:00:00" description="CARLA:LaneChangeSimple" author=""/>
<ParameterDeclarations/>
<CatalogLocations/>
<RoadNetwork>
<LogicFile filepath="Town04"/>
<SceneGraphFile filepath=""/>
</RoadNetwork>
<Entities>
<ScenarioObject name="hero">
<Vehicle name="vehicle.tesla.model3" vehicleCategory="car">
<ParameterDeclarations/>
<Performance maxSpeed="69.444" maxAcceleration="200" maxDeceleration="10.0"/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2.1" length="4.5" height="1.8"/>
</BoundingBox>
<Axles>
<FrontAxle maxSteering="0.5" wheelDiameter="0.6" trackWidth="1.8" positionX="3.1" positionZ="0.3"/>
<RearAxle maxSteering="0.0" wheelDiameter="0.6" trackWidth="1.8" positionX="0.0" positionZ="0.3"/>
</Axles>
<Properties>
<Property name="type" value="ego_vehicle"/>
</Properties>
</Vehicle>
</ScenarioObject>
<ScenarioObject name="adversary">
<Vehicle name="vehicle.lincoln.mkz_2017" vehicleCategory="car">
<ParameterDeclarations/>
<Performance maxSpeed="69.444" maxAcceleration="200" maxDeceleration="10.0"/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2.1" length="4.5" height="1.8"/>
</BoundingBox>
<Axles>
<FrontAxle maxSteering="0.5" wheelDiameter="0.6" trackWidth="1.8" positionX="3.1" positionZ="0.3"/>
<RearAxle maxSteering="0.0" wheelDiameter="0.6" trackWidth="1.8" positionX="0.0" positionZ="0.3"/>
</Axles>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Vehicle>
</ScenarioObject>
<ScenarioObject name="standing">
<Vehicle name="vehicle.volkswagen.t2" vehicleCategory="car">
<ParameterDeclarations/>
<Performance maxSpeed="69.444" maxAcceleration="200" maxDeceleration="10.0"/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2.1" length="4.5" height="1.8"/>
</BoundingBox>
<Axles>
<FrontAxle maxSteering="0.5" wheelDiameter="0.6" trackWidth="1.8" positionX="3.1" positionZ="0.3"/>
<RearAxle maxSteering="0.0" wheelDiameter="0.6" 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_24613">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_close_to_adversary_24614">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_close_to_standing_24615">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_close_to_adversary_24616">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_w_transform_24617">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_close_to_adversary_24618">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_close_to_standing_24620">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_close_to_hero_24621">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_w_transform_24622">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_close_to_standing_24623">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_close_to_hero_24624">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_w_transform_24625">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_close_to_adversary_24626">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_close_to_adversary_24627">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_close_to_hero_24628">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_close_to_standing_24629">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_close_to_adversary_24630">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_w_transform_24631">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_close_to_standing_24632">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_w_transform_24634">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_w_transform_24635">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_close_to_standing_24636">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_w_transform_24637">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_close_to_standing_24638">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_close_to_hero_24639">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
</Entities>
<Storyboard>
<Init>
<Actions>
<GlobalAction>
<EnvironmentAction>
<Environment name="Environment1">
<TimeOfDay animation="false" dateTime="2019-06-25T12:00:00"/>
<Weather cloudState="free">
<Sun intensity="0.85" azimuth="0" elevation="1.31"/>
<Fog visualRange="100000.0"/>
<Precipitation precipitationType="dry" intensity="0.0"/>
</Weather>
<RoadCondition frictionScaleFactor="1.0"/>
</Environment>
</EnvironmentAction>
</GlobalAction>
<Private entityRef="hero">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-9.4" y="-152.8" z="0.5" h="1.57079632679"/>
</Position>
</TeleportAction>
</PrivateAction>
<PrivateAction>
<ControllerAction>
<AssignControllerAction>
<Controller name="HeroAgent">
<Properties>
<Property name="module" value="external_control"/>
</Properties>
</Controller>
</AssignControllerAction>
<OverrideControllerValueAction>
<Throttle value="0" active="false"/>
<Brake value="0" active="false"/>
<Clutch value="0" active="false"/>
<ParkingBrake value="0" active="false"/>
<SteeringWheel value="0" active="false"/>
<Gear number="0" active="false"/>
</OverrideControllerValueAction>
</ControllerAction>
</PrivateAction>
</Private>
<Private entityRef="adversary">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-9.4" y="-71.0" z="0.5" h="1.57079632679"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="standing">
<PrivateAction>
<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_24613">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-1.0749411582946777" y="-240.95516967773438" z="0.001678848173469305"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_close_to_adversary_24614">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-1.4699299335479736" y="-65.49369812011719" z="0.03379463031888008"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_close_to_standing_24615">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-11.522071838378906" y="32.92813491821289" z="0.003056487999856472"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_close_to_adversary_24616">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-6.72295618057251" y="-64.7862319946289" z="0.033789899200201035"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_w_transform_24617">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-2.0202932357788086" y="-1.5589905977249146" z="0.5"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_close_to_adversary_24618">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-1.9377949237823486" y="-79.31916809082031" z="0.03375190496444702"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_close_to_standing_24620">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-6.6537933349609375" y="26.196048736572266" z="0.0030753326136618853"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_close_to_hero_24621">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-11.115669250488281" y="-254.48048400878906" z="0.001678848173469305"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_w_transform_24622">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-56.886993408203125" y="47.9594841003418" z="0.5"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_close_to_standing_24623">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-15.312137603759766" y="36.385498046875" z="0.0030425642617046833"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_close_to_hero_24624">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-12.495972633361816" y="-245.904541015625" z="0.001678848173469305"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_w_transform_24625">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-14.736342430114746" y="-12.225396156311035" z="0.5"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_close_to_adversary_24626">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-1.1530845165252686" y="-62.16951370239258" z="0.03375991806387901"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_close_to_adversary_24627">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="8.204710960388184" y="-66.53665161132812" z="0.033779487013816833"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_close_to_hero_24628">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-3.2748215198516846" y="-254.0804443359375" z="0.001678848173469305"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_close_to_standing_24629">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-7.321811676025391" y="35.457374572753906" z="0.0030677414033561945"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_close_to_adversary_24630">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-8.85879898071289" y="-72.64761352539062" z="0.033804092556238174"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_w_transform_24631">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="59.769596099853516" y="6.912097930908203" z="0.5"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_close_to_standing_24632">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-9.411128997802734" y="31.044950485229492" z="0.0030583571642637253"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_w_transform_24634">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="82.07415771484375" y="-78.09830474853516" z="0.5"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_w_transform_24635">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-52.89988327026367" y="52.3537483215332" z="0.5"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_close_to_standing_24636">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="6.1933274269104" y="35.45663833618164" z="0.00301361083984375"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_w_transform_24637">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="20.417469024658203" y="-64.65521240234375" z="0.5"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_close_to_standing_24638">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-12.92082405090332" y="34.728485107421875" z="0.0030537033453583717"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_close_to_hero_24639">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-8.688363075256348" y="-248.7491912841797" 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_24613">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_close_to_adversary_24614">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_close_to_standing_24615">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_close_to_adversary_24616">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_w_transform_24617">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_close_to_adversary_24618">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_close_to_standing_24620">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_close_to_hero_24621">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_w_transform_24622">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_close_to_standing_24623">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_close_to_hero_24624">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_w_transform_24625">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_close_to_adversary_24626">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_close_to_adversary_24627">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_close_to_hero_24628">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_close_to_standing_24629">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_close_to_adversary_24630">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_w_transform_24631">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_close_to_standing_24632">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_w_transform_24634">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_w_transform_24635">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_close_to_standing_24636">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
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<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_w_transform_24637">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
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<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_close_to_hero_24639">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
</Entities>
<Storyboard>
<Init>
<Actions>
<GlobalAction>
<EnvironmentAction>
<Environment name="Environment1">
<TimeOfDay animation="false" dateTime="2019-06-25T12:00:00"/>
<Weather cloudState="free">
<Sun intensity="0.85" azimuth="0" elevation="1.31"/>
<Fog visualRange="100000.0"/>
<Precipitation precipitationType="dry" intensity="0.0"/>
</Weather>
<RoadCondition frictionScaleFactor="1.0"/>
</Environment>
</EnvironmentAction>
</GlobalAction>
<Private entityRef="hero">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-9.4" y="-152.8" z="0.5" h="1.57079632679"/>
</Position>
</TeleportAction>
</PrivateAction>
<PrivateAction>
<ControllerAction>
<AssignControllerAction>
<Controller name="HeroAgent">
<Properties>
<Property name="module" value="external_control"/>
</Properties>
</Controller>
</AssignControllerAction>
<OverrideControllerValueAction>
<Throttle value="0" active="false"/>
<Brake value="0" active="false"/>
<Clutch value="0" active="false"/>
<ParkingBrake value="0" active="false"/>
<SteeringWheel value="0" active="false"/>
<Gear number="0" active="false"/>
</OverrideControllerValueAction>
</ControllerAction>
</PrivateAction>
</Private>
<Private entityRef="adversary">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-9.4" y="-71.0" z="0.5" h="1.57079632679"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="standing">
<PrivateAction>
<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_24613">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-1.0749411582946777" y="-240.95516967773438" z="0.001678848173469305"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_close_to_adversary_24614">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-1.4699299335479736" y="-65.49369812011719" z="0.03379463031888008"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_close_to_standing_24615">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-11.522071838378906" y="32.92813491821289" z="0.003056487999856472"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_close_to_adversary_24616">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-6.72295618057251" y="-64.7862319946289" z="0.033789899200201035"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_w_transform_24617">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-2.0202932357788086" y="-1.5589905977249146" z="0.5"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_close_to_adversary_24618">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-1.9377949237823486" y="-79.31916809082031" z="0.03375190496444702"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_close_to_standing_24620">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-6.6537933349609375" y="26.196048736572266" z="0.0030753326136618853"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_close_to_hero_24621">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-11.115669250488281" y="-254.48048400878906" z="0.001678848173469305"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_w_transform_24622">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-56.886993408203125" y="47.9594841003418" z="0.5"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_close_to_standing_24623">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-15.312137603759766" y="36.385498046875" z="0.0030425642617046833"/>
</Position>
</TeleportAction>
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</Private>
<Private entityRef="pedestrian_close_to_hero_24624">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-12.495972633361816" y="-245.904541015625" z="0.001678848173469305"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_w_transform_24625">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-14.736342430114746" y="-12.225396156311035" z="0.5"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_close_to_adversary_24626">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-1.1530845165252686" y="-62.16951370239258" z="0.03375991806387901"/>
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</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_close_to_adversary_24627">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="8.204710960388184" y="-66.53665161132812" z="0.033779487013816833"/>
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</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_close_to_hero_24628">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-3.2748215198516846" y="-254.0804443359375" z="0.001678848173469305"/>
</Position>
</TeleportAction>
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</Private>
<Private entityRef="pedestrian_close_to_standing_24629">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-7.321811676025391" y="35.457374572753906" z="0.0030677414033561945"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_close_to_adversary_24630">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-8.85879898071289" y="-72.64761352539062" z="0.033804092556238174"/>
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</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_w_transform_24631">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="59.769596099853516" y="6.912097930908203" z="0.5"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_close_to_standing_24632">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-9.411128997802734" y="31.044950485229492" z="0.0030583571642637253"/>
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</TeleportAction>
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</Private>
<Private entityRef="pedestrian_w_transform_24634">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="82.07415771484375" y="-78.09830474853516" z="0.5"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_w_transform_24635">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-52.89988327026367" y="52.3537483215332" z="0.5"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_close_to_standing_24636">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="6.1933274269104" y="35.45663833618164" z="0.00301361083984375"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_w_transform_24637">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="20.417469024658203" y="-64.65521240234375" z="0.5"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_close_to_hero_24639">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-8.688363075256348" y="-248.7491912841797" z="0.001678848173469305"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
</Actions>
</Init>
<Story name="MyStory">
<Act name="Behavior">
<ManeuverGroup maximumExecutionCount="1" name="ManeuverSequence">
<Actors selectTriggeringEntities="false">
<EntityRef entityRef="adversary"/>
</Actors>
<Maneuver name="LaneChangeSimpleManeuver">
<Event name="AdversaryAccelerates" priority="overwrite">
<Action name="AdversaryAccelerates">
<PrivateAction>
<LongitudinalAction>
<SpeedAction>
<SpeedActionDynamics dynamicsShape="step" value="50" dynamicsDimension="distance"/>
<SpeedActionTarget>
<AbsoluteTargetSpeed value="5.0"/>
</SpeedActionTarget>
</SpeedAction>
</LongitudinalAction>
</PrivateAction>
</Action>
<StartTrigger>
<ConditionGroup>
<Condition name="StartCondition" delay="0" conditionEdge="rising">
<ByEntityCondition>
<TriggeringEntities triggeringEntitiesRule="any">
<EntityRef entityRef="hero"/>
</TriggeringEntities>
<EntityCondition>
<RelativeDistanceCondition entityRef="adversary" relativeDistanceType="cartesianDistance" value="40.0" freespace="false" rule="lessThan"/>
</EntityCondition>
</ByEntityCondition>
</Condition>
</ConditionGroup>
</StartTrigger>
</Event>
<Event name="AdversaryChangesLane" priority="overwrite">
<Action name="AdversaryChangesLane">
<PrivateAction>
<LateralAction>
<LaneChangeAction>
<LaneChangeActionDynamics dynamicsShape="linear" value="25" dynamicsDimension="distance"/>
<LaneChangeTarget>
<RelativeTargetLane entityRef="adversary" value="-1"/>
</LaneChangeTarget>
</LaneChangeAction>
</LateralAction>
</PrivateAction>
</Action>
<StartTrigger>
<ConditionGroup>
<Condition name="AfterAdversaryAccelerates" delay="0" conditionEdge="rising">
<ByValueCondition>
<StoryboardElementStateCondition storyboardElementType="action" storyboardElementRef="AdversaryAccelerates" state="completeState"/>
</ByValueCondition>
</Condition>
</ConditionGroup>
</StartTrigger>
</Event>
</Maneuver>
</ManeuverGroup>
<StartTrigger>
<ConditionGroup>
<Condition name="OverallStartCondition" delay="0" conditionEdge="rising">
<ByEntityCondition>
<TriggeringEntities triggeringEntitiesRule="any">
<EntityRef entityRef="hero"/>
</TriggeringEntities>
<EntityCondition>
<TraveledDistanceCondition value="1.0"/>
</EntityCondition>
</ByEntityCondition>
</Condition>
<Condition name="StartTime" delay="0" conditionEdge="rising">
<ByValueCondition>
<SimulationTimeCondition value="0" rule="equalTo"/>
</ByValueCondition>
</Condition>
</ConditionGroup>
</StartTrigger>
<StopTrigger>
<ConditionGroup>
<Condition name="EndCondition" delay="0" conditionEdge="rising">
<ByEntityCondition>
<TriggeringEntities triggeringEntitiesRule="any">
<EntityRef entityRef="hero"/>
</TriggeringEntities>
<EntityCondition>
<TraveledDistanceCondition value="200.0"/>
</EntityCondition>
</ByEntityCondition>
</Condition>
</ConditionGroup>
</StopTrigger>
</Act>
</Story>
<StopTrigger>
<ConditionGroup>
<Condition name="criteria_RunningStopTest" delay="0" conditionEdge="rising">
<ByValueCondition>
<ParameterCondition parameterRef="" value="" rule="lessThan"/>
</ByValueCondition>
</Condition>
<Condition name="criteria_RunningRedLightTest" delay="0" conditionEdge="rising">
<ByValueCondition>
<ParameterCondition parameterRef="" value="" rule="lessThan"/>
</ByValueCondition>
</Condition>
<Condition name="criteria_WrongLaneTest" delay="0" conditionEdge="rising">
<ByValueCondition>
<ParameterCondition parameterRef="" value="" rule="lessThan"/>
</ByValueCondition>
</Condition>
<Condition name="criteria_OnSidewalkTest" delay="0" conditionEdge="rising">
<ByValueCondition>
<ParameterCondition parameterRef="" value="" rule="lessThan"/>
</ByValueCondition>
</Condition>
<Condition name="criteria_KeepLaneTest" delay="0" conditionEdge="rising">
<ByValueCondition>
<ParameterCondition parameterRef="" value="" rule="lessThan"/>
</ByValueCondition>
</Condition>
<Condition name="criteria_CollisionTest" delay="0" conditionEdge="rising">
<ByValueCondition>
<ParameterCondition parameterRef="" value="" rule="lessThan"/>
</ByValueCondition>
</Condition>
<Condition name="criteria_DrivenDistanceTest" delay="0" conditionEdge="rising">
<ByValueCondition>
<ParameterCondition parameterRef="distance_success" value="100" rule="lessThan"/>
</ByValueCondition>
</Condition>
</ConditionGroup>
</StopTrigger>
</Storyboard>
</OpenSCENARIO>
``` |
i would like you to demonstrate add pedestrian close to standing?
```
<?xml version="1.0" ?>
<OpenSCENARIO>
<FileHeader revMajor="1" revMinor="0" date="2020-03-24T12:00:00" description="CARLA:LaneChangeSimple" author=""/>
<ParameterDeclarations/>
<CatalogLocations/>
<RoadNetwork>
<LogicFile filepath="Town04"/>
<SceneGraphFile filepath=""/>
</RoadNetwork>
<Entities>
<ScenarioObject name="hero">
<Vehicle name="vehicle.tesla.model3" vehicleCategory="car">
<ParameterDeclarations/>
<Performance maxSpeed="69.444" maxAcceleration="200" maxDeceleration="10.0"/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2.1" length="4.5" height="1.8"/>
</BoundingBox>
<Axles>
<FrontAxle maxSteering="0.5" wheelDiameter="0.6" trackWidth="1.8" positionX="3.1" positionZ="0.3"/>
<RearAxle maxSteering="0.0" wheelDiameter="0.6" trackWidth="1.8" positionX="0.0" positionZ="0.3"/>
</Axles>
<Properties>
<Property name="type" value="ego_vehicle"/>
</Properties>
</Vehicle>
</ScenarioObject>
<ScenarioObject name="adversary">
<Vehicle name="vehicle.lincoln.mkz_2017" vehicleCategory="car">
<ParameterDeclarations/>
<Performance maxSpeed="69.444" maxAcceleration="200" maxDeceleration="10.0"/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2.1" length="4.5" height="1.8"/>
</BoundingBox>
<Axles>
<FrontAxle maxSteering="0.5" wheelDiameter="0.6" trackWidth="1.8" positionX="3.1" positionZ="0.3"/>
<RearAxle maxSteering="0.0" wheelDiameter="0.6" trackWidth="1.8" positionX="0.0" positionZ="0.3"/>
</Axles>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Vehicle>
</ScenarioObject>
<ScenarioObject name="standing">
<Vehicle name="vehicle.volkswagen.t2" vehicleCategory="car">
<ParameterDeclarations/>
<Performance maxSpeed="69.444" maxAcceleration="200" maxDeceleration="10.0"/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2.1" length="4.5" height="1.8"/>
</BoundingBox>
<Axles>
<FrontAxle maxSteering="0.5" wheelDiameter="0.6" trackWidth="1.8" positionX="3.1" positionZ="0.3"/>
<RearAxle maxSteering="0.0" wheelDiameter="0.6" trackWidth="1.8" positionX="0.0" positionZ="0.3"/>
</Axles>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Vehicle>
</ScenarioObject>
<ScenarioObject name="pedestrian_close_to_hero_12365">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_close_to_standing_12366">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_close_to_adversary_12367">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_close_to_hero_12368">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_close_to_standing_12369">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_w_transform_12370">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_w_transform_12371">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_w_transform_12372">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
</Entities>
<Storyboard>
<Init>
<Actions>
<GlobalAction>
<EnvironmentAction>
<Environment name="Environment1">
<TimeOfDay animation="false" dateTime="2019-06-25T12:00:00"/>
<Weather cloudState="free">
<Sun intensity="0.85" azimuth="0" elevation="1.31"/>
<Fog visualRange="100000.0"/>
<Precipitation precipitationType="dry" intensity="0.0"/>
</Weather>
<RoadCondition frictionScaleFactor="1.0"/>
</Environment>
</EnvironmentAction>
</GlobalAction>
<Private entityRef="hero">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-9.4" y="-152.8" z="0.5" h="1.57079632679"/>
</Position>
</TeleportAction>
</PrivateAction>
<PrivateAction>
<ControllerAction>
<AssignControllerAction>
<Controller name="HeroAgent">
<Properties>
<Property name="module" value="external_control"/>
</Properties>
</Controller>
</AssignControllerAction>
<OverrideControllerValueAction>
<Throttle value="0" active="false"/>
<Brake value="0" active="false"/>
<Clutch value="0" active="false"/>
<ParkingBrake value="0" active="false"/>
<SteeringWheel value="0" active="false"/>
<Gear number="0" active="false"/>
</OverrideControllerValueAction>
</ControllerAction>
</PrivateAction>
</Private>
<Private entityRef="adversary">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-9.4" y="-71.0" z="0.5" h="1.57079632679"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="standing">
<PrivateAction>
<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_12365">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-6.695539951324463" y="-152.01779174804688" z="0.0013734435196965933"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_close_to_standing_12366">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="2.4380548000335693" y="28.42517852783203" z="0.003020133823156357"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_close_to_adversary_12367">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-7.5763139724731445" y="-69.0882797241211" z="0.03377067670226097"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_close_to_hero_12368">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-11.413722038269043" y="-143.8118896484375" z="0.0013734435196965933"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_close_to_standing_12369">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-11.410348892211914" y="22.573976516723633" z="0.0030243683140724897"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_w_transform_12370">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="89.25861358642578" y="-31.135488510131836" z="0.5"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_w_transform_12371">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-3.5360395908355713" y="41.854583740234375" z="0.5"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_w_transform_12372">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-52.747657775878906" y="53.0142822265625" 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_12365">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_close_to_standing_12366">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_close_to_adversary_12367">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_close_to_hero_12368">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_close_to_standing_12369">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_w_transform_12370">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_w_transform_12371">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_w_transform_12372">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_close_to_standing_12373">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
</Entities>
<Storyboard>
<Init>
<Actions>
<GlobalAction>
<EnvironmentAction>
<Environment name="Environment1">
<TimeOfDay animation="false" dateTime="2019-06-25T12:00:00"/>
<Weather cloudState="free">
<Sun intensity="0.85" azimuth="0" elevation="1.31"/>
<Fog visualRange="100000.0"/>
<Precipitation precipitationType="dry" intensity="0.0"/>
</Weather>
<RoadCondition frictionScaleFactor="1.0"/>
</Environment>
</EnvironmentAction>
</GlobalAction>
<Private entityRef="hero">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-9.4" y="-152.8" z="0.5" h="1.57079632679"/>
</Position>
</TeleportAction>
</PrivateAction>
<PrivateAction>
<ControllerAction>
<AssignControllerAction>
<Controller name="HeroAgent">
<Properties>
<Property name="module" value="external_control"/>
</Properties>
</Controller>
</AssignControllerAction>
<OverrideControllerValueAction>
<Throttle value="0" active="false"/>
<Brake value="0" active="false"/>
<Clutch value="0" active="false"/>
<ParkingBrake value="0" active="false"/>
<SteeringWheel value="0" active="false"/>
<Gear number="0" active="false"/>
</OverrideControllerValueAction>
</ControllerAction>
</PrivateAction>
</Private>
<Private entityRef="adversary">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-9.4" y="-71.0" z="0.5" h="1.57079632679"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="standing">
<PrivateAction>
<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_12365">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-6.695539951324463" y="-152.01779174804688" z="0.0013734435196965933"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_close_to_standing_12366">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="2.4380548000335693" y="28.42517852783203" z="0.003020133823156357"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_close_to_adversary_12367">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-7.5763139724731445" y="-69.0882797241211" z="0.03377067670226097"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_close_to_hero_12368">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-11.413722038269043" y="-143.8118896484375" z="0.0013734435196965933"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_close_to_standing_12369">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-11.410348892211914" y="22.573976516723633" z="0.0030243683140724897"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_w_transform_12370">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="89.25861358642578" y="-31.135488510131836" z="0.5"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_w_transform_12371">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-3.5360395908355713" y="41.854583740234375" z="0.5"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_w_transform_12372">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-52.747657775878906" y="53.0142822265625" z="0.5"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_close_to_standing_12373">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-11.362102508544922" y="26.595481872558594" z="0.003018608083948493"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
</Actions>
</Init>
<Story name="MyStory">
<Act name="Behavior">
<ManeuverGroup maximumExecutionCount="1" name="ManeuverSequence">
<Actors selectTriggeringEntities="false">
<EntityRef entityRef="adversary"/>
</Actors>
<Maneuver name="LaneChangeSimpleManeuver">
<Event name="AdversaryAccelerates" priority="overwrite">
<Action name="AdversaryAccelerates">
<PrivateAction>
<LongitudinalAction>
<SpeedAction>
<SpeedActionDynamics dynamicsShape="step" value="50" dynamicsDimension="distance"/>
<SpeedActionTarget>
<AbsoluteTargetSpeed value="5.0"/>
</SpeedActionTarget>
</SpeedAction>
</LongitudinalAction>
</PrivateAction>
</Action>
<StartTrigger>
<ConditionGroup>
<Condition name="StartCondition" delay="0" conditionEdge="rising">
<ByEntityCondition>
<TriggeringEntities triggeringEntitiesRule="any">
<EntityRef entityRef="hero"/>
</TriggeringEntities>
<EntityCondition>
<RelativeDistanceCondition entityRef="adversary" relativeDistanceType="cartesianDistance" value="40.0" freespace="false" rule="lessThan"/>
</EntityCondition>
</ByEntityCondition>
</Condition>
</ConditionGroup>
</StartTrigger>
</Event>
<Event name="AdversaryChangesLane" priority="overwrite">
<Action name="AdversaryChangesLane">
<PrivateAction>
<LateralAction>
<LaneChangeAction>
<LaneChangeActionDynamics dynamicsShape="linear" value="25" dynamicsDimension="distance"/>
<LaneChangeTarget>
<RelativeTargetLane entityRef="adversary" value="-1"/>
</LaneChangeTarget>
</LaneChangeAction>
</LateralAction>
</PrivateAction>
</Action>
<StartTrigger>
<ConditionGroup>
<Condition name="AfterAdversaryAccelerates" delay="0" conditionEdge="rising">
<ByValueCondition>
<StoryboardElementStateCondition storyboardElementType="action" storyboardElementRef="AdversaryAccelerates" state="completeState"/>
</ByValueCondition>
</Condition>
</ConditionGroup>
</StartTrigger>
</Event>
</Maneuver>
</ManeuverGroup>
<StartTrigger>
<ConditionGroup>
<Condition name="OverallStartCondition" delay="0" conditionEdge="rising">
<ByEntityCondition>
<TriggeringEntities triggeringEntitiesRule="any">
<EntityRef entityRef="hero"/>
</TriggeringEntities>
<EntityCondition>
<TraveledDistanceCondition value="1.0"/>
</EntityCondition>
</ByEntityCondition>
</Condition>
<Condition name="StartTime" delay="0" conditionEdge="rising">
<ByValueCondition>
<SimulationTimeCondition value="0" rule="equalTo"/>
</ByValueCondition>
</Condition>
</ConditionGroup>
</StartTrigger>
<StopTrigger>
<ConditionGroup>
<Condition name="EndCondition" delay="0" conditionEdge="rising">
<ByEntityCondition>
<TriggeringEntities triggeringEntitiesRule="any">
<EntityRef entityRef="hero"/>
</TriggeringEntities>
<EntityCondition>
<TraveledDistanceCondition value="200.0"/>
</EntityCondition>
</ByEntityCondition>
</Condition>
</ConditionGroup>
</StopTrigger>
</Act>
</Story>
<StopTrigger>
<ConditionGroup>
<Condition name="criteria_RunningStopTest" delay="0" conditionEdge="rising">
<ByValueCondition>
<ParameterCondition parameterRef="" value="" rule="lessThan"/>
</ByValueCondition>
</Condition>
<Condition name="criteria_RunningRedLightTest" delay="0" conditionEdge="rising">
<ByValueCondition>
<ParameterCondition parameterRef="" value="" rule="lessThan"/>
</ByValueCondition>
</Condition>
<Condition name="criteria_WrongLaneTest" delay="0" conditionEdge="rising">
<ByValueCondition>
<ParameterCondition parameterRef="" value="" rule="lessThan"/>
</ByValueCondition>
</Condition>
<Condition name="criteria_OnSidewalkTest" delay="0" conditionEdge="rising">
<ByValueCondition>
<ParameterCondition parameterRef="" value="" rule="lessThan"/>
</ByValueCondition>
</Condition>
<Condition name="criteria_KeepLaneTest" delay="0" conditionEdge="rising">
<ByValueCondition>
<ParameterCondition parameterRef="" value="" rule="lessThan"/>
</ByValueCondition>
</Condition>
<Condition name="criteria_CollisionTest" delay="0" conditionEdge="rising">
<ByValueCondition>
<ParameterCondition parameterRef="" value="" rule="lessThan"/>
</ByValueCondition>
</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_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_close_to_hero_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_adversary_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>
</Entities>
<Storyboard>
<Init>
<Actions>
<GlobalAction>
<EnvironmentAction>
<Environment name="Environment1">
<TimeOfDay animation="false" dateTime="2019-06-25T12:00:00"/>
<Weather cloudState="free">
<Sun intensity="0.85" azimuth="0" elevation="1.31"/>
<Fog visualRange="100000.0"/>
<Precipitation precipitationType="dry" intensity="0.0"/>
</Weather>
<RoadCondition frictionScaleFactor="1.0"/>
</Environment>
</EnvironmentAction>
</GlobalAction>
<Private entityRef="hero">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-9.4" y="-152.8" z="0.5" h="1.57079632679"/>
</Position>
</TeleportAction>
</PrivateAction>
<PrivateAction>
<ControllerAction>
<AssignControllerAction>
<Controller name="HeroAgent">
<Properties>
<Property name="module" value="external_control"/>
</Properties>
</Controller>
</AssignControllerAction>
<OverrideControllerValueAction>
<Throttle value="0" active="false"/>
<Brake value="0" active="false"/>
<Clutch value="0" active="false"/>
<ParkingBrake value="0" active="false"/>
<SteeringWheel value="0" active="false"/>
<Gear number="0" active="false"/>
</OverrideControllerValueAction>
</ControllerAction>
</PrivateAction>
</Private>
<Private entityRef="adversary">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-9.4" y="-71.0" z="0.5" h="1.57079632679"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="standing">
<PrivateAction>
<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_2579">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-7.139759540557861" y="-80.67847442626953" z="0.03388206288218498"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_close_to_hero_2580">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-4.847783088684082" y="-151.9680938720703" z="0.0015143966302275658"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_close_to_adversary_2581">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-2.0980467796325684" y="-73.0125503540039" z="0.033866576850414276"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
</Actions>
</Init>
<Story name="MyStory">
<Act name="Behavior">
<ManeuverGroup maximumExecutionCount="1" name="ManeuverSequence">
<Actors selectTriggeringEntities="false">
<EntityRef entityRef="adversary"/>
</Actors>
<Maneuver name="LaneChangeSimpleManeuver">
<Event name="AdversaryAccelerates" priority="overwrite">
<Action name="AdversaryAccelerates">
<PrivateAction>
<LongitudinalAction>
<SpeedAction>
<SpeedActionDynamics dynamicsShape="step" value="50" dynamicsDimension="distance"/>
<SpeedActionTarget>
<AbsoluteTargetSpeed value="5.0"/>
</SpeedActionTarget>
</SpeedAction>
</LongitudinalAction>
</PrivateAction>
</Action>
<StartTrigger>
<ConditionGroup>
<Condition name="StartCondition" delay="0" conditionEdge="rising">
<ByEntityCondition>
<TriggeringEntities triggeringEntitiesRule="any">
<EntityRef entityRef="hero"/>
</TriggeringEntities>
<EntityCondition>
<RelativeDistanceCondition entityRef="adversary" relativeDistanceType="cartesianDistance" value="40.0" freespace="false" rule="lessThan"/>
</EntityCondition>
</ByEntityCondition>
</Condition>
</ConditionGroup>
</StartTrigger>
</Event>
<Event name="AdversaryChangesLane" priority="overwrite">
<Action name="AdversaryChangesLane">
<PrivateAction>
<LateralAction>
<LaneChangeAction>
<LaneChangeActionDynamics dynamicsShape="linear" value="25" dynamicsDimension="distance"/>
<LaneChangeTarget>
<RelativeTargetLane entityRef="adversary" value="-1"/>
</LaneChangeTarget>
</LaneChangeAction>
</LateralAction>
</PrivateAction>
</Action>
<StartTrigger>
<ConditionGroup>
<Condition name="AfterAdversaryAccelerates" delay="0" conditionEdge="rising">
<ByValueCondition>
<StoryboardElementStateCondition storyboardElementType="action" storyboardElementRef="AdversaryAccelerates" state="completeState"/>
</ByValueCondition>
</Condition>
</ConditionGroup>
</StartTrigger>
</Event>
</Maneuver>
</ManeuverGroup>
<StartTrigger>
<ConditionGroup>
<Condition name="OverallStartCondition" delay="0" conditionEdge="rising">
<ByEntityCondition>
<TriggeringEntities triggeringEntitiesRule="any">
<EntityRef entityRef="hero"/>
</TriggeringEntities>
<EntityCondition>
<TraveledDistanceCondition value="1.0"/>
</EntityCondition>
</ByEntityCondition>
</Condition>
<Condition name="StartTime" delay="0" conditionEdge="rising">
<ByValueCondition>
<SimulationTimeCondition value="0" rule="equalTo"/>
</ByValueCondition>
</Condition>
</ConditionGroup>
</StartTrigger>
<StopTrigger>
<ConditionGroup>
<Condition name="EndCondition" delay="0" conditionEdge="rising">
<ByEntityCondition>
<TriggeringEntities triggeringEntitiesRule="any">
<EntityRef entityRef="hero"/>
</TriggeringEntities>
<EntityCondition>
<TraveledDistanceCondition value="200.0"/>
</EntityCondition>
</ByEntityCondition>
</Condition>
</ConditionGroup>
</StopTrigger>
</Act>
</Story>
<StopTrigger>
<ConditionGroup>
<Condition name="criteria_RunningStopTest" delay="0" conditionEdge="rising">
<ByValueCondition>
<ParameterCondition parameterRef="" value="" rule="lessThan"/>
</ByValueCondition>
</Condition>
<Condition name="criteria_RunningRedLightTest" delay="0" conditionEdge="rising">
<ByValueCondition>
<ParameterCondition parameterRef="" value="" rule="lessThan"/>
</ByValueCondition>
</Condition>
<Condition name="criteria_WrongLaneTest" delay="0" conditionEdge="rising">
<ByValueCondition>
<ParameterCondition parameterRef="" value="" rule="lessThan"/>
</ByValueCondition>
</Condition>
<Condition name="criteria_OnSidewalkTest" delay="0" conditionEdge="rising">
<ByValueCondition>
<ParameterCondition parameterRef="" value="" rule="lessThan"/>
</ByValueCondition>
</Condition>
<Condition name="criteria_KeepLaneTest" delay="0" conditionEdge="rising">
<ByValueCondition>
<ParameterCondition parameterRef="" value="" rule="lessThan"/>
</ByValueCondition>
</Condition>
<Condition name="criteria_CollisionTest" delay="0" conditionEdge="rising">
<ByValueCondition>
<ParameterCondition parameterRef="" value="" rule="lessThan"/>
</ByValueCondition>
</Condition>
<Condition name="criteria_DrivenDistanceTest" delay="0" conditionEdge="rising">
<ByValueCondition>
<ParameterCondition parameterRef="distance_success" value="100" rule="lessThan"/>
</ByValueCondition>
</Condition>
</ConditionGroup>
</StopTrigger>
</Storyboard>
</OpenSCENARIO>
``` | Here is the result:
```
<?xml version="1.0" ?>
<OpenSCENARIO>
<FileHeader revMajor="1" revMinor="0" date="2020-03-24T12:00:00" description="CARLA:LaneChangeSimple" author=""/>
<ParameterDeclarations/>
<CatalogLocations/>
<RoadNetwork>
<LogicFile filepath="Town04"/>
<SceneGraphFile filepath=""/>
</RoadNetwork>
<Entities>
<ScenarioObject name="hero">
<Vehicle name="vehicle.tesla.model3" vehicleCategory="car">
<ParameterDeclarations/>
<Performance maxSpeed="69.444" maxAcceleration="200" maxDeceleration="10.0"/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2.1" length="4.5" height="1.8"/>
</BoundingBox>
<Axles>
<FrontAxle maxSteering="0.5" wheelDiameter="0.6" trackWidth="1.8" positionX="3.1" positionZ="0.3"/>
<RearAxle maxSteering="0.0" wheelDiameter="0.6" trackWidth="1.8" positionX="0.0" positionZ="0.3"/>
</Axles>
<Properties>
<Property name="type" value="ego_vehicle"/>
</Properties>
</Vehicle>
</ScenarioObject>
<ScenarioObject name="adversary">
<Vehicle name="vehicle.lincoln.mkz_2017" vehicleCategory="car">
<ParameterDeclarations/>
<Performance maxSpeed="69.444" maxAcceleration="200" maxDeceleration="10.0"/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2.1" length="4.5" height="1.8"/>
</BoundingBox>
<Axles>
<FrontAxle maxSteering="0.5" wheelDiameter="0.6" trackWidth="1.8" positionX="3.1" positionZ="0.3"/>
<RearAxle maxSteering="0.0" wheelDiameter="0.6" trackWidth="1.8" positionX="0.0" positionZ="0.3"/>
</Axles>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Vehicle>
</ScenarioObject>
<ScenarioObject name="standing">
<Vehicle name="vehicle.volkswagen.t2" vehicleCategory="car">
<ParameterDeclarations/>
<Performance maxSpeed="69.444" maxAcceleration="200" maxDeceleration="10.0"/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2.1" length="4.5" height="1.8"/>
</BoundingBox>
<Axles>
<FrontAxle maxSteering="0.5" wheelDiameter="0.6" trackWidth="1.8" positionX="3.1" positionZ="0.3"/>
<RearAxle maxSteering="0.0" wheelDiameter="0.6" 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_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_close_to_hero_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_adversary_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_hero_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_adversary_2579">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-7.139759540557861" y="-80.67847442626953" z="0.03388206288218498"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_close_to_hero_2580">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-4.847783088684082" y="-151.9680938720703" z="0.0015143966302275658"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_close_to_adversary_2581">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-2.0980467796325684" y="-73.0125503540039" z="0.033866576850414276"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_close_to_hero_2582">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-7.386314392089844" y="-143.29766845703125" z="0.0015143966302275658"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
</Actions>
</Init>
<Story name="MyStory">
<Act name="Behavior">
<ManeuverGroup maximumExecutionCount="1" name="ManeuverSequence">
<Actors selectTriggeringEntities="false">
<EntityRef entityRef="adversary"/>
</Actors>
<Maneuver name="LaneChangeSimpleManeuver">
<Event name="AdversaryAccelerates" priority="overwrite">
<Action name="AdversaryAccelerates">
<PrivateAction>
<LongitudinalAction>
<SpeedAction>
<SpeedActionDynamics dynamicsShape="step" value="50" dynamicsDimension="distance"/>
<SpeedActionTarget>
<AbsoluteTargetSpeed value="5.0"/>
</SpeedActionTarget>
</SpeedAction>
</LongitudinalAction>
</PrivateAction>
</Action>
<StartTrigger>
<ConditionGroup>
<Condition name="StartCondition" delay="0" conditionEdge="rising">
<ByEntityCondition>
<TriggeringEntities triggeringEntitiesRule="any">
<EntityRef entityRef="hero"/>
</TriggeringEntities>
<EntityCondition>
<RelativeDistanceCondition entityRef="adversary" relativeDistanceType="cartesianDistance" value="40.0" freespace="false" rule="lessThan"/>
</EntityCondition>
</ByEntityCondition>
</Condition>
</ConditionGroup>
</StartTrigger>
</Event>
<Event name="AdversaryChangesLane" priority="overwrite">
<Action name="AdversaryChangesLane">
<PrivateAction>
<LateralAction>
<LaneChangeAction>
<LaneChangeActionDynamics dynamicsShape="linear" value="25" dynamicsDimension="distance"/>
<LaneChangeTarget>
<RelativeTargetLane entityRef="adversary" value="-1"/>
</LaneChangeTarget>
</LaneChangeAction>
</LateralAction>
</PrivateAction>
</Action>
<StartTrigger>
<ConditionGroup>
<Condition name="AfterAdversaryAccelerates" delay="0" conditionEdge="rising">
<ByValueCondition>
<StoryboardElementStateCondition storyboardElementType="action" storyboardElementRef="AdversaryAccelerates" state="completeState"/>
</ByValueCondition>
</Condition>
</ConditionGroup>
</StartTrigger>
</Event>
</Maneuver>
</ManeuverGroup>
<StartTrigger>
<ConditionGroup>
<Condition name="OverallStartCondition" delay="0" conditionEdge="rising">
<ByEntityCondition>
<TriggeringEntities triggeringEntitiesRule="any">
<EntityRef entityRef="hero"/>
</TriggeringEntities>
<EntityCondition>
<TraveledDistanceCondition value="1.0"/>
</EntityCondition>
</ByEntityCondition>
</Condition>
<Condition name="StartTime" delay="0" conditionEdge="rising">
<ByValueCondition>
<SimulationTimeCondition value="0" rule="equalTo"/>
</ByValueCondition>
</Condition>
</ConditionGroup>
</StartTrigger>
<StopTrigger>
<ConditionGroup>
<Condition name="EndCondition" delay="0" conditionEdge="rising">
<ByEntityCondition>
<TriggeringEntities triggeringEntitiesRule="any">
<EntityRef entityRef="hero"/>
</TriggeringEntities>
<EntityCondition>
<TraveledDistanceCondition value="200.0"/>
</EntityCondition>
</ByEntityCondition>
</Condition>
</ConditionGroup>
</StopTrigger>
</Act>
</Story>
<StopTrigger>
<ConditionGroup>
<Condition name="criteria_RunningStopTest" delay="0" conditionEdge="rising">
<ByValueCondition>
<ParameterCondition parameterRef="" value="" rule="lessThan"/>
</ByValueCondition>
</Condition>
<Condition name="criteria_RunningRedLightTest" delay="0" conditionEdge="rising">
<ByValueCondition>
<ParameterCondition parameterRef="" value="" rule="lessThan"/>
</ByValueCondition>
</Condition>
<Condition name="criteria_WrongLaneTest" delay="0" conditionEdge="rising">
<ByValueCondition>
<ParameterCondition parameterRef="" value="" rule="lessThan"/>
</ByValueCondition>
</Condition>
<Condition name="criteria_OnSidewalkTest" delay="0" conditionEdge="rising">
<ByValueCondition>
<ParameterCondition parameterRef="" value="" rule="lessThan"/>
</ByValueCondition>
</Condition>
<Condition name="criteria_KeepLaneTest" delay="0" conditionEdge="rising">
<ByValueCondition>
<ParameterCondition parameterRef="" value="" rule="lessThan"/>
</ByValueCondition>
</Condition>
<Condition name="criteria_CollisionTest" delay="0" conditionEdge="rising">
<ByValueCondition>
<ParameterCondition parameterRef="" value="" rule="lessThan"/>
</ByValueCondition>
</Condition>
<Condition name="criteria_DrivenDistanceTest" delay="0" conditionEdge="rising">
<ByValueCondition>
<ParameterCondition parameterRef="distance_success" value="100" rule="lessThan"/>
</ByValueCondition>
</Condition>
</ConditionGroup>
</StopTrigger>
</Storyboard>
</OpenSCENARIO>
``` |
i would like to 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_7216">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_close_to_hero_7217">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_w_transform_7218">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_close_to_adversary_7219">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_w_transform_7220">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_close_to_standing_7222">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_close_to_hero_7223">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
</Entities>
<Storyboard>
<Init>
<Actions>
<GlobalAction>
<EnvironmentAction>
<Environment name="Environment1">
<TimeOfDay animation="false" dateTime="2019-06-25T12:00:00"/>
<Weather cloudState="free">
<Sun intensity="0.85" azimuth="0" elevation="1.31"/>
<Fog visualRange="100000.0"/>
<Precipitation precipitationType="dry" intensity="0.0"/>
</Weather>
<RoadCondition frictionScaleFactor="1.0"/>
</Environment>
</EnvironmentAction>
</GlobalAction>
<Private entityRef="hero">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-9.4" y="-152.8" z="0.5" h="1.57079632679"/>
</Position>
</TeleportAction>
</PrivateAction>
<PrivateAction>
<ControllerAction>
<AssignControllerAction>
<Controller name="HeroAgent">
<Properties>
<Property name="module" value="external_control"/>
</Properties>
</Controller>
</AssignControllerAction>
<OverrideControllerValueAction>
<Throttle value="0" active="false"/>
<Brake value="0" active="false"/>
<Clutch value="0" active="false"/>
<ParkingBrake value="0" active="false"/>
<SteeringWheel value="0" active="false"/>
<Gear number="0" active="false"/>
</OverrideControllerValueAction>
</ControllerAction>
</PrivateAction>
</Private>
<Private entityRef="adversary">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-9.4" y="-71.0" z="0.5" h="1.57079632679"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="standing">
<PrivateAction>
<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_7216">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-1.3463459014892578" y="-147.535888671875" z="0.0013900374760851264"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_close_to_hero_7217">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-5.9554033279418945" y="-161.49671936035156" z="0.0013900374760851264"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_w_transform_7218">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="71.25422668457031" y="-26.957136154174805" z="0.5"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_close_to_adversary_7219">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-13.434667587280273" y="-74.73077392578125" z="0.03374500200152397"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_w_transform_7220">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="18.773406982421875" y="56.53031921386719" z="0.5"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_close_to_standing_7222">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-6.773438930511475" y="35.6230354309082" z="0.0030844497960060835"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_close_to_hero_7223">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-3.937696695327759" y="-161.14913940429688" z="0.0013900374760851264"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
</Actions>
</Init>
<Story name="MyStory">
<Act name="Behavior">
<ManeuverGroup maximumExecutionCount="1" name="ManeuverSequence">
<Actors selectTriggeringEntities="false">
<EntityRef entityRef="adversary"/>
</Actors>
<Maneuver name="LaneChangeSimpleManeuver">
<Event name="AdversaryAccelerates" priority="overwrite">
<Action name="AdversaryAccelerates">
<PrivateAction>
<LongitudinalAction>
<SpeedAction>
<SpeedActionDynamics dynamicsShape="step" value="50" dynamicsDimension="distance"/>
<SpeedActionTarget>
<AbsoluteTargetSpeed value="5.0"/>
</SpeedActionTarget>
</SpeedAction>
</LongitudinalAction>
</PrivateAction>
</Action>
<StartTrigger>
<ConditionGroup>
<Condition name="StartCondition" delay="0" conditionEdge="rising">
<ByEntityCondition>
<TriggeringEntities triggeringEntitiesRule="any">
<EntityRef entityRef="hero"/>
</TriggeringEntities>
<EntityCondition>
<RelativeDistanceCondition entityRef="adversary" relativeDistanceType="cartesianDistance" value="40.0" freespace="false" rule="lessThan"/>
</EntityCondition>
</ByEntityCondition>
</Condition>
</ConditionGroup>
</StartTrigger>
</Event>
<Event name="AdversaryChangesLane" priority="overwrite">
<Action name="AdversaryChangesLane">
<PrivateAction>
<LateralAction>
<LaneChangeAction>
<LaneChangeActionDynamics dynamicsShape="linear" value="25" dynamicsDimension="distance"/>
<LaneChangeTarget>
<RelativeTargetLane entityRef="adversary" value="-1"/>
</LaneChangeTarget>
</LaneChangeAction>
</LateralAction>
</PrivateAction>
</Action>
<StartTrigger>
<ConditionGroup>
<Condition name="AfterAdversaryAccelerates" delay="0" conditionEdge="rising">
<ByValueCondition>
<StoryboardElementStateCondition storyboardElementType="action" storyboardElementRef="AdversaryAccelerates" state="completeState"/>
</ByValueCondition>
</Condition>
</ConditionGroup>
</StartTrigger>
</Event>
</Maneuver>
</ManeuverGroup>
<StartTrigger>
<ConditionGroup>
<Condition name="OverallStartCondition" delay="0" conditionEdge="rising">
<ByEntityCondition>
<TriggeringEntities triggeringEntitiesRule="any">
<EntityRef entityRef="hero"/>
</TriggeringEntities>
<EntityCondition>
<TraveledDistanceCondition value="1.0"/>
</EntityCondition>
</ByEntityCondition>
</Condition>
<Condition name="StartTime" delay="0" conditionEdge="rising">
<ByValueCondition>
<SimulationTimeCondition value="0" rule="equalTo"/>
</ByValueCondition>
</Condition>
</ConditionGroup>
</StartTrigger>
<StopTrigger>
<ConditionGroup>
<Condition name="EndCondition" delay="0" conditionEdge="rising">
<ByEntityCondition>
<TriggeringEntities triggeringEntitiesRule="any">
<EntityRef entityRef="hero"/>
</TriggeringEntities>
<EntityCondition>
<TraveledDistanceCondition value="200.0"/>
</EntityCondition>
</ByEntityCondition>
</Condition>
</ConditionGroup>
</StopTrigger>
</Act>
</Story>
<StopTrigger>
<ConditionGroup>
<Condition name="criteria_RunningStopTest" delay="0" conditionEdge="rising">
<ByValueCondition>
<ParameterCondition parameterRef="" value="" rule="lessThan"/>
</ByValueCondition>
</Condition>
<Condition name="criteria_RunningRedLightTest" delay="0" conditionEdge="rising">
<ByValueCondition>
<ParameterCondition parameterRef="" value="" rule="lessThan"/>
</ByValueCondition>
</Condition>
<Condition name="criteria_WrongLaneTest" delay="0" conditionEdge="rising">
<ByValueCondition>
<ParameterCondition parameterRef="" value="" rule="lessThan"/>
</ByValueCondition>
</Condition>
<Condition name="criteria_OnSidewalkTest" delay="0" conditionEdge="rising">
<ByValueCondition>
<ParameterCondition parameterRef="" value="" rule="lessThan"/>
</ByValueCondition>
</Condition>
<Condition name="criteria_KeepLaneTest" delay="0" conditionEdge="rising">
<ByValueCondition>
<ParameterCondition parameterRef="" value="" rule="lessThan"/>
</ByValueCondition>
</Condition>
<Condition name="criteria_CollisionTest" delay="0" conditionEdge="rising">
<ByValueCondition>
<ParameterCondition parameterRef="" value="" rule="lessThan"/>
</ByValueCondition>
</Condition>
<Condition name="criteria_DrivenDistanceTest" delay="0" conditionEdge="rising">
<ByValueCondition>
<ParameterCondition parameterRef="distance_success" value="100" rule="lessThan"/>
</ByValueCondition>
</Condition>
</ConditionGroup>
</StopTrigger>
</Storyboard>
</OpenSCENARIO>
``` | Here is the result:
```
<?xml version="1.0" ?>
<OpenSCENARIO>
<FileHeader revMajor="1" revMinor="0" date="2020-03-24T12:00:00" description="CARLA:LaneChangeSimple" author=""/>
<ParameterDeclarations/>
<CatalogLocations/>
<RoadNetwork>
<LogicFile filepath="Town04"/>
<SceneGraphFile filepath=""/>
</RoadNetwork>
<Entities>
<ScenarioObject name="hero">
<Vehicle name="vehicle.tesla.model3" vehicleCategory="car">
<ParameterDeclarations/>
<Performance maxSpeed="69.444" maxAcceleration="200" maxDeceleration="10.0"/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2.1" length="4.5" height="1.8"/>
</BoundingBox>
<Axles>
<FrontAxle maxSteering="0.5" wheelDiameter="0.6" trackWidth="1.8" positionX="3.1" positionZ="0.3"/>
<RearAxle maxSteering="0.0" wheelDiameter="0.6" trackWidth="1.8" positionX="0.0" positionZ="0.3"/>
</Axles>
<Properties>
<Property name="type" value="ego_vehicle"/>
</Properties>
</Vehicle>
</ScenarioObject>
<ScenarioObject name="adversary">
<Vehicle name="vehicle.lincoln.mkz_2017" vehicleCategory="car">
<ParameterDeclarations/>
<Performance maxSpeed="69.444" maxAcceleration="200" maxDeceleration="10.0"/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2.1" length="4.5" height="1.8"/>
</BoundingBox>
<Axles>
<FrontAxle maxSteering="0.5" wheelDiameter="0.6" trackWidth="1.8" positionX="3.1" positionZ="0.3"/>
<RearAxle maxSteering="0.0" wheelDiameter="0.6" trackWidth="1.8" positionX="0.0" positionZ="0.3"/>
</Axles>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Vehicle>
</ScenarioObject>
<ScenarioObject name="standing">
<Vehicle name="vehicle.volkswagen.t2" vehicleCategory="car">
<ParameterDeclarations/>
<Performance maxSpeed="69.444" maxAcceleration="200" maxDeceleration="10.0"/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2.1" length="4.5" height="1.8"/>
</BoundingBox>
<Axles>
<FrontAxle maxSteering="0.5" wheelDiameter="0.6" trackWidth="1.8" positionX="3.1" positionZ="0.3"/>
<RearAxle maxSteering="0.0" wheelDiameter="0.6" trackWidth="1.8" positionX="0.0" positionZ="0.3"/>
</Axles>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Vehicle>
</ScenarioObject>
<ScenarioObject name="pedestrian_close_to_hero_7216">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_close_to_hero_7217">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_w_transform_7218">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_close_to_adversary_7219">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_w_transform_7220">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_close_to_standing_7222">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_close_to_hero_7223">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_close_to_standing_7224">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
</Entities>
<Storyboard>
<Init>
<Actions>
<GlobalAction>
<EnvironmentAction>
<Environment name="Environment1">
<TimeOfDay animation="false" dateTime="2019-06-25T12:00:00"/>
<Weather cloudState="free">
<Sun intensity="0.85" azimuth="0" elevation="1.31"/>
<Fog visualRange="100000.0"/>
<Precipitation precipitationType="dry" intensity="0.0"/>
</Weather>
<RoadCondition frictionScaleFactor="1.0"/>
</Environment>
</EnvironmentAction>
</GlobalAction>
<Private entityRef="hero">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-9.4" y="-152.8" z="0.5" h="1.57079632679"/>
</Position>
</TeleportAction>
</PrivateAction>
<PrivateAction>
<ControllerAction>
<AssignControllerAction>
<Controller name="HeroAgent">
<Properties>
<Property name="module" value="external_control"/>
</Properties>
</Controller>
</AssignControllerAction>
<OverrideControllerValueAction>
<Throttle value="0" active="false"/>
<Brake value="0" active="false"/>
<Clutch value="0" active="false"/>
<ParkingBrake value="0" active="false"/>
<SteeringWheel value="0" active="false"/>
<Gear number="0" active="false"/>
</OverrideControllerValueAction>
</ControllerAction>
</PrivateAction>
</Private>
<Private entityRef="adversary">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-9.4" y="-71.0" z="0.5" h="1.57079632679"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="standing">
<PrivateAction>
<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_7216">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-1.3463459014892578" y="-147.535888671875" z="0.0013900374760851264"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_close_to_hero_7217">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-5.9554033279418945" y="-161.49671936035156" z="0.0013900374760851264"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_w_transform_7218">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="71.25422668457031" y="-26.957136154174805" z="0.5"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_close_to_adversary_7219">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-13.434667587280273" y="-74.73077392578125" z="0.03374500200152397"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_w_transform_7220">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="18.773406982421875" y="56.53031921386719" z="0.5"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_close_to_standing_7222">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-6.773438930511475" y="35.6230354309082" z="0.0030844497960060835"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_close_to_hero_7223">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-3.937696695327759" y="-161.14913940429688" z="0.0013900374760851264"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_close_to_standing_7224">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-7.02164363861084" y="26.714523315429688" z="0.003041839459910989"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
</Actions>
</Init>
<Story name="MyStory">
<Act name="Behavior">
<ManeuverGroup maximumExecutionCount="1" name="ManeuverSequence">
<Actors selectTriggeringEntities="false">
<EntityRef entityRef="adversary"/>
</Actors>
<Maneuver name="LaneChangeSimpleManeuver">
<Event name="AdversaryAccelerates" priority="overwrite">
<Action name="AdversaryAccelerates">
<PrivateAction>
<LongitudinalAction>
<SpeedAction>
<SpeedActionDynamics dynamicsShape="step" value="50" dynamicsDimension="distance"/>
<SpeedActionTarget>
<AbsoluteTargetSpeed value="5.0"/>
</SpeedActionTarget>
</SpeedAction>
</LongitudinalAction>
</PrivateAction>
</Action>
<StartTrigger>
<ConditionGroup>
<Condition name="StartCondition" delay="0" conditionEdge="rising">
<ByEntityCondition>
<TriggeringEntities triggeringEntitiesRule="any">
<EntityRef entityRef="hero"/>
</TriggeringEntities>
<EntityCondition>
<RelativeDistanceCondition entityRef="adversary" relativeDistanceType="cartesianDistance" value="40.0" freespace="false" rule="lessThan"/>
</EntityCondition>
</ByEntityCondition>
</Condition>
</ConditionGroup>
</StartTrigger>
</Event>
<Event name="AdversaryChangesLane" priority="overwrite">
<Action name="AdversaryChangesLane">
<PrivateAction>
<LateralAction>
<LaneChangeAction>
<LaneChangeActionDynamics dynamicsShape="linear" value="25" dynamicsDimension="distance"/>
<LaneChangeTarget>
<RelativeTargetLane entityRef="adversary" value="-1"/>
</LaneChangeTarget>
</LaneChangeAction>
</LateralAction>
</PrivateAction>
</Action>
<StartTrigger>
<ConditionGroup>
<Condition name="AfterAdversaryAccelerates" delay="0" conditionEdge="rising">
<ByValueCondition>
<StoryboardElementStateCondition storyboardElementType="action" storyboardElementRef="AdversaryAccelerates" state="completeState"/>
</ByValueCondition>
</Condition>
</ConditionGroup>
</StartTrigger>
</Event>
</Maneuver>
</ManeuverGroup>
<StartTrigger>
<ConditionGroup>
<Condition name="OverallStartCondition" delay="0" conditionEdge="rising">
<ByEntityCondition>
<TriggeringEntities triggeringEntitiesRule="any">
<EntityRef entityRef="hero"/>
</TriggeringEntities>
<EntityCondition>
<TraveledDistanceCondition value="1.0"/>
</EntityCondition>
</ByEntityCondition>
</Condition>
<Condition name="StartTime" delay="0" conditionEdge="rising">
<ByValueCondition>
<SimulationTimeCondition value="0" rule="equalTo"/>
</ByValueCondition>
</Condition>
</ConditionGroup>
</StartTrigger>
<StopTrigger>
<ConditionGroup>
<Condition name="EndCondition" delay="0" conditionEdge="rising">
<ByEntityCondition>
<TriggeringEntities triggeringEntitiesRule="any">
<EntityRef entityRef="hero"/>
</TriggeringEntities>
<EntityCondition>
<TraveledDistanceCondition value="200.0"/>
</EntityCondition>
</ByEntityCondition>
</Condition>
</ConditionGroup>
</StopTrigger>
</Act>
</Story>
<StopTrigger>
<ConditionGroup>
<Condition name="criteria_RunningStopTest" delay="0" conditionEdge="rising">
<ByValueCondition>
<ParameterCondition parameterRef="" value="" rule="lessThan"/>
</ByValueCondition>
</Condition>
<Condition name="criteria_RunningRedLightTest" delay="0" conditionEdge="rising">
<ByValueCondition>
<ParameterCondition parameterRef="" value="" rule="lessThan"/>
</ByValueCondition>
</Condition>
<Condition name="criteria_WrongLaneTest" delay="0" conditionEdge="rising">
<ByValueCondition>
<ParameterCondition parameterRef="" value="" rule="lessThan"/>
</ByValueCondition>
</Condition>
<Condition name="criteria_OnSidewalkTest" delay="0" conditionEdge="rising">
<ByValueCondition>
<ParameterCondition parameterRef="" value="" rule="lessThan"/>
</ByValueCondition>
</Condition>
<Condition name="criteria_KeepLaneTest" delay="0" conditionEdge="rising">
<ByValueCondition>
<ParameterCondition parameterRef="" value="" rule="lessThan"/>
</ByValueCondition>
</Condition>
<Condition name="criteria_CollisionTest" delay="0" conditionEdge="rising">
<ByValueCondition>
<ParameterCondition parameterRef="" value="" rule="lessThan"/>
</ByValueCondition>
</Condition>
<Condition name="criteria_DrivenDistanceTest" delay="0" conditionEdge="rising">
<ByValueCondition>
<ParameterCondition parameterRef="distance_success" value="100" rule="lessThan"/>
</ByValueCondition>
</Condition>
</ConditionGroup>
</StopTrigger>
</Storyboard>
</OpenSCENARIO>
``` |
would you add pedestrian at location (-46.93, 58.0, 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_19782">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_w_transform_19783">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_w_transform_19784">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_close_to_standing_19785">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_close_to_adversary_19787">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_w_transform_19788">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_close_to_standing_19789">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
</Entities>
<Storyboard>
<Init>
<Actions>
<GlobalAction>
<EnvironmentAction>
<Environment name="Environment1">
<TimeOfDay animation="false" dateTime="2019-06-25T12:00:00"/>
<Weather cloudState="free">
<Sun intensity="0.85" azimuth="0" elevation="1.31"/>
<Fog visualRange="100000.0"/>
<Precipitation precipitationType="dry" intensity="0.0"/>
</Weather>
<RoadCondition frictionScaleFactor="1.0"/>
</Environment>
</EnvironmentAction>
</GlobalAction>
<Private entityRef="hero">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-9.4" y="-152.8" z="0.5" h="1.57079632679"/>
</Position>
</TeleportAction>
</PrivateAction>
<PrivateAction>
<ControllerAction>
<AssignControllerAction>
<Controller name="HeroAgent">
<Properties>
<Property name="module" value="external_control"/>
</Properties>
</Controller>
</AssignControllerAction>
<OverrideControllerValueAction>
<Throttle value="0" active="false"/>
<Brake value="0" active="false"/>
<Clutch value="0" active="false"/>
<ParkingBrake value="0" active="false"/>
<SteeringWheel value="0" active="false"/>
<Gear number="0" active="false"/>
</OverrideControllerValueAction>
</ControllerAction>
</PrivateAction>
</Private>
<Private entityRef="adversary">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-9.4" y="-71.0" z="0.5" h="1.57079632679"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="standing">
<PrivateAction>
<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_19782">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-18.762989044189453" y="-63.42518997192383" z="0.033810462802648544"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_w_transform_19783">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-42.49928665161133" y="-10.070898056030273" z="0.5"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_w_transform_19784">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="15.317195892333984" y="48.938507080078125" z="0.5"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_close_to_standing_19785">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-4.023119926452637" y="36.79752731323242" z="0.0030508802738040686"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_close_to_adversary_19787">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-12.77546501159668" y="-61.84559631347656" z="0.03379425033926964"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_w_transform_19788">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-27.57356071472168" y="22.760311126708984" z="0.5"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_close_to_standing_19789">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-14.455225944519043" y="32.92555618286133" z="0.003041839459910989"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
</Actions>
</Init>
<Story name="MyStory">
<Act name="Behavior">
<ManeuverGroup maximumExecutionCount="1" name="ManeuverSequence">
<Actors selectTriggeringEntities="false">
<EntityRef entityRef="adversary"/>
</Actors>
<Maneuver name="LaneChangeSimpleManeuver">
<Event name="AdversaryAccelerates" priority="overwrite">
<Action name="AdversaryAccelerates">
<PrivateAction>
<LongitudinalAction>
<SpeedAction>
<SpeedActionDynamics dynamicsShape="step" value="50" dynamicsDimension="distance"/>
<SpeedActionTarget>
<AbsoluteTargetSpeed value="5.0"/>
</SpeedActionTarget>
</SpeedAction>
</LongitudinalAction>
</PrivateAction>
</Action>
<StartTrigger>
<ConditionGroup>
<Condition name="StartCondition" delay="0" conditionEdge="rising">
<ByEntityCondition>
<TriggeringEntities triggeringEntitiesRule="any">
<EntityRef entityRef="hero"/>
</TriggeringEntities>
<EntityCondition>
<RelativeDistanceCondition entityRef="adversary" relativeDistanceType="cartesianDistance" value="40.0" freespace="false" rule="lessThan"/>
</EntityCondition>
</ByEntityCondition>
</Condition>
</ConditionGroup>
</StartTrigger>
</Event>
<Event name="AdversaryChangesLane" priority="overwrite">
<Action name="AdversaryChangesLane">
<PrivateAction>
<LateralAction>
<LaneChangeAction>
<LaneChangeActionDynamics dynamicsShape="linear" value="25" dynamicsDimension="distance"/>
<LaneChangeTarget>
<RelativeTargetLane entityRef="adversary" value="-1"/>
</LaneChangeTarget>
</LaneChangeAction>
</LateralAction>
</PrivateAction>
</Action>
<StartTrigger>
<ConditionGroup>
<Condition name="AfterAdversaryAccelerates" delay="0" conditionEdge="rising">
<ByValueCondition>
<StoryboardElementStateCondition storyboardElementType="action" storyboardElementRef="AdversaryAccelerates" state="completeState"/>
</ByValueCondition>
</Condition>
</ConditionGroup>
</StartTrigger>
</Event>
</Maneuver>
</ManeuverGroup>
<StartTrigger>
<ConditionGroup>
<Condition name="OverallStartCondition" delay="0" conditionEdge="rising">
<ByEntityCondition>
<TriggeringEntities triggeringEntitiesRule="any">
<EntityRef entityRef="hero"/>
</TriggeringEntities>
<EntityCondition>
<TraveledDistanceCondition value="1.0"/>
</EntityCondition>
</ByEntityCondition>
</Condition>
<Condition name="StartTime" delay="0" conditionEdge="rising">
<ByValueCondition>
<SimulationTimeCondition value="0" rule="equalTo"/>
</ByValueCondition>
</Condition>
</ConditionGroup>
</StartTrigger>
<StopTrigger>
<ConditionGroup>
<Condition name="EndCondition" delay="0" conditionEdge="rising">
<ByEntityCondition>
<TriggeringEntities triggeringEntitiesRule="any">
<EntityRef entityRef="hero"/>
</TriggeringEntities>
<EntityCondition>
<TraveledDistanceCondition value="200.0"/>
</EntityCondition>
</ByEntityCondition>
</Condition>
</ConditionGroup>
</StopTrigger>
</Act>
</Story>
<StopTrigger>
<ConditionGroup>
<Condition name="criteria_RunningStopTest" delay="0" conditionEdge="rising">
<ByValueCondition>
<ParameterCondition parameterRef="" value="" rule="lessThan"/>
</ByValueCondition>
</Condition>
<Condition name="criteria_RunningRedLightTest" delay="0" conditionEdge="rising">
<ByValueCondition>
<ParameterCondition parameterRef="" value="" rule="lessThan"/>
</ByValueCondition>
</Condition>
<Condition name="criteria_WrongLaneTest" delay="0" conditionEdge="rising">
<ByValueCondition>
<ParameterCondition parameterRef="" value="" rule="lessThan"/>
</ByValueCondition>
</Condition>
<Condition name="criteria_OnSidewalkTest" delay="0" conditionEdge="rising">
<ByValueCondition>
<ParameterCondition parameterRef="" value="" rule="lessThan"/>
</ByValueCondition>
</Condition>
<Condition name="criteria_KeepLaneTest" delay="0" conditionEdge="rising">
<ByValueCondition>
<ParameterCondition parameterRef="" value="" rule="lessThan"/>
</ByValueCondition>
</Condition>
<Condition name="criteria_CollisionTest" delay="0" conditionEdge="rising">
<ByValueCondition>
<ParameterCondition parameterRef="" value="" rule="lessThan"/>
</ByValueCondition>
</Condition>
<Condition name="criteria_DrivenDistanceTest" delay="0" conditionEdge="rising">
<ByValueCondition>
<ParameterCondition parameterRef="distance_success" value="100" rule="lessThan"/>
</ByValueCondition>
</Condition>
</ConditionGroup>
</StopTrigger>
</Storyboard>
</OpenSCENARIO>
``` | Here is the result:
```
<?xml version="1.0" ?>
<OpenSCENARIO>
<FileHeader revMajor="1" revMinor="0" date="2020-03-24T12:00:00" description="CARLA:LaneChangeSimple" author=""/>
<ParameterDeclarations/>
<CatalogLocations/>
<RoadNetwork>
<LogicFile filepath="Town04"/>
<SceneGraphFile filepath=""/>
</RoadNetwork>
<Entities>
<ScenarioObject name="hero">
<Vehicle name="vehicle.tesla.model3" vehicleCategory="car">
<ParameterDeclarations/>
<Performance maxSpeed="69.444" maxAcceleration="200" maxDeceleration="10.0"/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2.1" length="4.5" height="1.8"/>
</BoundingBox>
<Axles>
<FrontAxle maxSteering="0.5" wheelDiameter="0.6" trackWidth="1.8" positionX="3.1" positionZ="0.3"/>
<RearAxle maxSteering="0.0" wheelDiameter="0.6" trackWidth="1.8" positionX="0.0" positionZ="0.3"/>
</Axles>
<Properties>
<Property name="type" value="ego_vehicle"/>
</Properties>
</Vehicle>
</ScenarioObject>
<ScenarioObject name="adversary">
<Vehicle name="vehicle.lincoln.mkz_2017" vehicleCategory="car">
<ParameterDeclarations/>
<Performance maxSpeed="69.444" maxAcceleration="200" maxDeceleration="10.0"/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2.1" length="4.5" height="1.8"/>
</BoundingBox>
<Axles>
<FrontAxle maxSteering="0.5" wheelDiameter="0.6" trackWidth="1.8" positionX="3.1" positionZ="0.3"/>
<RearAxle maxSteering="0.0" wheelDiameter="0.6" trackWidth="1.8" positionX="0.0" positionZ="0.3"/>
</Axles>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Vehicle>
</ScenarioObject>
<ScenarioObject name="standing">
<Vehicle name="vehicle.volkswagen.t2" vehicleCategory="car">
<ParameterDeclarations/>
<Performance maxSpeed="69.444" maxAcceleration="200" maxDeceleration="10.0"/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2.1" length="4.5" height="1.8"/>
</BoundingBox>
<Axles>
<FrontAxle maxSteering="0.5" wheelDiameter="0.6" trackWidth="1.8" positionX="3.1" positionZ="0.3"/>
<RearAxle maxSteering="0.0" wheelDiameter="0.6" 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_19782">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_w_transform_19783">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_w_transform_19784">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_close_to_standing_19785">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_close_to_adversary_19787">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_w_transform_19788">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_close_to_standing_19789">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_w_transform_19790">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
</Entities>
<Storyboard>
<Init>
<Actions>
<GlobalAction>
<EnvironmentAction>
<Environment name="Environment1">
<TimeOfDay animation="false" dateTime="2019-06-25T12:00:00"/>
<Weather cloudState="free">
<Sun intensity="0.85" azimuth="0" elevation="1.31"/>
<Fog visualRange="100000.0"/>
<Precipitation precipitationType="dry" intensity="0.0"/>
</Weather>
<RoadCondition frictionScaleFactor="1.0"/>
</Environment>
</EnvironmentAction>
</GlobalAction>
<Private entityRef="hero">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-9.4" y="-152.8" z="0.5" h="1.57079632679"/>
</Position>
</TeleportAction>
</PrivateAction>
<PrivateAction>
<ControllerAction>
<AssignControllerAction>
<Controller name="HeroAgent">
<Properties>
<Property name="module" value="external_control"/>
</Properties>
</Controller>
</AssignControllerAction>
<OverrideControllerValueAction>
<Throttle value="0" active="false"/>
<Brake value="0" active="false"/>
<Clutch value="0" active="false"/>
<ParkingBrake value="0" active="false"/>
<SteeringWheel value="0" active="false"/>
<Gear number="0" active="false"/>
</OverrideControllerValueAction>
</ControllerAction>
</PrivateAction>
</Private>
<Private entityRef="adversary">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-9.4" y="-71.0" z="0.5" h="1.57079632679"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="standing">
<PrivateAction>
<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_19782">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-18.762989044189453" y="-63.42518997192383" z="0.033810462802648544"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_w_transform_19783">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-42.49928665161133" y="-10.070898056030273" z="0.5"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_w_transform_19784">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="15.317195892333984" y="48.938507080078125" z="0.5"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_close_to_standing_19785">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-4.023119926452637" y="36.79752731323242" z="0.0030508802738040686"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_close_to_adversary_19787">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-12.77546501159668" y="-61.84559631347656" z="0.03379425033926964"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_w_transform_19788">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-27.57356071472168" y="22.760311126708984" z="0.5"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_close_to_standing_19789">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-14.455225944519043" y="32.92555618286133" z="0.003041839459910989"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_w_transform_19790">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-46.92662048339844" y="58.00110626220703" 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 (69.03, 42.81, 0.5)?
```
<?xml version="1.0" ?>
<OpenSCENARIO>
<FileHeader revMajor="1" revMinor="0" date="2020-03-24T12:00:00" description="CARLA:LaneChangeSimple" author=""/>
<ParameterDeclarations/>
<CatalogLocations/>
<RoadNetwork>
<LogicFile filepath="Town04"/>
<SceneGraphFile filepath=""/>
</RoadNetwork>
<Entities>
<ScenarioObject name="hero">
<Vehicle name="vehicle.tesla.model3" vehicleCategory="car">
<ParameterDeclarations/>
<Performance maxSpeed="69.444" maxAcceleration="200" maxDeceleration="10.0"/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2.1" length="4.5" height="1.8"/>
</BoundingBox>
<Axles>
<FrontAxle maxSteering="0.5" wheelDiameter="0.6" trackWidth="1.8" positionX="3.1" positionZ="0.3"/>
<RearAxle maxSteering="0.0" wheelDiameter="0.6" trackWidth="1.8" positionX="0.0" positionZ="0.3"/>
</Axles>
<Properties>
<Property name="type" value="ego_vehicle"/>
</Properties>
</Vehicle>
</ScenarioObject>
<ScenarioObject name="adversary">
<Vehicle name="vehicle.lincoln.mkz_2017" vehicleCategory="car">
<ParameterDeclarations/>
<Performance maxSpeed="69.444" maxAcceleration="200" maxDeceleration="10.0"/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2.1" length="4.5" height="1.8"/>
</BoundingBox>
<Axles>
<FrontAxle maxSteering="0.5" wheelDiameter="0.6" trackWidth="1.8" positionX="3.1" positionZ="0.3"/>
<RearAxle maxSteering="0.0" wheelDiameter="0.6" trackWidth="1.8" positionX="0.0" positionZ="0.3"/>
</Axles>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Vehicle>
</ScenarioObject>
<ScenarioObject name="standing">
<Vehicle name="vehicle.volkswagen.t2" vehicleCategory="car">
<ParameterDeclarations/>
<Performance maxSpeed="69.444" maxAcceleration="200" maxDeceleration="10.0"/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2.1" length="4.5" height="1.8"/>
</BoundingBox>
<Axles>
<FrontAxle maxSteering="0.5" wheelDiameter="0.6" trackWidth="1.8" positionX="3.1" positionZ="0.3"/>
<RearAxle maxSteering="0.0" wheelDiameter="0.6" trackWidth="1.8" positionX="0.0" positionZ="0.3"/>
</Axles>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Vehicle>
</ScenarioObject>
<ScenarioObject name="pedestrian_close_to_hero_16516">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_close_to_adversary_16517">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_w_transform_16518">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_w_transform_16519">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_close_to_adversary_16520">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_w_transform_16521">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_w_transform_16522">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_w_transform_16523">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_close_to_adversary_16524">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_w_transform_16525">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_close_to_standing_16526">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_close_to_standing_16527">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_close_to_hero_16528">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_w_transform_16529">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_w_transform_16530">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_w_transform_16531">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_close_to_hero_16532">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_w_transform_16533">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
</Entities>
<Storyboard>
<Init>
<Actions>
<GlobalAction>
<EnvironmentAction>
<Environment name="Environment1">
<TimeOfDay animation="false" dateTime="2019-06-25T12:00:00"/>
<Weather cloudState="free">
<Sun intensity="0.85" azimuth="0" elevation="1.31"/>
<Fog visualRange="100000.0"/>
<Precipitation precipitationType="dry" intensity="0.0"/>
</Weather>
<RoadCondition frictionScaleFactor="1.0"/>
</Environment>
</EnvironmentAction>
</GlobalAction>
<Private entityRef="hero">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-9.4" y="-152.8" z="0.5" h="1.57079632679"/>
</Position>
</TeleportAction>
</PrivateAction>
<PrivateAction>
<ControllerAction>
<AssignControllerAction>
<Controller name="HeroAgent">
<Properties>
<Property name="module" value="external_control"/>
</Properties>
</Controller>
</AssignControllerAction>
<OverrideControllerValueAction>
<Throttle value="0" active="false"/>
<Brake value="0" active="false"/>
<Clutch value="0" active="false"/>
<ParkingBrake value="0" active="false"/>
<SteeringWheel value="0" active="false"/>
<Gear number="0" active="false"/>
</OverrideControllerValueAction>
</ControllerAction>
</PrivateAction>
</Private>
<Private entityRef="adversary">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-9.4" y="-71.0" z="0.5" h="1.57079632679"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="standing">
<PrivateAction>
<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_16516">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-11.22803783416748" y="-151.18260192871094" z="0.0016471862327307463"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_close_to_adversary_16517">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-18.11446189880371" y="-69.88553619384766" z="0.03377433866262436"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_w_transform_16518">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-14.838444709777832" y="48.65632247924805" z="0.5"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_w_transform_16519">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="18.844066619873047" y="14.105165481567383" z="0.5"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_close_to_adversary_16520">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-15.925810813903809" y="-68.38900756835938" z="0.03374778851866722"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_w_transform_16521">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-92.06852722167969" y="-39.38900375366211" z="0.5"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_w_transform_16522">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-3.331279993057251" y="54.24494552612305" z="0.5"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_w_transform_16523">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-59.55530548095703" y="-34.8951416015625" z="0.5"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_close_to_adversary_16524">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-19.073623657226562" y="-67.16659545898438" z="0.03377441316843033"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_w_transform_16525">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="64.48633575439453" y="-47.49059295654297" z="0.5"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_close_to_standing_16526">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-6.054134368896484" y="23.053546905517578" z="0.0030385206919163465"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_close_to_standing_16527">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-7.461874485015869" y="25.50836944580078" z="0.0030318067874759436"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_close_to_hero_16528">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-9.09796142578125" y="-161.40103149414062" z="0.0016471862327307463"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_w_transform_16529">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="47.35872268676758" y="14.609355926513672" z="0.5"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_w_transform_16530">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-71.61988830566406" y="32.9908561706543" z="0.5"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_w_transform_16531">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="71.92745208740234" y="-18.12721061706543" z="0.5"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_close_to_hero_16532">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-22.38555908203125" y="-158.2799530029297" z="0.0016471862327307463"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_w_transform_16533">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-63.824195861816406" y="59.088958740234375" 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_16516">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_close_to_adversary_16517">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_w_transform_16518">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_w_transform_16519">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_close_to_adversary_16520">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_w_transform_16521">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_w_transform_16522">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_w_transform_16523">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_close_to_adversary_16524">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_w_transform_16525">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_close_to_standing_16526">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_close_to_standing_16527">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_close_to_hero_16528">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_w_transform_16529">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_w_transform_16530">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_w_transform_16531">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_close_to_hero_16532">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_w_transform_16533">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_w_transform_16534">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
</Entities>
<Storyboard>
<Init>
<Actions>
<GlobalAction>
<EnvironmentAction>
<Environment name="Environment1">
<TimeOfDay animation="false" dateTime="2019-06-25T12:00:00"/>
<Weather cloudState="free">
<Sun intensity="0.85" azimuth="0" elevation="1.31"/>
<Fog visualRange="100000.0"/>
<Precipitation precipitationType="dry" intensity="0.0"/>
</Weather>
<RoadCondition frictionScaleFactor="1.0"/>
</Environment>
</EnvironmentAction>
</GlobalAction>
<Private entityRef="hero">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-9.4" y="-152.8" z="0.5" h="1.57079632679"/>
</Position>
</TeleportAction>
</PrivateAction>
<PrivateAction>
<ControllerAction>
<AssignControllerAction>
<Controller name="HeroAgent">
<Properties>
<Property name="module" value="external_control"/>
</Properties>
</Controller>
</AssignControllerAction>
<OverrideControllerValueAction>
<Throttle value="0" active="false"/>
<Brake value="0" active="false"/>
<Clutch value="0" active="false"/>
<ParkingBrake value="0" active="false"/>
<SteeringWheel value="0" active="false"/>
<Gear number="0" active="false"/>
</OverrideControllerValueAction>
</ControllerAction>
</PrivateAction>
</Private>
<Private entityRef="adversary">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-9.4" y="-71.0" z="0.5" h="1.57079632679"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="standing">
<PrivateAction>
<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_16516">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-11.22803783416748" y="-151.18260192871094" z="0.0016471862327307463"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_close_to_adversary_16517">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-18.11446189880371" y="-69.88553619384766" z="0.03377433866262436"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_w_transform_16518">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-14.838444709777832" y="48.65632247924805" z="0.5"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_w_transform_16519">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="18.844066619873047" y="14.105165481567383" z="0.5"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_close_to_adversary_16520">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-15.925810813903809" y="-68.38900756835938" z="0.03374778851866722"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_w_transform_16521">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-92.06852722167969" y="-39.38900375366211" z="0.5"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_w_transform_16522">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-3.331279993057251" y="54.24494552612305" z="0.5"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_w_transform_16523">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-59.55530548095703" y="-34.8951416015625" z="0.5"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_close_to_adversary_16524">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-19.073623657226562" y="-67.16659545898438" z="0.03377441316843033"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_w_transform_16525">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="64.48633575439453" y="-47.49059295654297" z="0.5"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_close_to_standing_16526">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-6.054134368896484" y="23.053546905517578" z="0.0030385206919163465"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_close_to_standing_16527">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-7.461874485015869" y="25.50836944580078" z="0.0030318067874759436"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_close_to_hero_16528">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-9.09796142578125" y="-161.40103149414062" z="0.0016471862327307463"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_w_transform_16529">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="47.35872268676758" y="14.609355926513672" z="0.5"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_w_transform_16530">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-71.61988830566406" y="32.9908561706543" z="0.5"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_w_transform_16531">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="71.92745208740234" y="-18.12721061706543" z="0.5"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_close_to_hero_16532">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-22.38555908203125" y="-158.2799530029297" z="0.0016471862327307463"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_w_transform_16533">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-63.824195861816406" y="59.088958740234375" z="0.5"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_w_transform_16534">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="69.02821350097656" y="42.805213928222656" z="0.5"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
</Actions>
</Init>
<Story name="MyStory">
<Act name="Behavior">
<ManeuverGroup maximumExecutionCount="1" name="ManeuverSequence">
<Actors selectTriggeringEntities="false">
<EntityRef entityRef="adversary"/>
</Actors>
<Maneuver name="LaneChangeSimpleManeuver">
<Event name="AdversaryAccelerates" priority="overwrite">
<Action name="AdversaryAccelerates">
<PrivateAction>
<LongitudinalAction>
<SpeedAction>
<SpeedActionDynamics dynamicsShape="step" value="50" dynamicsDimension="distance"/>
<SpeedActionTarget>
<AbsoluteTargetSpeed value="5.0"/>
</SpeedActionTarget>
</SpeedAction>
</LongitudinalAction>
</PrivateAction>
</Action>
<StartTrigger>
<ConditionGroup>
<Condition name="StartCondition" delay="0" conditionEdge="rising">
<ByEntityCondition>
<TriggeringEntities triggeringEntitiesRule="any">
<EntityRef entityRef="hero"/>
</TriggeringEntities>
<EntityCondition>
<RelativeDistanceCondition entityRef="adversary" relativeDistanceType="cartesianDistance" value="40.0" freespace="false" rule="lessThan"/>
</EntityCondition>
</ByEntityCondition>
</Condition>
</ConditionGroup>
</StartTrigger>
</Event>
<Event name="AdversaryChangesLane" priority="overwrite">
<Action name="AdversaryChangesLane">
<PrivateAction>
<LateralAction>
<LaneChangeAction>
<LaneChangeActionDynamics dynamicsShape="linear" value="25" dynamicsDimension="distance"/>
<LaneChangeTarget>
<RelativeTargetLane entityRef="adversary" value="-1"/>
</LaneChangeTarget>
</LaneChangeAction>
</LateralAction>
</PrivateAction>
</Action>
<StartTrigger>
<ConditionGroup>
<Condition name="AfterAdversaryAccelerates" delay="0" conditionEdge="rising">
<ByValueCondition>
<StoryboardElementStateCondition storyboardElementType="action" storyboardElementRef="AdversaryAccelerates" state="completeState"/>
</ByValueCondition>
</Condition>
</ConditionGroup>
</StartTrigger>
</Event>
</Maneuver>
</ManeuverGroup>
<StartTrigger>
<ConditionGroup>
<Condition name="OverallStartCondition" delay="0" conditionEdge="rising">
<ByEntityCondition>
<TriggeringEntities triggeringEntitiesRule="any">
<EntityRef entityRef="hero"/>
</TriggeringEntities>
<EntityCondition>
<TraveledDistanceCondition value="1.0"/>
</EntityCondition>
</ByEntityCondition>
</Condition>
<Condition name="StartTime" delay="0" conditionEdge="rising">
<ByValueCondition>
<SimulationTimeCondition value="0" rule="equalTo"/>
</ByValueCondition>
</Condition>
</ConditionGroup>
</StartTrigger>
<StopTrigger>
<ConditionGroup>
<Condition name="EndCondition" delay="0" conditionEdge="rising">
<ByEntityCondition>
<TriggeringEntities triggeringEntitiesRule="any">
<EntityRef entityRef="hero"/>
</TriggeringEntities>
<EntityCondition>
<TraveledDistanceCondition value="200.0"/>
</EntityCondition>
</ByEntityCondition>
</Condition>
</ConditionGroup>
</StopTrigger>
</Act>
</Story>
<StopTrigger>
<ConditionGroup>
<Condition name="criteria_RunningStopTest" delay="0" conditionEdge="rising">
<ByValueCondition>
<ParameterCondition parameterRef="" value="" rule="lessThan"/>
</ByValueCondition>
</Condition>
<Condition name="criteria_RunningRedLightTest" delay="0" conditionEdge="rising">
<ByValueCondition>
<ParameterCondition parameterRef="" value="" rule="lessThan"/>
</ByValueCondition>
</Condition>
<Condition name="criteria_WrongLaneTest" delay="0" conditionEdge="rising">
<ByValueCondition>
<ParameterCondition parameterRef="" value="" rule="lessThan"/>
</ByValueCondition>
</Condition>
<Condition name="criteria_OnSidewalkTest" delay="0" conditionEdge="rising">
<ByValueCondition>
<ParameterCondition parameterRef="" value="" rule="lessThan"/>
</ByValueCondition>
</Condition>
<Condition name="criteria_KeepLaneTest" delay="0" conditionEdge="rising">
<ByValueCondition>
<ParameterCondition parameterRef="" value="" rule="lessThan"/>
</ByValueCondition>
</Condition>
<Condition name="criteria_CollisionTest" delay="0" conditionEdge="rising">
<ByValueCondition>
<ParameterCondition parameterRef="" value="" rule="lessThan"/>
</ByValueCondition>
</Condition>
<Condition name="criteria_DrivenDistanceTest" delay="0" conditionEdge="rising">
<ByValueCondition>
<ParameterCondition parameterRef="distance_success" value="100" rule="lessThan"/>
</ByValueCondition>
</Condition>
</ConditionGroup>
</StopTrigger>
</Storyboard>
</OpenSCENARIO>
``` |
please remove pedestrian actor named pedestrian_w_transform_21027?
```
<?xml version="1.0" ?>
<OpenSCENARIO>
<FileHeader revMajor="1" revMinor="0" date="2020-03-24T12:00:00" description="CARLA:LaneChangeSimple" author=""/>
<ParameterDeclarations/>
<CatalogLocations/>
<RoadNetwork>
<LogicFile filepath="Town04"/>
<SceneGraphFile filepath=""/>
</RoadNetwork>
<Entities>
<ScenarioObject name="hero">
<Vehicle name="vehicle.tesla.model3" vehicleCategory="car">
<ParameterDeclarations/>
<Performance maxSpeed="69.444" maxAcceleration="200" maxDeceleration="10.0"/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2.1" length="4.5" height="1.8"/>
</BoundingBox>
<Axles>
<FrontAxle maxSteering="0.5" wheelDiameter="0.6" trackWidth="1.8" positionX="3.1" positionZ="0.3"/>
<RearAxle maxSteering="0.0" wheelDiameter="0.6" trackWidth="1.8" positionX="0.0" positionZ="0.3"/>
</Axles>
<Properties>
<Property name="type" value="ego_vehicle"/>
</Properties>
</Vehicle>
</ScenarioObject>
<ScenarioObject name="adversary">
<Vehicle name="vehicle.lincoln.mkz_2017" vehicleCategory="car">
<ParameterDeclarations/>
<Performance maxSpeed="69.444" maxAcceleration="200" maxDeceleration="10.0"/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2.1" length="4.5" height="1.8"/>
</BoundingBox>
<Axles>
<FrontAxle maxSteering="0.5" wheelDiameter="0.6" trackWidth="1.8" positionX="3.1" positionZ="0.3"/>
<RearAxle maxSteering="0.0" wheelDiameter="0.6" trackWidth="1.8" positionX="0.0" positionZ="0.3"/>
</Axles>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Vehicle>
</ScenarioObject>
<ScenarioObject name="standing">
<Vehicle name="vehicle.volkswagen.t2" vehicleCategory="car">
<ParameterDeclarations/>
<Performance maxSpeed="69.444" maxAcceleration="200" maxDeceleration="10.0"/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2.1" length="4.5" height="1.8"/>
</BoundingBox>
<Axles>
<FrontAxle maxSteering="0.5" wheelDiameter="0.6" trackWidth="1.8" positionX="3.1" positionZ="0.3"/>
<RearAxle maxSteering="0.0" wheelDiameter="0.6" 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_21011">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_w_transform_21012">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_w_transform_21013">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_close_to_standing_21015">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_w_transform_21019">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_close_to_standing_21020">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_close_to_hero_21021">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_w_transform_21022">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_w_transform_21024">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_w_transform_21026">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_w_transform_21027">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_w_transform_21028">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_close_to_standing_21029">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_close_to_adversary_21030">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_close_to_adversary_21034">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
</Entities>
<Storyboard>
<Init>
<Actions>
<GlobalAction>
<EnvironmentAction>
<Environment name="Environment1">
<TimeOfDay animation="false" dateTime="2019-06-25T12:00:00"/>
<Weather cloudState="free">
<Sun intensity="0.85" azimuth="0" elevation="1.31"/>
<Fog visualRange="100000.0"/>
<Precipitation precipitationType="dry" intensity="0.0"/>
</Weather>
<RoadCondition frictionScaleFactor="1.0"/>
</Environment>
</EnvironmentAction>
</GlobalAction>
<Private entityRef="hero">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-9.4" y="-152.8" z="0.5" h="1.57079632679"/>
</Position>
</TeleportAction>
</PrivateAction>
<PrivateAction>
<ControllerAction>
<AssignControllerAction>
<Controller name="HeroAgent">
<Properties>
<Property name="module" value="external_control"/>
</Properties>
</Controller>
</AssignControllerAction>
<OverrideControllerValueAction>
<Throttle value="0" active="false"/>
<Brake value="0" active="false"/>
<Clutch value="0" active="false"/>
<ParkingBrake value="0" active="false"/>
<SteeringWheel value="0" active="false"/>
<Gear number="0" active="false"/>
</OverrideControllerValueAction>
</ControllerAction>
</PrivateAction>
</Private>
<Private entityRef="adversary">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-9.4" y="-71.0" z="0.5" h="1.57079632679"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="standing">
<PrivateAction>
<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_21011">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-7.047759532928467" y="-152.9779510498047" z="0.0016471862327307463"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_w_transform_21012">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="37.4810791015625" y="-37.691162109375" z="0.5"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_w_transform_21013">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-74.4076156616211" y="-5.32080078125" z="0.5"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_close_to_standing_21015">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-2.556473731994629" y="24.019092559814453" z="0.003035583533346653"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_w_transform_21019">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="25.514366149902344" y="-22.915006637573242" z="0.5"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_close_to_standing_21020">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-12.372248649597168" y="20.068710327148438" z="0.0030257415492087603"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_close_to_hero_21021">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-6.306719779968262" y="-150.3357696533203" z="0.0016471862327307463"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_w_transform_21022">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="83.88009643554688" y="-53.972679138183594" z="0.5"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_w_transform_21024">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="72.56436920166016" y="-38.672847747802734" z="0.5"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_w_transform_21026">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="17.69295310974121" y="-72.56814575195312" z="0.5"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_w_transform_21027">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-84.64207458496094" y="14.42230224609375" z="0.5"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_w_transform_21028">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="86.90140533447266" y="81.56063079833984" z="0.5"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_close_to_standing_21029">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-17.120532989501953" y="34.226776123046875" z="0.0029840469360351562"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_close_to_adversary_21030">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-2.730348587036133" y="-72.95610809326172" z="0.03378520905971527"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_close_to_adversary_21034">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="6.367769241333008" y="-62.6629638671875" z="0.033821601420640945"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
</Actions>
</Init>
<Story name="MyStory">
<Act name="Behavior">
<ManeuverGroup maximumExecutionCount="1" name="ManeuverSequence">
<Actors selectTriggeringEntities="false">
<EntityRef entityRef="adversary"/>
</Actors>
<Maneuver name="LaneChangeSimpleManeuver">
<Event name="AdversaryAccelerates" priority="overwrite">
<Action name="AdversaryAccelerates">
<PrivateAction>
<LongitudinalAction>
<SpeedAction>
<SpeedActionDynamics dynamicsShape="step" value="50" dynamicsDimension="distance"/>
<SpeedActionTarget>
<AbsoluteTargetSpeed value="5.0"/>
</SpeedActionTarget>
</SpeedAction>
</LongitudinalAction>
</PrivateAction>
</Action>
<StartTrigger>
<ConditionGroup>
<Condition name="StartCondition" delay="0" conditionEdge="rising">
<ByEntityCondition>
<TriggeringEntities triggeringEntitiesRule="any">
<EntityRef entityRef="hero"/>
</TriggeringEntities>
<EntityCondition>
<RelativeDistanceCondition entityRef="adversary" relativeDistanceType="cartesianDistance" value="40.0" freespace="false" rule="lessThan"/>
</EntityCondition>
</ByEntityCondition>
</Condition>
</ConditionGroup>
</StartTrigger>
</Event>
<Event name="AdversaryChangesLane" priority="overwrite">
<Action name="AdversaryChangesLane">
<PrivateAction>
<LateralAction>
<LaneChangeAction>
<LaneChangeActionDynamics dynamicsShape="linear" value="25" dynamicsDimension="distance"/>
<LaneChangeTarget>
<RelativeTargetLane entityRef="adversary" value="-1"/>
</LaneChangeTarget>
</LaneChangeAction>
</LateralAction>
</PrivateAction>
</Action>
<StartTrigger>
<ConditionGroup>
<Condition name="AfterAdversaryAccelerates" delay="0" conditionEdge="rising">
<ByValueCondition>
<StoryboardElementStateCondition storyboardElementType="action" storyboardElementRef="AdversaryAccelerates" state="completeState"/>
</ByValueCondition>
</Condition>
</ConditionGroup>
</StartTrigger>
</Event>
</Maneuver>
</ManeuverGroup>
<StartTrigger>
<ConditionGroup>
<Condition name="OverallStartCondition" delay="0" conditionEdge="rising">
<ByEntityCondition>
<TriggeringEntities triggeringEntitiesRule="any">
<EntityRef entityRef="hero"/>
</TriggeringEntities>
<EntityCondition>
<TraveledDistanceCondition value="1.0"/>
</EntityCondition>
</ByEntityCondition>
</Condition>
<Condition name="StartTime" delay="0" conditionEdge="rising">
<ByValueCondition>
<SimulationTimeCondition value="0" rule="equalTo"/>
</ByValueCondition>
</Condition>
</ConditionGroup>
</StartTrigger>
<StopTrigger>
<ConditionGroup>
<Condition name="EndCondition" delay="0" conditionEdge="rising">
<ByEntityCondition>
<TriggeringEntities triggeringEntitiesRule="any">
<EntityRef entityRef="hero"/>
</TriggeringEntities>
<EntityCondition>
<TraveledDistanceCondition value="200.0"/>
</EntityCondition>
</ByEntityCondition>
</Condition>
</ConditionGroup>
</StopTrigger>
</Act>
</Story>
<StopTrigger>
<ConditionGroup>
<Condition name="criteria_RunningStopTest" delay="0" conditionEdge="rising">
<ByValueCondition>
<ParameterCondition parameterRef="" value="" rule="lessThan"/>
</ByValueCondition>
</Condition>
<Condition name="criteria_RunningRedLightTest" delay="0" conditionEdge="rising">
<ByValueCondition>
<ParameterCondition parameterRef="" value="" rule="lessThan"/>
</ByValueCondition>
</Condition>
<Condition name="criteria_WrongLaneTest" delay="0" conditionEdge="rising">
<ByValueCondition>
<ParameterCondition parameterRef="" value="" rule="lessThan"/>
</ByValueCondition>
</Condition>
<Condition name="criteria_OnSidewalkTest" delay="0" conditionEdge="rising">
<ByValueCondition>
<ParameterCondition parameterRef="" value="" rule="lessThan"/>
</ByValueCondition>
</Condition>
<Condition name="criteria_KeepLaneTest" delay="0" conditionEdge="rising">
<ByValueCondition>
<ParameterCondition parameterRef="" value="" rule="lessThan"/>
</ByValueCondition>
</Condition>
<Condition name="criteria_CollisionTest" delay="0" conditionEdge="rising">
<ByValueCondition>
<ParameterCondition parameterRef="" value="" rule="lessThan"/>
</ByValueCondition>
</Condition>
<Condition name="criteria_DrivenDistanceTest" delay="0" conditionEdge="rising">
<ByValueCondition>
<ParameterCondition parameterRef="distance_success" value="100" rule="lessThan"/>
</ByValueCondition>
</Condition>
</ConditionGroup>
</StopTrigger>
</Storyboard>
</OpenSCENARIO>
``` | Here is the result:
```
<?xml version="1.0" ?>
<OpenSCENARIO>
<FileHeader revMajor="1" revMinor="0" date="2020-03-24T12:00:00" description="CARLA:LaneChangeSimple" author=""/>
<ParameterDeclarations/>
<CatalogLocations/>
<RoadNetwork>
<LogicFile filepath="Town04"/>
<SceneGraphFile filepath=""/>
</RoadNetwork>
<Entities>
<ScenarioObject name="hero">
<Vehicle name="vehicle.tesla.model3" vehicleCategory="car">
<ParameterDeclarations/>
<Performance maxSpeed="69.444" maxAcceleration="200" maxDeceleration="10.0"/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2.1" length="4.5" height="1.8"/>
</BoundingBox>
<Axles>
<FrontAxle maxSteering="0.5" wheelDiameter="0.6" trackWidth="1.8" positionX="3.1" positionZ="0.3"/>
<RearAxle maxSteering="0.0" wheelDiameter="0.6" trackWidth="1.8" positionX="0.0" positionZ="0.3"/>
</Axles>
<Properties>
<Property name="type" value="ego_vehicle"/>
</Properties>
</Vehicle>
</ScenarioObject>
<ScenarioObject name="adversary">
<Vehicle name="vehicle.lincoln.mkz_2017" vehicleCategory="car">
<ParameterDeclarations/>
<Performance maxSpeed="69.444" maxAcceleration="200" maxDeceleration="10.0"/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2.1" length="4.5" height="1.8"/>
</BoundingBox>
<Axles>
<FrontAxle maxSteering="0.5" wheelDiameter="0.6" trackWidth="1.8" positionX="3.1" positionZ="0.3"/>
<RearAxle maxSteering="0.0" wheelDiameter="0.6" trackWidth="1.8" positionX="0.0" positionZ="0.3"/>
</Axles>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Vehicle>
</ScenarioObject>
<ScenarioObject name="standing">
<Vehicle name="vehicle.volkswagen.t2" vehicleCategory="car">
<ParameterDeclarations/>
<Performance maxSpeed="69.444" maxAcceleration="200" maxDeceleration="10.0"/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2.1" length="4.5" height="1.8"/>
</BoundingBox>
<Axles>
<FrontAxle maxSteering="0.5" wheelDiameter="0.6" trackWidth="1.8" positionX="3.1" positionZ="0.3"/>
<RearAxle maxSteering="0.0" wheelDiameter="0.6" 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_21011">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_w_transform_21012">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_w_transform_21013">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_close_to_standing_21015">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_w_transform_21019">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_close_to_standing_21020">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_close_to_hero_21021">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_w_transform_21022">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_w_transform_21024">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_w_transform_21026">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_w_transform_21028">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_close_to_standing_21029">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_close_to_adversary_21030">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_close_to_adversary_21034">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
</Entities>
<Storyboard>
<Init>
<Actions>
<GlobalAction>
<EnvironmentAction>
<Environment name="Environment1">
<TimeOfDay animation="false" dateTime="2019-06-25T12:00:00"/>
<Weather cloudState="free">
<Sun intensity="0.85" azimuth="0" elevation="1.31"/>
<Fog visualRange="100000.0"/>
<Precipitation precipitationType="dry" intensity="0.0"/>
</Weather>
<RoadCondition frictionScaleFactor="1.0"/>
</Environment>
</EnvironmentAction>
</GlobalAction>
<Private entityRef="hero">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-9.4" y="-152.8" z="0.5" h="1.57079632679"/>
</Position>
</TeleportAction>
</PrivateAction>
<PrivateAction>
<ControllerAction>
<AssignControllerAction>
<Controller name="HeroAgent">
<Properties>
<Property name="module" value="external_control"/>
</Properties>
</Controller>
</AssignControllerAction>
<OverrideControllerValueAction>
<Throttle value="0" active="false"/>
<Brake value="0" active="false"/>
<Clutch value="0" active="false"/>
<ParkingBrake value="0" active="false"/>
<SteeringWheel value="0" active="false"/>
<Gear number="0" active="false"/>
</OverrideControllerValueAction>
</ControllerAction>
</PrivateAction>
</Private>
<Private entityRef="adversary">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-9.4" y="-71.0" z="0.5" h="1.57079632679"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="standing">
<PrivateAction>
<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_21011">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-7.047759532928467" y="-152.9779510498047" z="0.0016471862327307463"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_w_transform_21012">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="37.4810791015625" y="-37.691162109375" z="0.5"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_w_transform_21013">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-74.4076156616211" y="-5.32080078125" z="0.5"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_close_to_standing_21015">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-2.556473731994629" y="24.019092559814453" z="0.003035583533346653"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_w_transform_21019">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="25.514366149902344" y="-22.915006637573242" z="0.5"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_close_to_standing_21020">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-12.372248649597168" y="20.068710327148438" z="0.0030257415492087603"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_close_to_hero_21021">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-6.306719779968262" y="-150.3357696533203" z="0.0016471862327307463"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_w_transform_21022">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="83.88009643554688" y="-53.972679138183594" z="0.5"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_w_transform_21024">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="72.56436920166016" y="-38.672847747802734" z="0.5"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_w_transform_21026">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="17.69295310974121" y="-72.56814575195312" z="0.5"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_w_transform_21028">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="86.90140533447266" y="81.56063079833984" z="0.5"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_close_to_standing_21029">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-17.120532989501953" y="34.226776123046875" z="0.0029840469360351562"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_close_to_adversary_21030">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-2.730348587036133" y="-72.95610809326172" z="0.03378520905971527"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_close_to_adversary_21034">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="6.367769241333008" y="-62.6629638671875" z="0.033821601420640945"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
</Actions>
</Init>
<Story name="MyStory">
<Act name="Behavior">
<ManeuverGroup maximumExecutionCount="1" name="ManeuverSequence">
<Actors selectTriggeringEntities="false">
<EntityRef entityRef="adversary"/>
</Actors>
<Maneuver name="LaneChangeSimpleManeuver">
<Event name="AdversaryAccelerates" priority="overwrite">
<Action name="AdversaryAccelerates">
<PrivateAction>
<LongitudinalAction>
<SpeedAction>
<SpeedActionDynamics dynamicsShape="step" value="50" dynamicsDimension="distance"/>
<SpeedActionTarget>
<AbsoluteTargetSpeed value="5.0"/>
</SpeedActionTarget>
</SpeedAction>
</LongitudinalAction>
</PrivateAction>
</Action>
<StartTrigger>
<ConditionGroup>
<Condition name="StartCondition" delay="0" conditionEdge="rising">
<ByEntityCondition>
<TriggeringEntities triggeringEntitiesRule="any">
<EntityRef entityRef="hero"/>
</TriggeringEntities>
<EntityCondition>
<RelativeDistanceCondition entityRef="adversary" relativeDistanceType="cartesianDistance" value="40.0" freespace="false" rule="lessThan"/>
</EntityCondition>
</ByEntityCondition>
</Condition>
</ConditionGroup>
</StartTrigger>
</Event>
<Event name="AdversaryChangesLane" priority="overwrite">
<Action name="AdversaryChangesLane">
<PrivateAction>
<LateralAction>
<LaneChangeAction>
<LaneChangeActionDynamics dynamicsShape="linear" value="25" dynamicsDimension="distance"/>
<LaneChangeTarget>
<RelativeTargetLane entityRef="adversary" value="-1"/>
</LaneChangeTarget>
</LaneChangeAction>
</LateralAction>
</PrivateAction>
</Action>
<StartTrigger>
<ConditionGroup>
<Condition name="AfterAdversaryAccelerates" delay="0" conditionEdge="rising">
<ByValueCondition>
<StoryboardElementStateCondition storyboardElementType="action" storyboardElementRef="AdversaryAccelerates" state="completeState"/>
</ByValueCondition>
</Condition>
</ConditionGroup>
</StartTrigger>
</Event>
</Maneuver>
</ManeuverGroup>
<StartTrigger>
<ConditionGroup>
<Condition name="OverallStartCondition" delay="0" conditionEdge="rising">
<ByEntityCondition>
<TriggeringEntities triggeringEntitiesRule="any">
<EntityRef entityRef="hero"/>
</TriggeringEntities>
<EntityCondition>
<TraveledDistanceCondition value="1.0"/>
</EntityCondition>
</ByEntityCondition>
</Condition>
<Condition name="StartTime" delay="0" conditionEdge="rising">
<ByValueCondition>
<SimulationTimeCondition value="0" rule="equalTo"/>
</ByValueCondition>
</Condition>
</ConditionGroup>
</StartTrigger>
<StopTrigger>
<ConditionGroup>
<Condition name="EndCondition" delay="0" conditionEdge="rising">
<ByEntityCondition>
<TriggeringEntities triggeringEntitiesRule="any">
<EntityRef entityRef="hero"/>
</TriggeringEntities>
<EntityCondition>
<TraveledDistanceCondition value="200.0"/>
</EntityCondition>
</ByEntityCondition>
</Condition>
</ConditionGroup>
</StopTrigger>
</Act>
</Story>
<StopTrigger>
<ConditionGroup>
<Condition name="criteria_RunningStopTest" delay="0" conditionEdge="rising">
<ByValueCondition>
<ParameterCondition parameterRef="" value="" rule="lessThan"/>
</ByValueCondition>
</Condition>
<Condition name="criteria_RunningRedLightTest" delay="0" conditionEdge="rising">
<ByValueCondition>
<ParameterCondition parameterRef="" value="" rule="lessThan"/>
</ByValueCondition>
</Condition>
<Condition name="criteria_WrongLaneTest" delay="0" conditionEdge="rising">
<ByValueCondition>
<ParameterCondition parameterRef="" value="" rule="lessThan"/>
</ByValueCondition>
</Condition>
<Condition name="criteria_OnSidewalkTest" delay="0" conditionEdge="rising">
<ByValueCondition>
<ParameterCondition parameterRef="" value="" rule="lessThan"/>
</ByValueCondition>
</Condition>
<Condition name="criteria_KeepLaneTest" delay="0" conditionEdge="rising">
<ByValueCondition>
<ParameterCondition parameterRef="" value="" rule="lessThan"/>
</ByValueCondition>
</Condition>
<Condition name="criteria_CollisionTest" delay="0" conditionEdge="rising">
<ByValueCondition>
<ParameterCondition parameterRef="" value="" rule="lessThan"/>
</ByValueCondition>
</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 actor named pedestrian_w_transform_5174?
```
<?xml version="1.0" ?>
<OpenSCENARIO>
<FileHeader revMajor="1" revMinor="0" date="2020-03-24T12:00:00" description="CARLA:LaneChangeSimple" author=""/>
<ParameterDeclarations/>
<CatalogLocations/>
<RoadNetwork>
<LogicFile filepath="Town04"/>
<SceneGraphFile filepath=""/>
</RoadNetwork>
<Entities>
<ScenarioObject name="hero">
<Vehicle name="vehicle.tesla.model3" vehicleCategory="car">
<ParameterDeclarations/>
<Performance maxSpeed="69.444" maxAcceleration="200" maxDeceleration="10.0"/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2.1" length="4.5" height="1.8"/>
</BoundingBox>
<Axles>
<FrontAxle maxSteering="0.5" wheelDiameter="0.6" trackWidth="1.8" positionX="3.1" positionZ="0.3"/>
<RearAxle maxSteering="0.0" wheelDiameter="0.6" trackWidth="1.8" positionX="0.0" positionZ="0.3"/>
</Axles>
<Properties>
<Property name="type" value="ego_vehicle"/>
</Properties>
</Vehicle>
</ScenarioObject>
<ScenarioObject name="adversary">
<Vehicle name="vehicle.lincoln.mkz_2017" vehicleCategory="car">
<ParameterDeclarations/>
<Performance maxSpeed="69.444" maxAcceleration="200" maxDeceleration="10.0"/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2.1" length="4.5" height="1.8"/>
</BoundingBox>
<Axles>
<FrontAxle maxSteering="0.5" wheelDiameter="0.6" trackWidth="1.8" positionX="3.1" positionZ="0.3"/>
<RearAxle maxSteering="0.0" wheelDiameter="0.6" trackWidth="1.8" positionX="0.0" positionZ="0.3"/>
</Axles>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Vehicle>
</ScenarioObject>
<ScenarioObject name="standing">
<Vehicle name="vehicle.volkswagen.t2" vehicleCategory="car">
<ParameterDeclarations/>
<Performance maxSpeed="69.444" maxAcceleration="200" maxDeceleration="10.0"/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2.1" length="4.5" height="1.8"/>
</BoundingBox>
<Axles>
<FrontAxle maxSteering="0.5" wheelDiameter="0.6" trackWidth="1.8" positionX="3.1" positionZ="0.3"/>
<RearAxle maxSteering="0.0" wheelDiameter="0.6" 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_5166">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_close_to_hero_5167">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_w_transform_5168">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_close_to_hero_5170">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_w_transform_5171">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_close_to_hero_5173">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_w_transform_5174">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_close_to_hero_5175">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_w_transform_5176">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_w_transform_5177">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_w_transform_5178">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_close_to_adversary_5180">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_close_to_standing_5183">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_close_to_adversary_5184">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_w_transform_5186">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_close_to_hero_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_close_to_adversary_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>
</Entities>
<Storyboard>
<Init>
<Actions>
<GlobalAction>
<EnvironmentAction>
<Environment name="Environment1">
<TimeOfDay animation="false" dateTime="2019-06-25T12:00:00"/>
<Weather cloudState="free">
<Sun intensity="0.85" azimuth="0" elevation="1.31"/>
<Fog visualRange="100000.0"/>
<Precipitation precipitationType="dry" intensity="0.0"/>
</Weather>
<RoadCondition frictionScaleFactor="1.0"/>
</Environment>
</EnvironmentAction>
</GlobalAction>
<Private entityRef="hero">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-9.4" y="-152.8" z="0.5" h="1.57079632679"/>
</Position>
</TeleportAction>
</PrivateAction>
<PrivateAction>
<ControllerAction>
<AssignControllerAction>
<Controller name="HeroAgent">
<Properties>
<Property name="module" value="external_control"/>
</Properties>
</Controller>
</AssignControllerAction>
<OverrideControllerValueAction>
<Throttle value="0" active="false"/>
<Brake value="0" active="false"/>
<Clutch value="0" active="false"/>
<ParkingBrake value="0" active="false"/>
<SteeringWheel value="0" active="false"/>
<Gear number="0" active="false"/>
</OverrideControllerValueAction>
</ControllerAction>
</PrivateAction>
</Private>
<Private entityRef="adversary">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-9.4" y="-71.0" z="0.5" h="1.57079632679"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="standing">
<PrivateAction>
<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_5166">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-18.22962188720703" y="-65.24239349365234" z="0.03381408751010895"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_close_to_hero_5167">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-15.887808799743652" y="-158.6815948486328" z="0.0016471862327307463"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_w_transform_5168">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-73.7175521850586" y="44.292415618896484" z="0.5"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_close_to_hero_5170">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-8.07460880279541" y="-147.18203735351562" z="0.0016471862327307463"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_w_transform_5171">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-55.840065002441406" y="72.7611083984375" z="0.5"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_close_to_hero_5173">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-3.7623977661132812" y="-152.36802673339844" z="0.0016471862327307463"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_w_transform_5174">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="36.54012680053711" y="50.516963958740234" z="0.5"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_close_to_hero_5175">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-10.346803665161133" y="-149.48922729492188" z="0.0016471862327307463"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_w_transform_5176">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-94.39325714111328" y="92.47114562988281" z="0.5"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_w_transform_5177">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-50.69961929321289" y="31.13071060180664" z="0.5"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_w_transform_5178">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="76.70790100097656" y="74.75975036621094" z="0.5"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_close_to_adversary_5180">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-2.8309545516967773" y="-65.82616424560547" z="0.03380062058568001"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_close_to_standing_5183">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-15.221659660339355" y="19.986589431762695" z="0.003017539856955409"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_close_to_adversary_5184">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-3.338378429412842" y="-76.35890197753906" z="0.033780287951231"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_w_transform_5186">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-62.0211181640625" y="41.28676223754883" z="0.5"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_close_to_hero_5187">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-3.138706922531128" y="-146.57200622558594" z="0.0016471862327307463"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_close_to_adversary_5188">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-9.282417297363281" y="-64.65045166015625" z="0.033753279596567154"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
</Actions>
</Init>
<Story name="MyStory">
<Act name="Behavior">
<ManeuverGroup maximumExecutionCount="1" name="ManeuverSequence">
<Actors selectTriggeringEntities="false">
<EntityRef entityRef="adversary"/>
</Actors>
<Maneuver name="LaneChangeSimpleManeuver">
<Event name="AdversaryAccelerates" priority="overwrite">
<Action name="AdversaryAccelerates">
<PrivateAction>
<LongitudinalAction>
<SpeedAction>
<SpeedActionDynamics dynamicsShape="step" value="50" dynamicsDimension="distance"/>
<SpeedActionTarget>
<AbsoluteTargetSpeed value="5.0"/>
</SpeedActionTarget>
</SpeedAction>
</LongitudinalAction>
</PrivateAction>
</Action>
<StartTrigger>
<ConditionGroup>
<Condition name="StartCondition" delay="0" conditionEdge="rising">
<ByEntityCondition>
<TriggeringEntities triggeringEntitiesRule="any">
<EntityRef entityRef="hero"/>
</TriggeringEntities>
<EntityCondition>
<RelativeDistanceCondition entityRef="adversary" relativeDistanceType="cartesianDistance" value="40.0" freespace="false" rule="lessThan"/>
</EntityCondition>
</ByEntityCondition>
</Condition>
</ConditionGroup>
</StartTrigger>
</Event>
<Event name="AdversaryChangesLane" priority="overwrite">
<Action name="AdversaryChangesLane">
<PrivateAction>
<LateralAction>
<LaneChangeAction>
<LaneChangeActionDynamics dynamicsShape="linear" value="25" dynamicsDimension="distance"/>
<LaneChangeTarget>
<RelativeTargetLane entityRef="adversary" value="-1"/>
</LaneChangeTarget>
</LaneChangeAction>
</LateralAction>
</PrivateAction>
</Action>
<StartTrigger>
<ConditionGroup>
<Condition name="AfterAdversaryAccelerates" delay="0" conditionEdge="rising">
<ByValueCondition>
<StoryboardElementStateCondition storyboardElementType="action" storyboardElementRef="AdversaryAccelerates" state="completeState"/>
</ByValueCondition>
</Condition>
</ConditionGroup>
</StartTrigger>
</Event>
</Maneuver>
</ManeuverGroup>
<StartTrigger>
<ConditionGroup>
<Condition name="OverallStartCondition" delay="0" conditionEdge="rising">
<ByEntityCondition>
<TriggeringEntities triggeringEntitiesRule="any">
<EntityRef entityRef="hero"/>
</TriggeringEntities>
<EntityCondition>
<TraveledDistanceCondition value="1.0"/>
</EntityCondition>
</ByEntityCondition>
</Condition>
<Condition name="StartTime" delay="0" conditionEdge="rising">
<ByValueCondition>
<SimulationTimeCondition value="0" rule="equalTo"/>
</ByValueCondition>
</Condition>
</ConditionGroup>
</StartTrigger>
<StopTrigger>
<ConditionGroup>
<Condition name="EndCondition" delay="0" conditionEdge="rising">
<ByEntityCondition>
<TriggeringEntities triggeringEntitiesRule="any">
<EntityRef entityRef="hero"/>
</TriggeringEntities>
<EntityCondition>
<TraveledDistanceCondition value="200.0"/>
</EntityCondition>
</ByEntityCondition>
</Condition>
</ConditionGroup>
</StopTrigger>
</Act>
</Story>
<StopTrigger>
<ConditionGroup>
<Condition name="criteria_RunningStopTest" delay="0" conditionEdge="rising">
<ByValueCondition>
<ParameterCondition parameterRef="" value="" rule="lessThan"/>
</ByValueCondition>
</Condition>
<Condition name="criteria_RunningRedLightTest" delay="0" conditionEdge="rising">
<ByValueCondition>
<ParameterCondition parameterRef="" value="" rule="lessThan"/>
</ByValueCondition>
</Condition>
<Condition name="criteria_WrongLaneTest" delay="0" conditionEdge="rising">
<ByValueCondition>
<ParameterCondition parameterRef="" value="" rule="lessThan"/>
</ByValueCondition>
</Condition>
<Condition name="criteria_OnSidewalkTest" delay="0" conditionEdge="rising">
<ByValueCondition>
<ParameterCondition parameterRef="" value="" rule="lessThan"/>
</ByValueCondition>
</Condition>
<Condition name="criteria_KeepLaneTest" delay="0" conditionEdge="rising">
<ByValueCondition>
<ParameterCondition parameterRef="" value="" rule="lessThan"/>
</ByValueCondition>
</Condition>
<Condition name="criteria_CollisionTest" delay="0" conditionEdge="rising">
<ByValueCondition>
<ParameterCondition parameterRef="" value="" rule="lessThan"/>
</ByValueCondition>
</Condition>
<Condition name="criteria_DrivenDistanceTest" delay="0" conditionEdge="rising">
<ByValueCondition>
<ParameterCondition parameterRef="distance_success" value="100" rule="lessThan"/>
</ByValueCondition>
</Condition>
</ConditionGroup>
</StopTrigger>
</Storyboard>
</OpenSCENARIO>
``` | Here is the result:
```
<?xml version="1.0" ?>
<OpenSCENARIO>
<FileHeader revMajor="1" revMinor="0" date="2020-03-24T12:00:00" description="CARLA:LaneChangeSimple" author=""/>
<ParameterDeclarations/>
<CatalogLocations/>
<RoadNetwork>
<LogicFile filepath="Town04"/>
<SceneGraphFile filepath=""/>
</RoadNetwork>
<Entities>
<ScenarioObject name="hero">
<Vehicle name="vehicle.tesla.model3" vehicleCategory="car">
<ParameterDeclarations/>
<Performance maxSpeed="69.444" maxAcceleration="200" maxDeceleration="10.0"/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2.1" length="4.5" height="1.8"/>
</BoundingBox>
<Axles>
<FrontAxle maxSteering="0.5" wheelDiameter="0.6" trackWidth="1.8" positionX="3.1" positionZ="0.3"/>
<RearAxle maxSteering="0.0" wheelDiameter="0.6" trackWidth="1.8" positionX="0.0" positionZ="0.3"/>
</Axles>
<Properties>
<Property name="type" value="ego_vehicle"/>
</Properties>
</Vehicle>
</ScenarioObject>
<ScenarioObject name="adversary">
<Vehicle name="vehicle.lincoln.mkz_2017" vehicleCategory="car">
<ParameterDeclarations/>
<Performance maxSpeed="69.444" maxAcceleration="200" maxDeceleration="10.0"/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2.1" length="4.5" height="1.8"/>
</BoundingBox>
<Axles>
<FrontAxle maxSteering="0.5" wheelDiameter="0.6" trackWidth="1.8" positionX="3.1" positionZ="0.3"/>
<RearAxle maxSteering="0.0" wheelDiameter="0.6" trackWidth="1.8" positionX="0.0" positionZ="0.3"/>
</Axles>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Vehicle>
</ScenarioObject>
<ScenarioObject name="standing">
<Vehicle name="vehicle.volkswagen.t2" vehicleCategory="car">
<ParameterDeclarations/>
<Performance maxSpeed="69.444" maxAcceleration="200" maxDeceleration="10.0"/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2.1" length="4.5" height="1.8"/>
</BoundingBox>
<Axles>
<FrontAxle maxSteering="0.5" wheelDiameter="0.6" trackWidth="1.8" positionX="3.1" positionZ="0.3"/>
<RearAxle maxSteering="0.0" wheelDiameter="0.6" 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_5166">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_close_to_hero_5167">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_w_transform_5168">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_close_to_hero_5170">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_w_transform_5171">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_close_to_hero_5173">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_close_to_hero_5175">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_w_transform_5176">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_w_transform_5177">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_w_transform_5178">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_close_to_adversary_5180">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_close_to_standing_5183">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_close_to_adversary_5184">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_w_transform_5186">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_close_to_hero_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_close_to_adversary_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>
</Entities>
<Storyboard>
<Init>
<Actions>
<GlobalAction>
<EnvironmentAction>
<Environment name="Environment1">
<TimeOfDay animation="false" dateTime="2019-06-25T12:00:00"/>
<Weather cloudState="free">
<Sun intensity="0.85" azimuth="0" elevation="1.31"/>
<Fog visualRange="100000.0"/>
<Precipitation precipitationType="dry" intensity="0.0"/>
</Weather>
<RoadCondition frictionScaleFactor="1.0"/>
</Environment>
</EnvironmentAction>
</GlobalAction>
<Private entityRef="hero">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-9.4" y="-152.8" z="0.5" h="1.57079632679"/>
</Position>
</TeleportAction>
</PrivateAction>
<PrivateAction>
<ControllerAction>
<AssignControllerAction>
<Controller name="HeroAgent">
<Properties>
<Property name="module" value="external_control"/>
</Properties>
</Controller>
</AssignControllerAction>
<OverrideControllerValueAction>
<Throttle value="0" active="false"/>
<Brake value="0" active="false"/>
<Clutch value="0" active="false"/>
<ParkingBrake value="0" active="false"/>
<SteeringWheel value="0" active="false"/>
<Gear number="0" active="false"/>
</OverrideControllerValueAction>
</ControllerAction>
</PrivateAction>
</Private>
<Private entityRef="adversary">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-9.4" y="-71.0" z="0.5" h="1.57079632679"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="standing">
<PrivateAction>
<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_5166">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-18.22962188720703" y="-65.24239349365234" z="0.03381408751010895"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_close_to_hero_5167">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-15.887808799743652" y="-158.6815948486328" z="0.0016471862327307463"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_w_transform_5168">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-73.7175521850586" y="44.292415618896484" z="0.5"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_close_to_hero_5170">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-8.07460880279541" y="-147.18203735351562" z="0.0016471862327307463"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_w_transform_5171">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-55.840065002441406" y="72.7611083984375" z="0.5"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_close_to_hero_5173">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-3.7623977661132812" y="-152.36802673339844" z="0.0016471862327307463"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_close_to_hero_5175">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-10.346803665161133" y="-149.48922729492188" z="0.0016471862327307463"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_w_transform_5176">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-94.39325714111328" y="92.47114562988281" z="0.5"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_w_transform_5177">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-50.69961929321289" y="31.13071060180664" z="0.5"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_w_transform_5178">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="76.70790100097656" y="74.75975036621094" z="0.5"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_close_to_adversary_5180">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-2.8309545516967773" y="-65.82616424560547" z="0.03380062058568001"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_close_to_standing_5183">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-15.221659660339355" y="19.986589431762695" z="0.003017539856955409"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_close_to_adversary_5184">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-3.338378429412842" y="-76.35890197753906" z="0.033780287951231"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_w_transform_5186">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-62.0211181640625" y="41.28676223754883" z="0.5"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_close_to_hero_5187">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-3.138706922531128" y="-146.57200622558594" z="0.0016471862327307463"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_close_to_adversary_5188">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-9.282417297363281" y="-64.65045166015625" z="0.033753279596567154"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
</Actions>
</Init>
<Story name="MyStory">
<Act name="Behavior">
<ManeuverGroup maximumExecutionCount="1" name="ManeuverSequence">
<Actors selectTriggeringEntities="false">
<EntityRef entityRef="adversary"/>
</Actors>
<Maneuver name="LaneChangeSimpleManeuver">
<Event name="AdversaryAccelerates" priority="overwrite">
<Action name="AdversaryAccelerates">
<PrivateAction>
<LongitudinalAction>
<SpeedAction>
<SpeedActionDynamics dynamicsShape="step" value="50" dynamicsDimension="distance"/>
<SpeedActionTarget>
<AbsoluteTargetSpeed value="5.0"/>
</SpeedActionTarget>
</SpeedAction>
</LongitudinalAction>
</PrivateAction>
</Action>
<StartTrigger>
<ConditionGroup>
<Condition name="StartCondition" delay="0" conditionEdge="rising">
<ByEntityCondition>
<TriggeringEntities triggeringEntitiesRule="any">
<EntityRef entityRef="hero"/>
</TriggeringEntities>
<EntityCondition>
<RelativeDistanceCondition entityRef="adversary" relativeDistanceType="cartesianDistance" value="40.0" freespace="false" rule="lessThan"/>
</EntityCondition>
</ByEntityCondition>
</Condition>
</ConditionGroup>
</StartTrigger>
</Event>
<Event name="AdversaryChangesLane" priority="overwrite">
<Action name="AdversaryChangesLane">
<PrivateAction>
<LateralAction>
<LaneChangeAction>
<LaneChangeActionDynamics dynamicsShape="linear" value="25" dynamicsDimension="distance"/>
<LaneChangeTarget>
<RelativeTargetLane entityRef="adversary" value="-1"/>
</LaneChangeTarget>
</LaneChangeAction>
</LateralAction>
</PrivateAction>
</Action>
<StartTrigger>
<ConditionGroup>
<Condition name="AfterAdversaryAccelerates" delay="0" conditionEdge="rising">
<ByValueCondition>
<StoryboardElementStateCondition storyboardElementType="action" storyboardElementRef="AdversaryAccelerates" state="completeState"/>
</ByValueCondition>
</Condition>
</ConditionGroup>
</StartTrigger>
</Event>
</Maneuver>
</ManeuverGroup>
<StartTrigger>
<ConditionGroup>
<Condition name="OverallStartCondition" delay="0" conditionEdge="rising">
<ByEntityCondition>
<TriggeringEntities triggeringEntitiesRule="any">
<EntityRef entityRef="hero"/>
</TriggeringEntities>
<EntityCondition>
<TraveledDistanceCondition value="1.0"/>
</EntityCondition>
</ByEntityCondition>
</Condition>
<Condition name="StartTime" delay="0" conditionEdge="rising">
<ByValueCondition>
<SimulationTimeCondition value="0" rule="equalTo"/>
</ByValueCondition>
</Condition>
</ConditionGroup>
</StartTrigger>
<StopTrigger>
<ConditionGroup>
<Condition name="EndCondition" delay="0" conditionEdge="rising">
<ByEntityCondition>
<TriggeringEntities triggeringEntitiesRule="any">
<EntityRef entityRef="hero"/>
</TriggeringEntities>
<EntityCondition>
<TraveledDistanceCondition value="200.0"/>
</EntityCondition>
</ByEntityCondition>
</Condition>
</ConditionGroup>
</StopTrigger>
</Act>
</Story>
<StopTrigger>
<ConditionGroup>
<Condition name="criteria_RunningStopTest" delay="0" conditionEdge="rising">
<ByValueCondition>
<ParameterCondition parameterRef="" value="" rule="lessThan"/>
</ByValueCondition>
</Condition>
<Condition name="criteria_RunningRedLightTest" delay="0" conditionEdge="rising">
<ByValueCondition>
<ParameterCondition parameterRef="" value="" rule="lessThan"/>
</ByValueCondition>
</Condition>
<Condition name="criteria_WrongLaneTest" delay="0" conditionEdge="rising">
<ByValueCondition>
<ParameterCondition parameterRef="" value="" rule="lessThan"/>
</ByValueCondition>
</Condition>
<Condition name="criteria_OnSidewalkTest" delay="0" conditionEdge="rising">
<ByValueCondition>
<ParameterCondition parameterRef="" value="" rule="lessThan"/>
</ByValueCondition>
</Condition>
<Condition name="criteria_KeepLaneTest" delay="0" conditionEdge="rising">
<ByValueCondition>
<ParameterCondition parameterRef="" value="" rule="lessThan"/>
</ByValueCondition>
</Condition>
<Condition name="criteria_CollisionTest" delay="0" conditionEdge="rising">
<ByValueCondition>
<ParameterCondition parameterRef="" value="" rule="lessThan"/>
</ByValueCondition>
</Condition>
<Condition name="criteria_DrivenDistanceTest" delay="0" conditionEdge="rising">
<ByValueCondition>
<ParameterCondition parameterRef="distance_success" value="100" rule="lessThan"/>
</ByValueCondition>
</Condition>
</ConditionGroup>
</StopTrigger>
</Storyboard>
</OpenSCENARIO>
``` |
would you add pedestrian at location (-77.92, 28.91, 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_hero_25757">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_w_transform_25758">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_close_to_adversary_25759">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_w_transform_25760">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_close_to_standing_25761">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_w_transform_25762">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
</Entities>
<Storyboard>
<Init>
<Actions>
<GlobalAction>
<EnvironmentAction>
<Environment name="Environment1">
<TimeOfDay animation="false" dateTime="2019-06-25T12:00:00"/>
<Weather cloudState="free">
<Sun intensity="0.85" azimuth="0" elevation="1.31"/>
<Fog visualRange="100000.0"/>
<Precipitation precipitationType="dry" intensity="0.0"/>
</Weather>
<RoadCondition frictionScaleFactor="1.0"/>
</Environment>
</EnvironmentAction>
</GlobalAction>
<Private entityRef="hero">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-9.4" y="-152.8" z="0.5" h="1.57079632679"/>
</Position>
</TeleportAction>
</PrivateAction>
<PrivateAction>
<ControllerAction>
<AssignControllerAction>
<Controller name="HeroAgent">
<Properties>
<Property name="module" value="external_control"/>
</Properties>
</Controller>
</AssignControllerAction>
<OverrideControllerValueAction>
<Throttle value="0" active="false"/>
<Brake value="0" active="false"/>
<Clutch value="0" active="false"/>
<ParkingBrake value="0" active="false"/>
<SteeringWheel value="0" active="false"/>
<Gear number="0" active="false"/>
</OverrideControllerValueAction>
</ControllerAction>
</PrivateAction>
</Private>
<Private entityRef="adversary">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-9.4" y="-71.0" z="0.5" h="1.57079632679"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="standing">
<PrivateAction>
<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_25757">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="4.813380241394043" y="-155.08111572265625" z="0.0013734435196965933"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_w_transform_25758">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-82.74076843261719" y="35.45810317993164" z="0.5"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_close_to_adversary_25759">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-15.708062171936035" y="-70.24667358398438" z="0.03378437086939812"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_w_transform_25760">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="32.91856002807617" y="-21.726104736328125" z="0.5"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_close_to_standing_25761">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-6.800205230712891" y="29.941102981567383" z="0.0030498504638671875"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_w_transform_25762">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-87.54778289794922" y="-59.61344528198242" 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_25757">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_w_transform_25758">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_close_to_adversary_25759">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_w_transform_25760">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_close_to_standing_25761">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_w_transform_25762">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_w_transform_25763">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
</Entities>
<Storyboard>
<Init>
<Actions>
<GlobalAction>
<EnvironmentAction>
<Environment name="Environment1">
<TimeOfDay animation="false" dateTime="2019-06-25T12:00:00"/>
<Weather cloudState="free">
<Sun intensity="0.85" azimuth="0" elevation="1.31"/>
<Fog visualRange="100000.0"/>
<Precipitation precipitationType="dry" intensity="0.0"/>
</Weather>
<RoadCondition frictionScaleFactor="1.0"/>
</Environment>
</EnvironmentAction>
</GlobalAction>
<Private entityRef="hero">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-9.4" y="-152.8" z="0.5" h="1.57079632679"/>
</Position>
</TeleportAction>
</PrivateAction>
<PrivateAction>
<ControllerAction>
<AssignControllerAction>
<Controller name="HeroAgent">
<Properties>
<Property name="module" value="external_control"/>
</Properties>
</Controller>
</AssignControllerAction>
<OverrideControllerValueAction>
<Throttle value="0" active="false"/>
<Brake value="0" active="false"/>
<Clutch value="0" active="false"/>
<ParkingBrake value="0" active="false"/>
<SteeringWheel value="0" active="false"/>
<Gear number="0" active="false"/>
</OverrideControllerValueAction>
</ControllerAction>
</PrivateAction>
</Private>
<Private entityRef="adversary">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-9.4" y="-71.0" z="0.5" h="1.57079632679"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="standing">
<PrivateAction>
<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_25757">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="4.813380241394043" y="-155.08111572265625" z="0.0013734435196965933"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_w_transform_25758">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-82.74076843261719" y="35.45810317993164" z="0.5"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_close_to_adversary_25759">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-15.708062171936035" y="-70.24667358398438" z="0.03378437086939812"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_w_transform_25760">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="32.91856002807617" y="-21.726104736328125" z="0.5"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_close_to_standing_25761">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-6.800205230712891" y="29.941102981567383" z="0.0030498504638671875"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_w_transform_25762">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-87.54778289794922" y="-59.61344528198242" z="0.5"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_w_transform_25763">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-77.92384338378906" y="28.913631439208984" z="0.5"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
</Actions>
</Init>
<Story name="MyStory">
<Act name="Behavior">
<ManeuverGroup maximumExecutionCount="1" name="ManeuverSequence">
<Actors selectTriggeringEntities="false">
<EntityRef entityRef="adversary"/>
</Actors>
<Maneuver name="LaneChangeSimpleManeuver">
<Event name="AdversaryAccelerates" priority="overwrite">
<Action name="AdversaryAccelerates">
<PrivateAction>
<LongitudinalAction>
<SpeedAction>
<SpeedActionDynamics dynamicsShape="step" value="50" dynamicsDimension="distance"/>
<SpeedActionTarget>
<AbsoluteTargetSpeed value="5.0"/>
</SpeedActionTarget>
</SpeedAction>
</LongitudinalAction>
</PrivateAction>
</Action>
<StartTrigger>
<ConditionGroup>
<Condition name="StartCondition" delay="0" conditionEdge="rising">
<ByEntityCondition>
<TriggeringEntities triggeringEntitiesRule="any">
<EntityRef entityRef="hero"/>
</TriggeringEntities>
<EntityCondition>
<RelativeDistanceCondition entityRef="adversary" relativeDistanceType="cartesianDistance" value="40.0" freespace="false" rule="lessThan"/>
</EntityCondition>
</ByEntityCondition>
</Condition>
</ConditionGroup>
</StartTrigger>
</Event>
<Event name="AdversaryChangesLane" priority="overwrite">
<Action name="AdversaryChangesLane">
<PrivateAction>
<LateralAction>
<LaneChangeAction>
<LaneChangeActionDynamics dynamicsShape="linear" value="25" dynamicsDimension="distance"/>
<LaneChangeTarget>
<RelativeTargetLane entityRef="adversary" value="-1"/>
</LaneChangeTarget>
</LaneChangeAction>
</LateralAction>
</PrivateAction>
</Action>
<StartTrigger>
<ConditionGroup>
<Condition name="AfterAdversaryAccelerates" delay="0" conditionEdge="rising">
<ByValueCondition>
<StoryboardElementStateCondition storyboardElementType="action" storyboardElementRef="AdversaryAccelerates" state="completeState"/>
</ByValueCondition>
</Condition>
</ConditionGroup>
</StartTrigger>
</Event>
</Maneuver>
</ManeuverGroup>
<StartTrigger>
<ConditionGroup>
<Condition name="OverallStartCondition" delay="0" conditionEdge="rising">
<ByEntityCondition>
<TriggeringEntities triggeringEntitiesRule="any">
<EntityRef entityRef="hero"/>
</TriggeringEntities>
<EntityCondition>
<TraveledDistanceCondition value="1.0"/>
</EntityCondition>
</ByEntityCondition>
</Condition>
<Condition name="StartTime" delay="0" conditionEdge="rising">
<ByValueCondition>
<SimulationTimeCondition value="0" rule="equalTo"/>
</ByValueCondition>
</Condition>
</ConditionGroup>
</StartTrigger>
<StopTrigger>
<ConditionGroup>
<Condition name="EndCondition" delay="0" conditionEdge="rising">
<ByEntityCondition>
<TriggeringEntities triggeringEntitiesRule="any">
<EntityRef entityRef="hero"/>
</TriggeringEntities>
<EntityCondition>
<TraveledDistanceCondition value="200.0"/>
</EntityCondition>
</ByEntityCondition>
</Condition>
</ConditionGroup>
</StopTrigger>
</Act>
</Story>
<StopTrigger>
<ConditionGroup>
<Condition name="criteria_RunningStopTest" delay="0" conditionEdge="rising">
<ByValueCondition>
<ParameterCondition parameterRef="" value="" rule="lessThan"/>
</ByValueCondition>
</Condition>
<Condition name="criteria_RunningRedLightTest" delay="0" conditionEdge="rising">
<ByValueCondition>
<ParameterCondition parameterRef="" value="" rule="lessThan"/>
</ByValueCondition>
</Condition>
<Condition name="criteria_WrongLaneTest" delay="0" conditionEdge="rising">
<ByValueCondition>
<ParameterCondition parameterRef="" value="" rule="lessThan"/>
</ByValueCondition>
</Condition>
<Condition name="criteria_OnSidewalkTest" delay="0" conditionEdge="rising">
<ByValueCondition>
<ParameterCondition parameterRef="" value="" rule="lessThan"/>
</ByValueCondition>
</Condition>
<Condition name="criteria_KeepLaneTest" delay="0" conditionEdge="rising">
<ByValueCondition>
<ParameterCondition parameterRef="" value="" rule="lessThan"/>
</ByValueCondition>
</Condition>
<Condition name="criteria_CollisionTest" delay="0" conditionEdge="rising">
<ByValueCondition>
<ParameterCondition parameterRef="" value="" rule="lessThan"/>
</ByValueCondition>
</Condition>
<Condition name="criteria_DrivenDistanceTest" delay="0" conditionEdge="rising">
<ByValueCondition>
<ParameterCondition parameterRef="distance_success" value="100" rule="lessThan"/>
</ByValueCondition>
</Condition>
</ConditionGroup>
</StopTrigger>
</Storyboard>
</OpenSCENARIO>
``` |
i would like to lead you to add pedestrian close to adversary?
```
<?xml version="1.0" ?>
<OpenSCENARIO>
<FileHeader revMajor="1" revMinor="0" date="2020-03-24T12:00:00" description="CARLA:LaneChangeSimple" author=""/>
<ParameterDeclarations/>
<CatalogLocations/>
<RoadNetwork>
<LogicFile filepath="Town04"/>
<SceneGraphFile filepath=""/>
</RoadNetwork>
<Entities>
<ScenarioObject name="hero">
<Vehicle name="vehicle.tesla.model3" vehicleCategory="car">
<ParameterDeclarations/>
<Performance maxSpeed="69.444" maxAcceleration="200" maxDeceleration="10.0"/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2.1" length="4.5" height="1.8"/>
</BoundingBox>
<Axles>
<FrontAxle maxSteering="0.5" wheelDiameter="0.6" trackWidth="1.8" positionX="3.1" positionZ="0.3"/>
<RearAxle maxSteering="0.0" wheelDiameter="0.6" trackWidth="1.8" positionX="0.0" positionZ="0.3"/>
</Axles>
<Properties>
<Property name="type" value="ego_vehicle"/>
</Properties>
</Vehicle>
</ScenarioObject>
<ScenarioObject name="adversary">
<Vehicle name="vehicle.lincoln.mkz_2017" vehicleCategory="car">
<ParameterDeclarations/>
<Performance maxSpeed="69.444" maxAcceleration="200" maxDeceleration="10.0"/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2.1" length="4.5" height="1.8"/>
</BoundingBox>
<Axles>
<FrontAxle maxSteering="0.5" wheelDiameter="0.6" trackWidth="1.8" positionX="3.1" positionZ="0.3"/>
<RearAxle maxSteering="0.0" wheelDiameter="0.6" trackWidth="1.8" positionX="0.0" positionZ="0.3"/>
</Axles>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Vehicle>
</ScenarioObject>
<ScenarioObject name="standing">
<Vehicle name="vehicle.volkswagen.t2" vehicleCategory="car">
<ParameterDeclarations/>
<Performance maxSpeed="69.444" maxAcceleration="200" maxDeceleration="10.0"/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2.1" length="4.5" height="1.8"/>
</BoundingBox>
<Axles>
<FrontAxle maxSteering="0.5" wheelDiameter="0.6" trackWidth="1.8" positionX="3.1" positionZ="0.3"/>
<RearAxle maxSteering="0.0" wheelDiameter="0.6" trackWidth="1.8" positionX="0.0" positionZ="0.3"/>
</Axles>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Vehicle>
</ScenarioObject>
</Entities>
<Storyboard>
<Init>
<Actions>
<GlobalAction>
<EnvironmentAction>
<Environment name="Environment1">
<TimeOfDay animation="false" dateTime="2019-06-25T12:00:00"/>
<Weather cloudState="free">
<Sun intensity="0.85" azimuth="0" elevation="1.31"/>
<Fog visualRange="100000.0"/>
<Precipitation precipitationType="dry" intensity="0.0"/>
</Weather>
<RoadCondition frictionScaleFactor="1.0"/>
</Environment>
</EnvironmentAction>
</GlobalAction>
<Private entityRef="hero">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-9.4" y="-152.8" z="0.5" h="1.57079632679"/>
</Position>
</TeleportAction>
</PrivateAction>
<PrivateAction>
<ControllerAction>
<AssignControllerAction>
<Controller name="HeroAgent">
<Properties>
<Property name="module" value="external_control"/>
</Properties>
</Controller>
</AssignControllerAction>
<OverrideControllerValueAction>
<Throttle value="0" active="false"/>
<Brake value="0" active="false"/>
<Clutch value="0" active="false"/>
<ParkingBrake value="0" active="false"/>
<SteeringWheel value="0" active="false"/>
<Gear number="0" active="false"/>
</OverrideControllerValueAction>
</ControllerAction>
</PrivateAction>
</Private>
<Private entityRef="adversary">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-9.4" y="-71.0" z="0.5" h="1.57079632679"/>
</Position>
</TeleportAction>
</PrivateAction>
</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_3416">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
</Entities>
<Storyboard>
<Init>
<Actions>
<GlobalAction>
<EnvironmentAction>
<Environment name="Environment1">
<TimeOfDay animation="false" dateTime="2019-06-25T12:00:00"/>
<Weather cloudState="free">
<Sun intensity="0.85" azimuth="0" elevation="1.31"/>
<Fog visualRange="100000.0"/>
<Precipitation precipitationType="dry" intensity="0.0"/>
</Weather>
<RoadCondition frictionScaleFactor="1.0"/>
</Environment>
</EnvironmentAction>
</GlobalAction>
<Private entityRef="hero">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-9.4" y="-152.8" z="0.5" h="1.57079632679"/>
</Position>
</TeleportAction>
</PrivateAction>
<PrivateAction>
<ControllerAction>
<AssignControllerAction>
<Controller name="HeroAgent">
<Properties>
<Property name="module" value="external_control"/>
</Properties>
</Controller>
</AssignControllerAction>
<OverrideControllerValueAction>
<Throttle value="0" active="false"/>
<Brake value="0" active="false"/>
<Clutch value="0" active="false"/>
<ParkingBrake value="0" active="false"/>
<SteeringWheel value="0" active="false"/>
<Gear number="0" active="false"/>
</OverrideControllerValueAction>
</ControllerAction>
</PrivateAction>
</Private>
<Private entityRef="adversary">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-9.4" y="-71.0" z="0.5" h="1.57079632679"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="standing">
<PrivateAction>
<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_3416">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-8.799112319946289" y="-63.73693084716797" z="0.03367526829242706"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
</Actions>
</Init>
<Story name="MyStory">
<Act name="Behavior">
<ManeuverGroup maximumExecutionCount="1" name="ManeuverSequence">
<Actors selectTriggeringEntities="false">
<EntityRef entityRef="adversary"/>
</Actors>
<Maneuver name="LaneChangeSimpleManeuver">
<Event name="AdversaryAccelerates" priority="overwrite">
<Action name="AdversaryAccelerates">
<PrivateAction>
<LongitudinalAction>
<SpeedAction>
<SpeedActionDynamics dynamicsShape="step" value="50" dynamicsDimension="distance"/>
<SpeedActionTarget>
<AbsoluteTargetSpeed value="5.0"/>
</SpeedActionTarget>
</SpeedAction>
</LongitudinalAction>
</PrivateAction>
</Action>
<StartTrigger>
<ConditionGroup>
<Condition name="StartCondition" delay="0" conditionEdge="rising">
<ByEntityCondition>
<TriggeringEntities triggeringEntitiesRule="any">
<EntityRef entityRef="hero"/>
</TriggeringEntities>
<EntityCondition>
<RelativeDistanceCondition entityRef="adversary" relativeDistanceType="cartesianDistance" value="40.0" freespace="false" rule="lessThan"/>
</EntityCondition>
</ByEntityCondition>
</Condition>
</ConditionGroup>
</StartTrigger>
</Event>
<Event name="AdversaryChangesLane" priority="overwrite">
<Action name="AdversaryChangesLane">
<PrivateAction>
<LateralAction>
<LaneChangeAction>
<LaneChangeActionDynamics dynamicsShape="linear" value="25" dynamicsDimension="distance"/>
<LaneChangeTarget>
<RelativeTargetLane entityRef="adversary" value="-1"/>
</LaneChangeTarget>
</LaneChangeAction>
</LateralAction>
</PrivateAction>
</Action>
<StartTrigger>
<ConditionGroup>
<Condition name="AfterAdversaryAccelerates" delay="0" conditionEdge="rising">
<ByValueCondition>
<StoryboardElementStateCondition storyboardElementType="action" storyboardElementRef="AdversaryAccelerates" state="completeState"/>
</ByValueCondition>
</Condition>
</ConditionGroup>
</StartTrigger>
</Event>
</Maneuver>
</ManeuverGroup>
<StartTrigger>
<ConditionGroup>
<Condition name="OverallStartCondition" delay="0" conditionEdge="rising">
<ByEntityCondition>
<TriggeringEntities triggeringEntitiesRule="any">
<EntityRef entityRef="hero"/>
</TriggeringEntities>
<EntityCondition>
<TraveledDistanceCondition value="1.0"/>
</EntityCondition>
</ByEntityCondition>
</Condition>
<Condition name="StartTime" delay="0" conditionEdge="rising">
<ByValueCondition>
<SimulationTimeCondition value="0" rule="equalTo"/>
</ByValueCondition>
</Condition>
</ConditionGroup>
</StartTrigger>
<StopTrigger>
<ConditionGroup>
<Condition name="EndCondition" delay="0" conditionEdge="rising">
<ByEntityCondition>
<TriggeringEntities triggeringEntitiesRule="any">
<EntityRef entityRef="hero"/>
</TriggeringEntities>
<EntityCondition>
<TraveledDistanceCondition value="200.0"/>
</EntityCondition>
</ByEntityCondition>
</Condition>
</ConditionGroup>
</StopTrigger>
</Act>
</Story>
<StopTrigger>
<ConditionGroup>
<Condition name="criteria_RunningStopTest" delay="0" conditionEdge="rising">
<ByValueCondition>
<ParameterCondition parameterRef="" value="" rule="lessThan"/>
</ByValueCondition>
</Condition>
<Condition name="criteria_RunningRedLightTest" delay="0" conditionEdge="rising">
<ByValueCondition>
<ParameterCondition parameterRef="" value="" rule="lessThan"/>
</ByValueCondition>
</Condition>
<Condition name="criteria_WrongLaneTest" delay="0" conditionEdge="rising">
<ByValueCondition>
<ParameterCondition parameterRef="" value="" rule="lessThan"/>
</ByValueCondition>
</Condition>
<Condition name="criteria_OnSidewalkTest" delay="0" conditionEdge="rising">
<ByValueCondition>
<ParameterCondition parameterRef="" value="" rule="lessThan"/>
</ByValueCondition>
</Condition>
<Condition name="criteria_KeepLaneTest" delay="0" conditionEdge="rising">
<ByValueCondition>
<ParameterCondition parameterRef="" value="" rule="lessThan"/>
</ByValueCondition>
</Condition>
<Condition name="criteria_CollisionTest" delay="0" conditionEdge="rising">
<ByValueCondition>
<ParameterCondition parameterRef="" value="" rule="lessThan"/>
</ByValueCondition>
</Condition>
<Condition name="criteria_DrivenDistanceTest" delay="0" conditionEdge="rising">
<ByValueCondition>
<ParameterCondition parameterRef="distance_success" value="100" rule="lessThan"/>
</ByValueCondition>
</Condition>
</ConditionGroup>
</StopTrigger>
</Storyboard>
</OpenSCENARIO>
``` |
i want you to remove pedestrian actor named pedestrian_close_to_hero_24991?
```
<?xml version="1.0" ?>
<OpenSCENARIO>
<FileHeader revMajor="1" revMinor="0" date="2020-03-24T12:00:00" description="CARLA:LaneChangeSimple" author=""/>
<ParameterDeclarations/>
<CatalogLocations/>
<RoadNetwork>
<LogicFile filepath="Town04"/>
<SceneGraphFile filepath=""/>
</RoadNetwork>
<Entities>
<ScenarioObject name="hero">
<Vehicle name="vehicle.tesla.model3" vehicleCategory="car">
<ParameterDeclarations/>
<Performance maxSpeed="69.444" maxAcceleration="200" maxDeceleration="10.0"/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2.1" length="4.5" height="1.8"/>
</BoundingBox>
<Axles>
<FrontAxle maxSteering="0.5" wheelDiameter="0.6" trackWidth="1.8" positionX="3.1" positionZ="0.3"/>
<RearAxle maxSteering="0.0" wheelDiameter="0.6" trackWidth="1.8" positionX="0.0" positionZ="0.3"/>
</Axles>
<Properties>
<Property name="type" value="ego_vehicle"/>
</Properties>
</Vehicle>
</ScenarioObject>
<ScenarioObject name="adversary">
<Vehicle name="vehicle.lincoln.mkz_2017" vehicleCategory="car">
<ParameterDeclarations/>
<Performance maxSpeed="69.444" maxAcceleration="200" maxDeceleration="10.0"/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2.1" length="4.5" height="1.8"/>
</BoundingBox>
<Axles>
<FrontAxle maxSteering="0.5" wheelDiameter="0.6" trackWidth="1.8" positionX="3.1" positionZ="0.3"/>
<RearAxle maxSteering="0.0" wheelDiameter="0.6" trackWidth="1.8" positionX="0.0" positionZ="0.3"/>
</Axles>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Vehicle>
</ScenarioObject>
<ScenarioObject name="standing">
<Vehicle name="vehicle.volkswagen.t2" vehicleCategory="car">
<ParameterDeclarations/>
<Performance maxSpeed="69.444" maxAcceleration="200" maxDeceleration="10.0"/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2.1" length="4.5" height="1.8"/>
</BoundingBox>
<Axles>
<FrontAxle maxSteering="0.5" wheelDiameter="0.6" trackWidth="1.8" positionX="3.1" positionZ="0.3"/>
<RearAxle maxSteering="0.0" wheelDiameter="0.6" 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_24991">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_w_transform_24992">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_w_transform_24993">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_w_transform_24994">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_w_transform_24996">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_close_to_hero_24998">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_close_to_adversary_24999">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_close_to_hero_25001">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_close_to_hero_25002">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_close_to_hero_25003">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_w_transform_25004">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_w_transform_25006">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_w_transform_25007">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_w_transform_25008">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_close_to_standing_25010">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_w_transform_25011">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_w_transform_25012">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_close_to_hero_25014">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_w_transform_25015">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_close_to_adversary_25017">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
</Entities>
<Storyboard>
<Init>
<Actions>
<GlobalAction>
<EnvironmentAction>
<Environment name="Environment1">
<TimeOfDay animation="false" dateTime="2019-06-25T12:00:00"/>
<Weather cloudState="free">
<Sun intensity="0.85" azimuth="0" elevation="1.31"/>
<Fog visualRange="100000.0"/>
<Precipitation precipitationType="dry" intensity="0.0"/>
</Weather>
<RoadCondition frictionScaleFactor="1.0"/>
</Environment>
</EnvironmentAction>
</GlobalAction>
<Private entityRef="hero">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-9.4" y="-152.8" z="0.5" h="1.57079632679"/>
</Position>
</TeleportAction>
</PrivateAction>
<PrivateAction>
<ControllerAction>
<AssignControllerAction>
<Controller name="HeroAgent">
<Properties>
<Property name="module" value="external_control"/>
</Properties>
</Controller>
</AssignControllerAction>
<OverrideControllerValueAction>
<Throttle value="0" active="false"/>
<Brake value="0" active="false"/>
<Clutch value="0" active="false"/>
<ParkingBrake value="0" active="false"/>
<SteeringWheel value="0" active="false"/>
<Gear number="0" active="false"/>
</OverrideControllerValueAction>
</ControllerAction>
</PrivateAction>
</Private>
<Private entityRef="adversary">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-9.4" y="-71.0" z="0.5" h="1.57079632679"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="standing">
<PrivateAction>
<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_24991">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-17.207778930664062" y="-155.1513671875" z="0.001423797570168972"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_w_transform_24992">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="18.297893524169922" y="-64.56582641601562" z="0.5"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_w_transform_24993">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-50.028751373291016" y="95.34283447265625" z="0.5"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_w_transform_24994">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-81.20195007324219" y="-6.832867622375488" z="0.5"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_w_transform_24996">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="66.74787902832031" y="-67.56474304199219" z="0.5"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_close_to_hero_24998">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-1.9086107015609741" y="-159.49392700195312" z="0.001423797570168972"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_close_to_adversary_24999">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-9.295086860656738" y="-80.99027252197266" z="0.03375682607293129"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_close_to_hero_25001">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-3.506892442703247" y="-146.5271453857422" z="0.001423797570168972"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_close_to_hero_25002">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-11.741779327392578" y="-147.94232177734375" z="0.001423797570168972"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_close_to_hero_25003">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-22.95088768005371" y="-152.65467834472656" z="0.001423797570168972"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_w_transform_25004">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-56.394508361816406" y="26.433286666870117" z="0.5"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_w_transform_25006">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="89.21526336669922" y="9.053801536560059" z="0.5"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_w_transform_25007">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-99.58782958984375" y="36.52753829956055" z="0.5"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_w_transform_25008">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-61.46998977661133" y="91.96914672851562" z="0.5"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_close_to_standing_25010">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-5.842031478881836" y="30.587072372436523" z="0.0031244277488440275"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_w_transform_25011">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-57.043521881103516" y="71.25756072998047" z="0.5"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_w_transform_25012">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="26.98428726196289" y="29.62139320373535" z="0.5"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_close_to_hero_25014">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-12.84736156463623" y="-152.49476623535156" z="0.001423797570168972"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_w_transform_25015">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="96.97067260742188" y="-39.42302703857422" z="0.5"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_close_to_adversary_25017">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-19.195335388183594" y="-77.20207214355469" z="0.033763960003852844"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
</Actions>
</Init>
<Story name="MyStory">
<Act name="Behavior">
<ManeuverGroup maximumExecutionCount="1" name="ManeuverSequence">
<Actors selectTriggeringEntities="false">
<EntityRef entityRef="adversary"/>
</Actors>
<Maneuver name="LaneChangeSimpleManeuver">
<Event name="AdversaryAccelerates" priority="overwrite">
<Action name="AdversaryAccelerates">
<PrivateAction>
<LongitudinalAction>
<SpeedAction>
<SpeedActionDynamics dynamicsShape="step" value="50" dynamicsDimension="distance"/>
<SpeedActionTarget>
<AbsoluteTargetSpeed value="5.0"/>
</SpeedActionTarget>
</SpeedAction>
</LongitudinalAction>
</PrivateAction>
</Action>
<StartTrigger>
<ConditionGroup>
<Condition name="StartCondition" delay="0" conditionEdge="rising">
<ByEntityCondition>
<TriggeringEntities triggeringEntitiesRule="any">
<EntityRef entityRef="hero"/>
</TriggeringEntities>
<EntityCondition>
<RelativeDistanceCondition entityRef="adversary" relativeDistanceType="cartesianDistance" value="40.0" freespace="false" rule="lessThan"/>
</EntityCondition>
</ByEntityCondition>
</Condition>
</ConditionGroup>
</StartTrigger>
</Event>
<Event name="AdversaryChangesLane" priority="overwrite">
<Action name="AdversaryChangesLane">
<PrivateAction>
<LateralAction>
<LaneChangeAction>
<LaneChangeActionDynamics dynamicsShape="linear" value="25" dynamicsDimension="distance"/>
<LaneChangeTarget>
<RelativeTargetLane entityRef="adversary" value="-1"/>
</LaneChangeTarget>
</LaneChangeAction>
</LateralAction>
</PrivateAction>
</Action>
<StartTrigger>
<ConditionGroup>
<Condition name="AfterAdversaryAccelerates" delay="0" conditionEdge="rising">
<ByValueCondition>
<StoryboardElementStateCondition storyboardElementType="action" storyboardElementRef="AdversaryAccelerates" state="completeState"/>
</ByValueCondition>
</Condition>
</ConditionGroup>
</StartTrigger>
</Event>
</Maneuver>
</ManeuverGroup>
<StartTrigger>
<ConditionGroup>
<Condition name="OverallStartCondition" delay="0" conditionEdge="rising">
<ByEntityCondition>
<TriggeringEntities triggeringEntitiesRule="any">
<EntityRef entityRef="hero"/>
</TriggeringEntities>
<EntityCondition>
<TraveledDistanceCondition value="1.0"/>
</EntityCondition>
</ByEntityCondition>
</Condition>
<Condition name="StartTime" delay="0" conditionEdge="rising">
<ByValueCondition>
<SimulationTimeCondition value="0" rule="equalTo"/>
</ByValueCondition>
</Condition>
</ConditionGroup>
</StartTrigger>
<StopTrigger>
<ConditionGroup>
<Condition name="EndCondition" delay="0" conditionEdge="rising">
<ByEntityCondition>
<TriggeringEntities triggeringEntitiesRule="any">
<EntityRef entityRef="hero"/>
</TriggeringEntities>
<EntityCondition>
<TraveledDistanceCondition value="200.0"/>
</EntityCondition>
</ByEntityCondition>
</Condition>
</ConditionGroup>
</StopTrigger>
</Act>
</Story>
<StopTrigger>
<ConditionGroup>
<Condition name="criteria_RunningStopTest" delay="0" conditionEdge="rising">
<ByValueCondition>
<ParameterCondition parameterRef="" value="" rule="lessThan"/>
</ByValueCondition>
</Condition>
<Condition name="criteria_RunningRedLightTest" delay="0" conditionEdge="rising">
<ByValueCondition>
<ParameterCondition parameterRef="" value="" rule="lessThan"/>
</ByValueCondition>
</Condition>
<Condition name="criteria_WrongLaneTest" delay="0" conditionEdge="rising">
<ByValueCondition>
<ParameterCondition parameterRef="" value="" rule="lessThan"/>
</ByValueCondition>
</Condition>
<Condition name="criteria_OnSidewalkTest" delay="0" conditionEdge="rising">
<ByValueCondition>
<ParameterCondition parameterRef="" value="" rule="lessThan"/>
</ByValueCondition>
</Condition>
<Condition name="criteria_KeepLaneTest" delay="0" conditionEdge="rising">
<ByValueCondition>
<ParameterCondition parameterRef="" value="" rule="lessThan"/>
</ByValueCondition>
</Condition>
<Condition name="criteria_CollisionTest" delay="0" conditionEdge="rising">
<ByValueCondition>
<ParameterCondition parameterRef="" value="" rule="lessThan"/>
</ByValueCondition>
</Condition>
<Condition name="criteria_DrivenDistanceTest" delay="0" conditionEdge="rising">
<ByValueCondition>
<ParameterCondition parameterRef="distance_success" value="100" rule="lessThan"/>
</ByValueCondition>
</Condition>
</ConditionGroup>
</StopTrigger>
</Storyboard>
</OpenSCENARIO>
``` | Here is the result:
```
<?xml version="1.0" ?>
<OpenSCENARIO>
<FileHeader revMajor="1" revMinor="0" date="2020-03-24T12:00:00" description="CARLA:LaneChangeSimple" author=""/>
<ParameterDeclarations/>
<CatalogLocations/>
<RoadNetwork>
<LogicFile filepath="Town04"/>
<SceneGraphFile filepath=""/>
</RoadNetwork>
<Entities>
<ScenarioObject name="hero">
<Vehicle name="vehicle.tesla.model3" vehicleCategory="car">
<ParameterDeclarations/>
<Performance maxSpeed="69.444" maxAcceleration="200" maxDeceleration="10.0"/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2.1" length="4.5" height="1.8"/>
</BoundingBox>
<Axles>
<FrontAxle maxSteering="0.5" wheelDiameter="0.6" trackWidth="1.8" positionX="3.1" positionZ="0.3"/>
<RearAxle maxSteering="0.0" wheelDiameter="0.6" trackWidth="1.8" positionX="0.0" positionZ="0.3"/>
</Axles>
<Properties>
<Property name="type" value="ego_vehicle"/>
</Properties>
</Vehicle>
</ScenarioObject>
<ScenarioObject name="adversary">
<Vehicle name="vehicle.lincoln.mkz_2017" vehicleCategory="car">
<ParameterDeclarations/>
<Performance maxSpeed="69.444" maxAcceleration="200" maxDeceleration="10.0"/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2.1" length="4.5" height="1.8"/>
</BoundingBox>
<Axles>
<FrontAxle maxSteering="0.5" wheelDiameter="0.6" trackWidth="1.8" positionX="3.1" positionZ="0.3"/>
<RearAxle maxSteering="0.0" wheelDiameter="0.6" trackWidth="1.8" positionX="0.0" positionZ="0.3"/>
</Axles>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Vehicle>
</ScenarioObject>
<ScenarioObject name="standing">
<Vehicle name="vehicle.volkswagen.t2" vehicleCategory="car">
<ParameterDeclarations/>
<Performance maxSpeed="69.444" maxAcceleration="200" maxDeceleration="10.0"/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2.1" length="4.5" height="1.8"/>
</BoundingBox>
<Axles>
<FrontAxle maxSteering="0.5" wheelDiameter="0.6" trackWidth="1.8" positionX="3.1" positionZ="0.3"/>
<RearAxle maxSteering="0.0" wheelDiameter="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_24992">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_w_transform_24993">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_w_transform_24994">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_w_transform_24996">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_close_to_hero_24998">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_close_to_adversary_24999">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_close_to_hero_25001">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_close_to_hero_25002">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_close_to_hero_25003">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_w_transform_25004">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_w_transform_25006">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_w_transform_25007">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_w_transform_25008">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_close_to_standing_25010">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_w_transform_25011">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_w_transform_25012">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_close_to_hero_25014">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_w_transform_25015">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_close_to_adversary_25017">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
</Entities>
<Storyboard>
<Init>
<Actions>
<GlobalAction>
<EnvironmentAction>
<Environment name="Environment1">
<TimeOfDay animation="false" dateTime="2019-06-25T12:00:00"/>
<Weather cloudState="free">
<Sun intensity="0.85" azimuth="0" elevation="1.31"/>
<Fog visualRange="100000.0"/>
<Precipitation precipitationType="dry" intensity="0.0"/>
</Weather>
<RoadCondition frictionScaleFactor="1.0"/>
</Environment>
</EnvironmentAction>
</GlobalAction>
<Private entityRef="hero">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-9.4" y="-152.8" z="0.5" h="1.57079632679"/>
</Position>
</TeleportAction>
</PrivateAction>
<PrivateAction>
<ControllerAction>
<AssignControllerAction>
<Controller name="HeroAgent">
<Properties>
<Property name="module" value="external_control"/>
</Properties>
</Controller>
</AssignControllerAction>
<OverrideControllerValueAction>
<Throttle value="0" active="false"/>
<Brake value="0" active="false"/>
<Clutch value="0" active="false"/>
<ParkingBrake value="0" active="false"/>
<SteeringWheel value="0" active="false"/>
<Gear number="0" active="false"/>
</OverrideControllerValueAction>
</ControllerAction>
</PrivateAction>
</Private>
<Private entityRef="adversary">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-9.4" y="-71.0" z="0.5" h="1.57079632679"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="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_24992">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="18.297893524169922" y="-64.56582641601562" z="0.5"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_w_transform_24993">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-50.028751373291016" y="95.34283447265625" z="0.5"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_w_transform_24994">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-81.20195007324219" y="-6.832867622375488" z="0.5"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_w_transform_24996">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="66.74787902832031" y="-67.56474304199219" z="0.5"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_close_to_hero_24998">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-1.9086107015609741" y="-159.49392700195312" z="0.001423797570168972"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_close_to_adversary_24999">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-9.295086860656738" y="-80.99027252197266" z="0.03375682607293129"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_close_to_hero_25001">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-3.506892442703247" y="-146.5271453857422" z="0.001423797570168972"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_close_to_hero_25002">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-11.741779327392578" y="-147.94232177734375" z="0.001423797570168972"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_close_to_hero_25003">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-22.95088768005371" y="-152.65467834472656" z="0.001423797570168972"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_w_transform_25004">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-56.394508361816406" y="26.433286666870117" z="0.5"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_w_transform_25006">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="89.21526336669922" y="9.053801536560059" z="0.5"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_w_transform_25007">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-99.58782958984375" y="36.52753829956055" z="0.5"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_w_transform_25008">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-61.46998977661133" y="91.96914672851562" z="0.5"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_close_to_standing_25010">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-5.842031478881836" y="30.587072372436523" z="0.0031244277488440275"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_w_transform_25011">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-57.043521881103516" y="71.25756072998047" z="0.5"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_w_transform_25012">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="26.98428726196289" y="29.62139320373535" z="0.5"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_close_to_hero_25014">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-12.84736156463623" y="-152.49476623535156" z="0.001423797570168972"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_w_transform_25015">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="96.97067260742188" y="-39.42302703857422" z="0.5"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_close_to_adversary_25017">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-19.195335388183594" y="-77.20207214355469" z="0.033763960003852844"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
</Actions>
</Init>
<Story name="MyStory">
<Act name="Behavior">
<ManeuverGroup maximumExecutionCount="1" name="ManeuverSequence">
<Actors selectTriggeringEntities="false">
<EntityRef entityRef="adversary"/>
</Actors>
<Maneuver name="LaneChangeSimpleManeuver">
<Event name="AdversaryAccelerates" priority="overwrite">
<Action name="AdversaryAccelerates">
<PrivateAction>
<LongitudinalAction>
<SpeedAction>
<SpeedActionDynamics dynamicsShape="step" value="50" dynamicsDimension="distance"/>
<SpeedActionTarget>
<AbsoluteTargetSpeed value="5.0"/>
</SpeedActionTarget>
</SpeedAction>
</LongitudinalAction>
</PrivateAction>
</Action>
<StartTrigger>
<ConditionGroup>
<Condition name="StartCondition" delay="0" conditionEdge="rising">
<ByEntityCondition>
<TriggeringEntities triggeringEntitiesRule="any">
<EntityRef entityRef="hero"/>
</TriggeringEntities>
<EntityCondition>
<RelativeDistanceCondition entityRef="adversary" relativeDistanceType="cartesianDistance" value="40.0" freespace="false" rule="lessThan"/>
</EntityCondition>
</ByEntityCondition>
</Condition>
</ConditionGroup>
</StartTrigger>
</Event>
<Event name="AdversaryChangesLane" priority="overwrite">
<Action name="AdversaryChangesLane">
<PrivateAction>
<LateralAction>
<LaneChangeAction>
<LaneChangeActionDynamics dynamicsShape="linear" value="25" dynamicsDimension="distance"/>
<LaneChangeTarget>
<RelativeTargetLane entityRef="adversary" value="-1"/>
</LaneChangeTarget>
</LaneChangeAction>
</LateralAction>
</PrivateAction>
</Action>
<StartTrigger>
<ConditionGroup>
<Condition name="AfterAdversaryAccelerates" delay="0" conditionEdge="rising">
<ByValueCondition>
<StoryboardElementStateCondition storyboardElementType="action" storyboardElementRef="AdversaryAccelerates" state="completeState"/>
</ByValueCondition>
</Condition>
</ConditionGroup>
</StartTrigger>
</Event>
</Maneuver>
</ManeuverGroup>
<StartTrigger>
<ConditionGroup>
<Condition name="OverallStartCondition" delay="0" conditionEdge="rising">
<ByEntityCondition>
<TriggeringEntities triggeringEntitiesRule="any">
<EntityRef entityRef="hero"/>
</TriggeringEntities>
<EntityCondition>
<TraveledDistanceCondition value="1.0"/>
</EntityCondition>
</ByEntityCondition>
</Condition>
<Condition name="StartTime" delay="0" conditionEdge="rising">
<ByValueCondition>
<SimulationTimeCondition value="0" rule="equalTo"/>
</ByValueCondition>
</Condition>
</ConditionGroup>
</StartTrigger>
<StopTrigger>
<ConditionGroup>
<Condition name="EndCondition" delay="0" conditionEdge="rising">
<ByEntityCondition>
<TriggeringEntities triggeringEntitiesRule="any">
<EntityRef entityRef="hero"/>
</TriggeringEntities>
<EntityCondition>
<TraveledDistanceCondition value="200.0"/>
</EntityCondition>
</ByEntityCondition>
</Condition>
</ConditionGroup>
</StopTrigger>
</Act>
</Story>
<StopTrigger>
<ConditionGroup>
<Condition name="criteria_RunningStopTest" delay="0" conditionEdge="rising">
<ByValueCondition>
<ParameterCondition parameterRef="" value="" rule="lessThan"/>
</ByValueCondition>
</Condition>
<Condition name="criteria_RunningRedLightTest" delay="0" conditionEdge="rising">
<ByValueCondition>
<ParameterCondition parameterRef="" value="" rule="lessThan"/>
</ByValueCondition>
</Condition>
<Condition name="criteria_WrongLaneTest" delay="0" conditionEdge="rising">
<ByValueCondition>
<ParameterCondition parameterRef="" value="" rule="lessThan"/>
</ByValueCondition>
</Condition>
<Condition name="criteria_OnSidewalkTest" delay="0" conditionEdge="rising">
<ByValueCondition>
<ParameterCondition parameterRef="" value="" rule="lessThan"/>
</ByValueCondition>
</Condition>
<Condition name="criteria_KeepLaneTest" delay="0" conditionEdge="rising">
<ByValueCondition>
<ParameterCondition parameterRef="" value="" rule="lessThan"/>
</ByValueCondition>
</Condition>
<Condition name="criteria_CollisionTest" delay="0" conditionEdge="rising">
<ByValueCondition>
<ParameterCondition parameterRef="" value="" rule="lessThan"/>
</ByValueCondition>
</Condition>
<Condition name="criteria_DrivenDistanceTest" delay="0" conditionEdge="rising">
<ByValueCondition>
<ParameterCondition parameterRef="distance_success" value="100" rule="lessThan"/>
</ByValueCondition>
</Condition>
</ConditionGroup>
</StopTrigger>
</Storyboard>
</OpenSCENARIO>
``` |
i would like you to add pedestrian close to adversary?
```
<?xml version="1.0" ?>
<OpenSCENARIO>
<FileHeader revMajor="1" revMinor="0" date="2020-03-24T12:00:00" description="CARLA:LaneChangeSimple" author=""/>
<ParameterDeclarations/>
<CatalogLocations/>
<RoadNetwork>
<LogicFile filepath="Town04"/>
<SceneGraphFile filepath=""/>
</RoadNetwork>
<Entities>
<ScenarioObject name="hero">
<Vehicle name="vehicle.tesla.model3" vehicleCategory="car">
<ParameterDeclarations/>
<Performance maxSpeed="69.444" maxAcceleration="200" maxDeceleration="10.0"/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2.1" length="4.5" height="1.8"/>
</BoundingBox>
<Axles>
<FrontAxle maxSteering="0.5" wheelDiameter="0.6" trackWidth="1.8" positionX="3.1" positionZ="0.3"/>
<RearAxle maxSteering="0.0" wheelDiameter="0.6" trackWidth="1.8" positionX="0.0" positionZ="0.3"/>
</Axles>
<Properties>
<Property name="type" value="ego_vehicle"/>
</Properties>
</Vehicle>
</ScenarioObject>
<ScenarioObject name="adversary">
<Vehicle name="vehicle.lincoln.mkz_2017" vehicleCategory="car">
<ParameterDeclarations/>
<Performance maxSpeed="69.444" maxAcceleration="200" maxDeceleration="10.0"/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2.1" length="4.5" height="1.8"/>
</BoundingBox>
<Axles>
<FrontAxle maxSteering="0.5" wheelDiameter="0.6" trackWidth="1.8" positionX="3.1" positionZ="0.3"/>
<RearAxle maxSteering="0.0" wheelDiameter="0.6" trackWidth="1.8" positionX="0.0" positionZ="0.3"/>
</Axles>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Vehicle>
</ScenarioObject>
<ScenarioObject name="standing">
<Vehicle name="vehicle.volkswagen.t2" vehicleCategory="car">
<ParameterDeclarations/>
<Performance maxSpeed="69.444" maxAcceleration="200" maxDeceleration="10.0"/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2.1" length="4.5" height="1.8"/>
</BoundingBox>
<Axles>
<FrontAxle maxSteering="0.5" wheelDiameter="0.6" trackWidth="1.8" positionX="3.1" positionZ="0.3"/>
<RearAxle maxSteering="0.0" wheelDiameter="0.6" trackWidth="1.8" positionX="0.0" positionZ="0.3"/>
</Axles>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Vehicle>
</ScenarioObject>
<ScenarioObject name="pedestrian_close_to_hero_11652">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_w_transform_11653">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
</Entities>
<Storyboard>
<Init>
<Actions>
<GlobalAction>
<EnvironmentAction>
<Environment name="Environment1">
<TimeOfDay animation="false" dateTime="2019-06-25T12:00:00"/>
<Weather cloudState="free">
<Sun intensity="0.85" azimuth="0" elevation="1.31"/>
<Fog visualRange="100000.0"/>
<Precipitation precipitationType="dry" intensity="0.0"/>
</Weather>
<RoadCondition frictionScaleFactor="1.0"/>
</Environment>
</EnvironmentAction>
</GlobalAction>
<Private entityRef="hero">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-9.4" y="-152.8" z="0.5" h="1.57079632679"/>
</Position>
</TeleportAction>
</PrivateAction>
<PrivateAction>
<ControllerAction>
<AssignControllerAction>
<Controller name="HeroAgent">
<Properties>
<Property name="module" value="external_control"/>
</Properties>
</Controller>
</AssignControllerAction>
<OverrideControllerValueAction>
<Throttle value="0" active="false"/>
<Brake value="0" active="false"/>
<Clutch value="0" active="false"/>
<ParkingBrake value="0" active="false"/>
<SteeringWheel value="0" active="false"/>
<Gear number="0" active="false"/>
</OverrideControllerValueAction>
</ControllerAction>
</PrivateAction>
</Private>
<Private entityRef="adversary">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-9.4" y="-71.0" z="0.5" h="1.57079632679"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="standing">
<PrivateAction>
<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_11652">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-5.547347068786621" y="-155.78323364257812" z="0.0020974730141460896"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_w_transform_11653">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="89.16140747070312" y="-23.080476760864258" 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_11652">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_w_transform_11653">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_close_to_adversary_11655">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
</Entities>
<Storyboard>
<Init>
<Actions>
<GlobalAction>
<EnvironmentAction>
<Environment name="Environment1">
<TimeOfDay animation="false" dateTime="2019-06-25T12:00:00"/>
<Weather cloudState="free">
<Sun intensity="0.85" azimuth="0" elevation="1.31"/>
<Fog visualRange="100000.0"/>
<Precipitation precipitationType="dry" intensity="0.0"/>
</Weather>
<RoadCondition frictionScaleFactor="1.0"/>
</Environment>
</EnvironmentAction>
</GlobalAction>
<Private entityRef="hero">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-9.4" y="-152.8" z="0.5" h="1.57079632679"/>
</Position>
</TeleportAction>
</PrivateAction>
<PrivateAction>
<ControllerAction>
<AssignControllerAction>
<Controller name="HeroAgent">
<Properties>
<Property name="module" value="external_control"/>
</Properties>
</Controller>
</AssignControllerAction>
<OverrideControllerValueAction>
<Throttle value="0" active="false"/>
<Brake value="0" active="false"/>
<Clutch value="0" active="false"/>
<ParkingBrake value="0" active="false"/>
<SteeringWheel value="0" active="false"/>
<Gear number="0" active="false"/>
</OverrideControllerValueAction>
</ControllerAction>
</PrivateAction>
</Private>
<Private entityRef="adversary">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-9.4" y="-71.0" z="0.5" h="1.57079632679"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="standing">
<PrivateAction>
<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_11652">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-5.547347068786621" y="-155.78323364257812" z="0.0020974730141460896"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_w_transform_11653">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="89.16140747070312" y="-23.080476760864258" z="0.5"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_close_to_adversary_11655">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-18.058061599731445" y="-62.50421142578125" z="0.03374874219298363"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
</Actions>
</Init>
<Story name="MyStory">
<Act name="Behavior">
<ManeuverGroup maximumExecutionCount="1" name="ManeuverSequence">
<Actors selectTriggeringEntities="false">
<EntityRef entityRef="adversary"/>
</Actors>
<Maneuver name="LaneChangeSimpleManeuver">
<Event name="AdversaryAccelerates" priority="overwrite">
<Action name="AdversaryAccelerates">
<PrivateAction>
<LongitudinalAction>
<SpeedAction>
<SpeedActionDynamics dynamicsShape="step" value="50" dynamicsDimension="distance"/>
<SpeedActionTarget>
<AbsoluteTargetSpeed value="5.0"/>
</SpeedActionTarget>
</SpeedAction>
</LongitudinalAction>
</PrivateAction>
</Action>
<StartTrigger>
<ConditionGroup>
<Condition name="StartCondition" delay="0" conditionEdge="rising">
<ByEntityCondition>
<TriggeringEntities triggeringEntitiesRule="any">
<EntityRef entityRef="hero"/>
</TriggeringEntities>
<EntityCondition>
<RelativeDistanceCondition entityRef="adversary" relativeDistanceType="cartesianDistance" value="40.0" freespace="false" rule="lessThan"/>
</EntityCondition>
</ByEntityCondition>
</Condition>
</ConditionGroup>
</StartTrigger>
</Event>
<Event name="AdversaryChangesLane" priority="overwrite">
<Action name="AdversaryChangesLane">
<PrivateAction>
<LateralAction>
<LaneChangeAction>
<LaneChangeActionDynamics dynamicsShape="linear" value="25" dynamicsDimension="distance"/>
<LaneChangeTarget>
<RelativeTargetLane entityRef="adversary" value="-1"/>
</LaneChangeTarget>
</LaneChangeAction>
</LateralAction>
</PrivateAction>
</Action>
<StartTrigger>
<ConditionGroup>
<Condition name="AfterAdversaryAccelerates" delay="0" conditionEdge="rising">
<ByValueCondition>
<StoryboardElementStateCondition storyboardElementType="action" storyboardElementRef="AdversaryAccelerates" state="completeState"/>
</ByValueCondition>
</Condition>
</ConditionGroup>
</StartTrigger>
</Event>
</Maneuver>
</ManeuverGroup>
<StartTrigger>
<ConditionGroup>
<Condition name="OverallStartCondition" delay="0" conditionEdge="rising">
<ByEntityCondition>
<TriggeringEntities triggeringEntitiesRule="any">
<EntityRef entityRef="hero"/>
</TriggeringEntities>
<EntityCondition>
<TraveledDistanceCondition value="1.0"/>
</EntityCondition>
</ByEntityCondition>
</Condition>
<Condition name="StartTime" delay="0" conditionEdge="rising">
<ByValueCondition>
<SimulationTimeCondition value="0" rule="equalTo"/>
</ByValueCondition>
</Condition>
</ConditionGroup>
</StartTrigger>
<StopTrigger>
<ConditionGroup>
<Condition name="EndCondition" delay="0" conditionEdge="rising">
<ByEntityCondition>
<TriggeringEntities triggeringEntitiesRule="any">
<EntityRef entityRef="hero"/>
</TriggeringEntities>
<EntityCondition>
<TraveledDistanceCondition value="200.0"/>
</EntityCondition>
</ByEntityCondition>
</Condition>
</ConditionGroup>
</StopTrigger>
</Act>
</Story>
<StopTrigger>
<ConditionGroup>
<Condition name="criteria_RunningStopTest" delay="0" conditionEdge="rising">
<ByValueCondition>
<ParameterCondition parameterRef="" value="" rule="lessThan"/>
</ByValueCondition>
</Condition>
<Condition name="criteria_RunningRedLightTest" delay="0" conditionEdge="rising">
<ByValueCondition>
<ParameterCondition parameterRef="" value="" rule="lessThan"/>
</ByValueCondition>
</Condition>
<Condition name="criteria_WrongLaneTest" delay="0" conditionEdge="rising">
<ByValueCondition>
<ParameterCondition parameterRef="" value="" rule="lessThan"/>
</ByValueCondition>
</Condition>
<Condition name="criteria_OnSidewalkTest" delay="0" conditionEdge="rising">
<ByValueCondition>
<ParameterCondition parameterRef="" value="" rule="lessThan"/>
</ByValueCondition>
</Condition>
<Condition name="criteria_KeepLaneTest" delay="0" conditionEdge="rising">
<ByValueCondition>
<ParameterCondition parameterRef="" value="" rule="lessThan"/>
</ByValueCondition>
</Condition>
<Condition name="criteria_CollisionTest" delay="0" conditionEdge="rising">
<ByValueCondition>
<ParameterCondition parameterRef="" value="" rule="lessThan"/>
</ByValueCondition>
</Condition>
<Condition name="criteria_DrivenDistanceTest" delay="0" conditionEdge="rising">
<ByValueCondition>
<ParameterCondition parameterRef="distance_success" value="100" rule="lessThan"/>
</ByValueCondition>
</Condition>
</ConditionGroup>
</StopTrigger>
</Storyboard>
</OpenSCENARIO>
``` |