request
stringlengths 11k
36.3k
| response
stringlengths 11k
36.2k
|
|---|---|
i want you to add pedestrian at location (9.57, -35.63, 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_2368">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_close_to_standing_2369">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
</Entities>
<Storyboard>
<Init>
<Actions>
<GlobalAction>
<EnvironmentAction>
<Environment name="Environment1">
<TimeOfDay animation="false" dateTime="2019-06-25T12:00:00"/>
<Weather cloudState="free">
<Sun intensity="0.85" azimuth="0" elevation="1.31"/>
<Fog visualRange="100000.0"/>
<Precipitation precipitationType="dry" intensity="0.0"/>
</Weather>
<RoadCondition frictionScaleFactor="1.0"/>
</Environment>
</EnvironmentAction>
</GlobalAction>
<Private entityRef="hero">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-9.4" y="-152.8" z="0.5" h="1.57079632679"/>
</Position>
</TeleportAction>
</PrivateAction>
<PrivateAction>
<ControllerAction>
<AssignControllerAction>
<Controller name="HeroAgent">
<Properties>
<Property name="module" value="external_control"/>
</Properties>
</Controller>
</AssignControllerAction>
<OverrideControllerValueAction>
<Throttle value="0" active="false"/>
<Brake value="0" active="false"/>
<Clutch value="0" active="false"/>
<ParkingBrake value="0" active="false"/>
<SteeringWheel value="0" active="false"/>
<Gear number="0" active="false"/>
</OverrideControllerValueAction>
</ControllerAction>
</PrivateAction>
</Private>
<Private entityRef="adversary">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-9.4" y="-71.0" z="0.5" h="1.57079632679"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="standing">
<PrivateAction>
<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_2368">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-9.557015419006348" y="-64.55486297607422" z="0.03377189487218857"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_close_to_standing_2369">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-6.786583423614502" y="34.127220153808594" z="0.0030274582095444202"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
</Actions>
</Init>
<Story name="MyStory">
<Act name="Behavior">
<ManeuverGroup maximumExecutionCount="1" name="ManeuverSequence">
<Actors selectTriggeringEntities="false">
<EntityRef entityRef="adversary"/>
</Actors>
<Maneuver name="LaneChangeSimpleManeuver">
<Event name="AdversaryAccelerates" priority="overwrite">
<Action name="AdversaryAccelerates">
<PrivateAction>
<LongitudinalAction>
<SpeedAction>
<SpeedActionDynamics dynamicsShape="step" value="50" dynamicsDimension="distance"/>
<SpeedActionTarget>
<AbsoluteTargetSpeed value="5.0"/>
</SpeedActionTarget>
</SpeedAction>
</LongitudinalAction>
</PrivateAction>
</Action>
<StartTrigger>
<ConditionGroup>
<Condition name="StartCondition" delay="0" conditionEdge="rising">
<ByEntityCondition>
<TriggeringEntities triggeringEntitiesRule="any">
<EntityRef entityRef="hero"/>
</TriggeringEntities>
<EntityCondition>
<RelativeDistanceCondition entityRef="adversary" relativeDistanceType="cartesianDistance" value="40.0" freespace="false" rule="lessThan"/>
</EntityCondition>
</ByEntityCondition>
</Condition>
</ConditionGroup>
</StartTrigger>
</Event>
<Event name="AdversaryChangesLane" priority="overwrite">
<Action name="AdversaryChangesLane">
<PrivateAction>
<LateralAction>
<LaneChangeAction>
<LaneChangeActionDynamics dynamicsShape="linear" value="25" dynamicsDimension="distance"/>
<LaneChangeTarget>
<RelativeTargetLane entityRef="adversary" value="-1"/>
</LaneChangeTarget>
</LaneChangeAction>
</LateralAction>
</PrivateAction>
</Action>
<StartTrigger>
<ConditionGroup>
<Condition name="AfterAdversaryAccelerates" delay="0" conditionEdge="rising">
<ByValueCondition>
<StoryboardElementStateCondition storyboardElementType="action" storyboardElementRef="AdversaryAccelerates" state="completeState"/>
</ByValueCondition>
</Condition>
</ConditionGroup>
</StartTrigger>
</Event>
</Maneuver>
</ManeuverGroup>
<StartTrigger>
<ConditionGroup>
<Condition name="OverallStartCondition" delay="0" conditionEdge="rising">
<ByEntityCondition>
<TriggeringEntities triggeringEntitiesRule="any">
<EntityRef entityRef="hero"/>
</TriggeringEntities>
<EntityCondition>
<TraveledDistanceCondition value="1.0"/>
</EntityCondition>
</ByEntityCondition>
</Condition>
<Condition name="StartTime" delay="0" conditionEdge="rising">
<ByValueCondition>
<SimulationTimeCondition value="0" rule="equalTo"/>
</ByValueCondition>
</Condition>
</ConditionGroup>
</StartTrigger>
<StopTrigger>
<ConditionGroup>
<Condition name="EndCondition" delay="0" conditionEdge="rising">
<ByEntityCondition>
<TriggeringEntities triggeringEntitiesRule="any">
<EntityRef entityRef="hero"/>
</TriggeringEntities>
<EntityCondition>
<TraveledDistanceCondition value="200.0"/>
</EntityCondition>
</ByEntityCondition>
</Condition>
</ConditionGroup>
</StopTrigger>
</Act>
</Story>
<StopTrigger>
<ConditionGroup>
<Condition name="criteria_RunningStopTest" delay="0" conditionEdge="rising">
<ByValueCondition>
<ParameterCondition parameterRef="" value="" rule="lessThan"/>
</ByValueCondition>
</Condition>
<Condition name="criteria_RunningRedLightTest" delay="0" conditionEdge="rising">
<ByValueCondition>
<ParameterCondition parameterRef="" value="" rule="lessThan"/>
</ByValueCondition>
</Condition>
<Condition name="criteria_WrongLaneTest" delay="0" conditionEdge="rising">
<ByValueCondition>
<ParameterCondition parameterRef="" value="" rule="lessThan"/>
</ByValueCondition>
</Condition>
<Condition name="criteria_OnSidewalkTest" delay="0" conditionEdge="rising">
<ByValueCondition>
<ParameterCondition parameterRef="" value="" rule="lessThan"/>
</ByValueCondition>
</Condition>
<Condition name="criteria_KeepLaneTest" delay="0" conditionEdge="rising">
<ByValueCondition>
<ParameterCondition parameterRef="" value="" rule="lessThan"/>
</ByValueCondition>
</Condition>
<Condition name="criteria_CollisionTest" delay="0" conditionEdge="rising">
<ByValueCondition>
<ParameterCondition parameterRef="" value="" rule="lessThan"/>
</ByValueCondition>
</Condition>
<Condition name="criteria_DrivenDistanceTest" delay="0" conditionEdge="rising">
<ByValueCondition>
<ParameterCondition parameterRef="distance_success" value="100" rule="lessThan"/>
</ByValueCondition>
</Condition>
</ConditionGroup>
</StopTrigger>
</Storyboard>
</OpenSCENARIO>
``` | Here is the result:
```
<?xml version="1.0" ?>
<OpenSCENARIO>
<FileHeader revMajor="1" revMinor="0" date="2020-03-24T12:00:00" description="CARLA:LaneChangeSimple" author=""/>
<ParameterDeclarations/>
<CatalogLocations/>
<RoadNetwork>
<LogicFile filepath="Town04"/>
<SceneGraphFile filepath=""/>
</RoadNetwork>
<Entities>
<ScenarioObject name="hero">
<Vehicle name="vehicle.tesla.model3" vehicleCategory="car">
<ParameterDeclarations/>
<Performance maxSpeed="69.444" maxAcceleration="200" maxDeceleration="10.0"/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2.1" length="4.5" height="1.8"/>
</BoundingBox>
<Axles>
<FrontAxle maxSteering="0.5" wheelDiameter="0.6" trackWidth="1.8" positionX="3.1" positionZ="0.3"/>
<RearAxle maxSteering="0.0" wheelDiameter="0.6" trackWidth="1.8" positionX="0.0" positionZ="0.3"/>
</Axles>
<Properties>
<Property name="type" value="ego_vehicle"/>
</Properties>
</Vehicle>
</ScenarioObject>
<ScenarioObject name="adversary">
<Vehicle name="vehicle.lincoln.mkz_2017" vehicleCategory="car">
<ParameterDeclarations/>
<Performance maxSpeed="69.444" maxAcceleration="200" maxDeceleration="10.0"/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2.1" length="4.5" height="1.8"/>
</BoundingBox>
<Axles>
<FrontAxle maxSteering="0.5" wheelDiameter="0.6" trackWidth="1.8" positionX="3.1" positionZ="0.3"/>
<RearAxle maxSteering="0.0" wheelDiameter="0.6" trackWidth="1.8" positionX="0.0" positionZ="0.3"/>
</Axles>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Vehicle>
</ScenarioObject>
<ScenarioObject name="standing">
<Vehicle name="vehicle.volkswagen.t2" vehicleCategory="car">
<ParameterDeclarations/>
<Performance maxSpeed="69.444" maxAcceleration="200" maxDeceleration="10.0"/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2.1" length="4.5" height="1.8"/>
</BoundingBox>
<Axles>
<FrontAxle maxSteering="0.5" wheelDiameter="0.6" trackWidth="1.8" positionX="3.1" positionZ="0.3"/>
<RearAxle maxSteering="0.0" wheelDiameter="0.6" 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_2368">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_close_to_standing_2369">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_w_transform_2370">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
</Entities>
<Storyboard>
<Init>
<Actions>
<GlobalAction>
<EnvironmentAction>
<Environment name="Environment1">
<TimeOfDay animation="false" dateTime="2019-06-25T12:00:00"/>
<Weather cloudState="free">
<Sun intensity="0.85" azimuth="0" elevation="1.31"/>
<Fog visualRange="100000.0"/>
<Precipitation precipitationType="dry" intensity="0.0"/>
</Weather>
<RoadCondition frictionScaleFactor="1.0"/>
</Environment>
</EnvironmentAction>
</GlobalAction>
<Private entityRef="hero">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-9.4" y="-152.8" z="0.5" h="1.57079632679"/>
</Position>
</TeleportAction>
</PrivateAction>
<PrivateAction>
<ControllerAction>
<AssignControllerAction>
<Controller name="HeroAgent">
<Properties>
<Property name="module" value="external_control"/>
</Properties>
</Controller>
</AssignControllerAction>
<OverrideControllerValueAction>
<Throttle value="0" active="false"/>
<Brake value="0" active="false"/>
<Clutch value="0" active="false"/>
<ParkingBrake value="0" active="false"/>
<SteeringWheel value="0" active="false"/>
<Gear number="0" active="false"/>
</OverrideControllerValueAction>
</ControllerAction>
</PrivateAction>
</Private>
<Private entityRef="adversary">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-9.4" y="-71.0" z="0.5" h="1.57079632679"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="standing">
<PrivateAction>
<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_2368">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-9.557015419006348" y="-64.55486297607422" z="0.03377189487218857"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_close_to_standing_2369">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-6.786583423614502" y="34.127220153808594" z="0.0030274582095444202"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_w_transform_2370">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="9.567983627319336" y="-35.63241195678711" z="0.5"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
</Actions>
</Init>
<Story name="MyStory">
<Act name="Behavior">
<ManeuverGroup maximumExecutionCount="1" name="ManeuverSequence">
<Actors selectTriggeringEntities="false">
<EntityRef entityRef="adversary"/>
</Actors>
<Maneuver name="LaneChangeSimpleManeuver">
<Event name="AdversaryAccelerates" priority="overwrite">
<Action name="AdversaryAccelerates">
<PrivateAction>
<LongitudinalAction>
<SpeedAction>
<SpeedActionDynamics dynamicsShape="step" value="50" dynamicsDimension="distance"/>
<SpeedActionTarget>
<AbsoluteTargetSpeed value="5.0"/>
</SpeedActionTarget>
</SpeedAction>
</LongitudinalAction>
</PrivateAction>
</Action>
<StartTrigger>
<ConditionGroup>
<Condition name="StartCondition" delay="0" conditionEdge="rising">
<ByEntityCondition>
<TriggeringEntities triggeringEntitiesRule="any">
<EntityRef entityRef="hero"/>
</TriggeringEntities>
<EntityCondition>
<RelativeDistanceCondition entityRef="adversary" relativeDistanceType="cartesianDistance" value="40.0" freespace="false" rule="lessThan"/>
</EntityCondition>
</ByEntityCondition>
</Condition>
</ConditionGroup>
</StartTrigger>
</Event>
<Event name="AdversaryChangesLane" priority="overwrite">
<Action name="AdversaryChangesLane">
<PrivateAction>
<LateralAction>
<LaneChangeAction>
<LaneChangeActionDynamics dynamicsShape="linear" value="25" dynamicsDimension="distance"/>
<LaneChangeTarget>
<RelativeTargetLane entityRef="adversary" value="-1"/>
</LaneChangeTarget>
</LaneChangeAction>
</LateralAction>
</PrivateAction>
</Action>
<StartTrigger>
<ConditionGroup>
<Condition name="AfterAdversaryAccelerates" delay="0" conditionEdge="rising">
<ByValueCondition>
<StoryboardElementStateCondition storyboardElementType="action" storyboardElementRef="AdversaryAccelerates" state="completeState"/>
</ByValueCondition>
</Condition>
</ConditionGroup>
</StartTrigger>
</Event>
</Maneuver>
</ManeuverGroup>
<StartTrigger>
<ConditionGroup>
<Condition name="OverallStartCondition" delay="0" conditionEdge="rising">
<ByEntityCondition>
<TriggeringEntities triggeringEntitiesRule="any">
<EntityRef entityRef="hero"/>
</TriggeringEntities>
<EntityCondition>
<TraveledDistanceCondition value="1.0"/>
</EntityCondition>
</ByEntityCondition>
</Condition>
<Condition name="StartTime" delay="0" conditionEdge="rising">
<ByValueCondition>
<SimulationTimeCondition value="0" rule="equalTo"/>
</ByValueCondition>
</Condition>
</ConditionGroup>
</StartTrigger>
<StopTrigger>
<ConditionGroup>
<Condition name="EndCondition" delay="0" conditionEdge="rising">
<ByEntityCondition>
<TriggeringEntities triggeringEntitiesRule="any">
<EntityRef entityRef="hero"/>
</TriggeringEntities>
<EntityCondition>
<TraveledDistanceCondition value="200.0"/>
</EntityCondition>
</ByEntityCondition>
</Condition>
</ConditionGroup>
</StopTrigger>
</Act>
</Story>
<StopTrigger>
<ConditionGroup>
<Condition name="criteria_RunningStopTest" delay="0" conditionEdge="rising">
<ByValueCondition>
<ParameterCondition parameterRef="" value="" rule="lessThan"/>
</ByValueCondition>
</Condition>
<Condition name="criteria_RunningRedLightTest" delay="0" conditionEdge="rising">
<ByValueCondition>
<ParameterCondition parameterRef="" value="" rule="lessThan"/>
</ByValueCondition>
</Condition>
<Condition name="criteria_WrongLaneTest" delay="0" conditionEdge="rising">
<ByValueCondition>
<ParameterCondition parameterRef="" value="" rule="lessThan"/>
</ByValueCondition>
</Condition>
<Condition name="criteria_OnSidewalkTest" delay="0" conditionEdge="rising">
<ByValueCondition>
<ParameterCondition parameterRef="" value="" rule="lessThan"/>
</ByValueCondition>
</Condition>
<Condition name="criteria_KeepLaneTest" delay="0" conditionEdge="rising">
<ByValueCondition>
<ParameterCondition parameterRef="" value="" rule="lessThan"/>
</ByValueCondition>
</Condition>
<Condition name="criteria_CollisionTest" delay="0" conditionEdge="rising">
<ByValueCondition>
<ParameterCondition parameterRef="" value="" rule="lessThan"/>
</ByValueCondition>
</Condition>
<Condition name="criteria_DrivenDistanceTest" delay="0" conditionEdge="rising">
<ByValueCondition>
<ParameterCondition parameterRef="distance_success" value="100" rule="lessThan"/>
</ByValueCondition>
</Condition>
</ConditionGroup>
</StopTrigger>
</Storyboard>
</OpenSCENARIO>
``` |
remove pedestrian close to hero?
```
<?xml version="1.0" ?>
<OpenSCENARIO>
<FileHeader revMajor="1" revMinor="0" date="2020-03-24T12:00:00" description="CARLA:LaneChangeSimple" author=""/>
<ParameterDeclarations/>
<CatalogLocations/>
<RoadNetwork>
<LogicFile filepath="Town04"/>
<SceneGraphFile filepath=""/>
</RoadNetwork>
<Entities>
<ScenarioObject name="hero">
<Vehicle name="vehicle.tesla.model3" vehicleCategory="car">
<ParameterDeclarations/>
<Performance maxSpeed="69.444" maxAcceleration="200" maxDeceleration="10.0"/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2.1" length="4.5" height="1.8"/>
</BoundingBox>
<Axles>
<FrontAxle maxSteering="0.5" wheelDiameter="0.6" trackWidth="1.8" positionX="3.1" positionZ="0.3"/>
<RearAxle maxSteering="0.0" wheelDiameter="0.6" trackWidth="1.8" positionX="0.0" positionZ="0.3"/>
</Axles>
<Properties>
<Property name="type" value="ego_vehicle"/>
</Properties>
</Vehicle>
</ScenarioObject>
<ScenarioObject name="adversary">
<Vehicle name="vehicle.lincoln.mkz_2017" vehicleCategory="car">
<ParameterDeclarations/>
<Performance maxSpeed="69.444" maxAcceleration="200" maxDeceleration="10.0"/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2.1" length="4.5" height="1.8"/>
</BoundingBox>
<Axles>
<FrontAxle maxSteering="0.5" wheelDiameter="0.6" trackWidth="1.8" positionX="3.1" positionZ="0.3"/>
<RearAxle maxSteering="0.0" wheelDiameter="0.6" trackWidth="1.8" positionX="0.0" positionZ="0.3"/>
</Axles>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Vehicle>
</ScenarioObject>
<ScenarioObject name="standing">
<Vehicle name="vehicle.volkswagen.t2" vehicleCategory="car">
<ParameterDeclarations/>
<Performance maxSpeed="69.444" maxAcceleration="200" maxDeceleration="10.0"/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2.1" length="4.5" height="1.8"/>
</BoundingBox>
<Axles>
<FrontAxle maxSteering="0.5" wheelDiameter="0.6" trackWidth="1.8" positionX="3.1" positionZ="0.3"/>
<RearAxle maxSteering="0.0" wheelDiameter="0.6" trackWidth="1.8" positionX="0.0" positionZ="0.3"/>
</Axles>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Vehicle>
</ScenarioObject>
<ScenarioObject name="pedestrian_w_transform_10871">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_close_to_standing_10873">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_close_to_adversary_10874">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_close_to_standing_10876">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_w_transform_10878">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_close_to_hero_10879">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_w_transform_10880">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_close_to_standing_10881">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_w_transform_10882">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_close_to_hero_10884">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_w_transform_10885">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_w_transform_10887">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_close_to_standing_10889">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_w_transform_10891">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_w_transform_10892">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
</Entities>
<Storyboard>
<Init>
<Actions>
<GlobalAction>
<EnvironmentAction>
<Environment name="Environment1">
<TimeOfDay animation="false" dateTime="2019-06-25T12:00:00"/>
<Weather cloudState="free">
<Sun intensity="0.85" azimuth="0" elevation="1.31"/>
<Fog visualRange="100000.0"/>
<Precipitation precipitationType="dry" intensity="0.0"/>
</Weather>
<RoadCondition frictionScaleFactor="1.0"/>
</Environment>
</EnvironmentAction>
</GlobalAction>
<Private entityRef="hero">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-9.4" y="-152.8" z="0.5" h="1.57079632679"/>
</Position>
</TeleportAction>
</PrivateAction>
<PrivateAction>
<ControllerAction>
<AssignControllerAction>
<Controller name="HeroAgent">
<Properties>
<Property name="module" value="external_control"/>
</Properties>
</Controller>
</AssignControllerAction>
<OverrideControllerValueAction>
<Throttle value="0" active="false"/>
<Brake value="0" active="false"/>
<Clutch value="0" active="false"/>
<ParkingBrake value="0" active="false"/>
<SteeringWheel value="0" active="false"/>
<Gear number="0" active="false"/>
</OverrideControllerValueAction>
</ControllerAction>
</PrivateAction>
</Private>
<Private entityRef="adversary">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-9.4" y="-71.0" z="0.5" h="1.57079632679"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="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_10871">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="76.45337677001953" y="-12.988719940185547" z="0.5"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_close_to_standing_10873">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-2.415159225463867" y="22.696718215942383" z="0.003081436036154628"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_close_to_adversary_10874">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-17.197877883911133" y="-79.43245697021484" z="0.03376922383904457"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_close_to_standing_10876">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-15.415131568908691" y="33.115177154541016" z="0.003091964637860656"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_w_transform_10878">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="86.74177551269531" y="-50.6571159362793" z="0.5"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_close_to_hero_10879">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-4.773034572601318" y="-144.03416442871094" z="0.0014286803780123591"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_w_transform_10880">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="26.461841583251953" y="-58.53840637207031" z="0.5"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_close_to_standing_10881">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-8.222152709960938" y="32.61891555786133" z="0.003056220943108201"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_w_transform_10882">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-65.97154235839844" y="-95.8687515258789" z="0.5"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_close_to_hero_10884">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-3.7628698348999023" y="-158.03164672851562" z="0.0014286803780123591"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_w_transform_10885">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="62.966800689697266" y="45.499794006347656" z="0.5"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_w_transform_10887">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="41.02808380126953" y="28.11642837524414" z="0.5"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_close_to_standing_10889">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-0.8974520564079285" y="17.35808753967285" z="0.0030564498156309128"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_w_transform_10891">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="49.180999755859375" y="81.64524841308594" z="0.5"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_w_transform_10892">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="92.1518325805664" y="-8.710333824157715" z="0.5"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
</Actions>
</Init>
<Story name="MyStory">
<Act name="Behavior">
<ManeuverGroup maximumExecutionCount="1" name="ManeuverSequence">
<Actors selectTriggeringEntities="false">
<EntityRef entityRef="adversary"/>
</Actors>
<Maneuver name="LaneChangeSimpleManeuver">
<Event name="AdversaryAccelerates" priority="overwrite">
<Action name="AdversaryAccelerates">
<PrivateAction>
<LongitudinalAction>
<SpeedAction>
<SpeedActionDynamics dynamicsShape="step" value="50" dynamicsDimension="distance"/>
<SpeedActionTarget>
<AbsoluteTargetSpeed value="5.0"/>
</SpeedActionTarget>
</SpeedAction>
</LongitudinalAction>
</PrivateAction>
</Action>
<StartTrigger>
<ConditionGroup>
<Condition name="StartCondition" delay="0" conditionEdge="rising">
<ByEntityCondition>
<TriggeringEntities triggeringEntitiesRule="any">
<EntityRef entityRef="hero"/>
</TriggeringEntities>
<EntityCondition>
<RelativeDistanceCondition entityRef="adversary" relativeDistanceType="cartesianDistance" value="40.0" freespace="false" rule="lessThan"/>
</EntityCondition>
</ByEntityCondition>
</Condition>
</ConditionGroup>
</StartTrigger>
</Event>
<Event name="AdversaryChangesLane" priority="overwrite">
<Action name="AdversaryChangesLane">
<PrivateAction>
<LateralAction>
<LaneChangeAction>
<LaneChangeActionDynamics dynamicsShape="linear" value="25" dynamicsDimension="distance"/>
<LaneChangeTarget>
<RelativeTargetLane entityRef="adversary" value="-1"/>
</LaneChangeTarget>
</LaneChangeAction>
</LateralAction>
</PrivateAction>
</Action>
<StartTrigger>
<ConditionGroup>
<Condition name="AfterAdversaryAccelerates" delay="0" conditionEdge="rising">
<ByValueCondition>
<StoryboardElementStateCondition storyboardElementType="action" storyboardElementRef="AdversaryAccelerates" state="completeState"/>
</ByValueCondition>
</Condition>
</ConditionGroup>
</StartTrigger>
</Event>
</Maneuver>
</ManeuverGroup>
<StartTrigger>
<ConditionGroup>
<Condition name="OverallStartCondition" delay="0" conditionEdge="rising">
<ByEntityCondition>
<TriggeringEntities triggeringEntitiesRule="any">
<EntityRef entityRef="hero"/>
</TriggeringEntities>
<EntityCondition>
<TraveledDistanceCondition value="1.0"/>
</EntityCondition>
</ByEntityCondition>
</Condition>
<Condition name="StartTime" delay="0" conditionEdge="rising">
<ByValueCondition>
<SimulationTimeCondition value="0" rule="equalTo"/>
</ByValueCondition>
</Condition>
</ConditionGroup>
</StartTrigger>
<StopTrigger>
<ConditionGroup>
<Condition name="EndCondition" delay="0" conditionEdge="rising">
<ByEntityCondition>
<TriggeringEntities triggeringEntitiesRule="any">
<EntityRef entityRef="hero"/>
</TriggeringEntities>
<EntityCondition>
<TraveledDistanceCondition value="200.0"/>
</EntityCondition>
</ByEntityCondition>
</Condition>
</ConditionGroup>
</StopTrigger>
</Act>
</Story>
<StopTrigger>
<ConditionGroup>
<Condition name="criteria_RunningStopTest" delay="0" conditionEdge="rising">
<ByValueCondition>
<ParameterCondition parameterRef="" value="" rule="lessThan"/>
</ByValueCondition>
</Condition>
<Condition name="criteria_RunningRedLightTest" delay="0" conditionEdge="rising">
<ByValueCondition>
<ParameterCondition parameterRef="" value="" rule="lessThan"/>
</ByValueCondition>
</Condition>
<Condition name="criteria_WrongLaneTest" delay="0" conditionEdge="rising">
<ByValueCondition>
<ParameterCondition parameterRef="" value="" rule="lessThan"/>
</ByValueCondition>
</Condition>
<Condition name="criteria_OnSidewalkTest" delay="0" conditionEdge="rising">
<ByValueCondition>
<ParameterCondition parameterRef="" value="" rule="lessThan"/>
</ByValueCondition>
</Condition>
<Condition name="criteria_KeepLaneTest" delay="0" conditionEdge="rising">
<ByValueCondition>
<ParameterCondition parameterRef="" value="" rule="lessThan"/>
</ByValueCondition>
</Condition>
<Condition name="criteria_CollisionTest" delay="0" conditionEdge="rising">
<ByValueCondition>
<ParameterCondition parameterRef="" value="" rule="lessThan"/>
</ByValueCondition>
</Condition>
<Condition name="criteria_DrivenDistanceTest" delay="0" conditionEdge="rising">
<ByValueCondition>
<ParameterCondition parameterRef="distance_success" value="100" rule="lessThan"/>
</ByValueCondition>
</Condition>
</ConditionGroup>
</StopTrigger>
</Storyboard>
</OpenSCENARIO>
``` | Here is the result:
```
<?xml version="1.0" ?>
<OpenSCENARIO>
<FileHeader revMajor="1" revMinor="0" date="2020-03-24T12:00:00" description="CARLA:LaneChangeSimple" author=""/>
<ParameterDeclarations/>
<CatalogLocations/>
<RoadNetwork>
<LogicFile filepath="Town04"/>
<SceneGraphFile filepath=""/>
</RoadNetwork>
<Entities>
<ScenarioObject name="hero">
<Vehicle name="vehicle.tesla.model3" vehicleCategory="car">
<ParameterDeclarations/>
<Performance maxSpeed="69.444" maxAcceleration="200" maxDeceleration="10.0"/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2.1" length="4.5" height="1.8"/>
</BoundingBox>
<Axles>
<FrontAxle maxSteering="0.5" wheelDiameter="0.6" trackWidth="1.8" positionX="3.1" positionZ="0.3"/>
<RearAxle maxSteering="0.0" wheelDiameter="0.6" trackWidth="1.8" positionX="0.0" positionZ="0.3"/>
</Axles>
<Properties>
<Property name="type" value="ego_vehicle"/>
</Properties>
</Vehicle>
</ScenarioObject>
<ScenarioObject name="adversary">
<Vehicle name="vehicle.lincoln.mkz_2017" vehicleCategory="car">
<ParameterDeclarations/>
<Performance maxSpeed="69.444" maxAcceleration="200" maxDeceleration="10.0"/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2.1" length="4.5" height="1.8"/>
</BoundingBox>
<Axles>
<FrontAxle maxSteering="0.5" wheelDiameter="0.6" trackWidth="1.8" positionX="3.1" positionZ="0.3"/>
<RearAxle maxSteering="0.0" wheelDiameter="0.6" trackWidth="1.8" positionX="0.0" positionZ="0.3"/>
</Axles>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Vehicle>
</ScenarioObject>
<ScenarioObject name="standing">
<Vehicle name="vehicle.volkswagen.t2" vehicleCategory="car">
<ParameterDeclarations/>
<Performance maxSpeed="69.444" maxAcceleration="200" maxDeceleration="10.0"/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2.1" length="4.5" height="1.8"/>
</BoundingBox>
<Axles>
<FrontAxle maxSteering="0.5" wheelDiameter="0.6" trackWidth="1.8" positionX="3.1" positionZ="0.3"/>
<RearAxle maxSteering="0.0" wheelDiameter="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_10871">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_close_to_standing_10873">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_close_to_adversary_10874">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_close_to_standing_10876">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_w_transform_10878">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_close_to_hero_10879">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_w_transform_10880">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_close_to_standing_10881">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_w_transform_10882">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_w_transform_10885">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_w_transform_10887">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_close_to_standing_10889">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_w_transform_10891">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_w_transform_10892">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
</Entities>
<Storyboard>
<Init>
<Actions>
<GlobalAction>
<EnvironmentAction>
<Environment name="Environment1">
<TimeOfDay animation="false" dateTime="2019-06-25T12:00:00"/>
<Weather cloudState="free">
<Sun intensity="0.85" azimuth="0" elevation="1.31"/>
<Fog visualRange="100000.0"/>
<Precipitation precipitationType="dry" intensity="0.0"/>
</Weather>
<RoadCondition frictionScaleFactor="1.0"/>
</Environment>
</EnvironmentAction>
</GlobalAction>
<Private entityRef="hero">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-9.4" y="-152.8" z="0.5" h="1.57079632679"/>
</Position>
</TeleportAction>
</PrivateAction>
<PrivateAction>
<ControllerAction>
<AssignControllerAction>
<Controller name="HeroAgent">
<Properties>
<Property name="module" value="external_control"/>
</Properties>
</Controller>
</AssignControllerAction>
<OverrideControllerValueAction>
<Throttle value="0" active="false"/>
<Brake value="0" active="false"/>
<Clutch value="0" active="false"/>
<ParkingBrake value="0" active="false"/>
<SteeringWheel value="0" active="false"/>
<Gear number="0" active="false"/>
</OverrideControllerValueAction>
</ControllerAction>
</PrivateAction>
</Private>
<Private entityRef="adversary">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-9.4" y="-71.0" z="0.5" h="1.57079632679"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="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_10871">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="76.45337677001953" y="-12.988719940185547" z="0.5"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_close_to_standing_10873">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-2.415159225463867" y="22.696718215942383" z="0.003081436036154628"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_close_to_adversary_10874">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-17.197877883911133" y="-79.43245697021484" z="0.03376922383904457"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_close_to_standing_10876">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-15.415131568908691" y="33.115177154541016" z="0.003091964637860656"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_w_transform_10878">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="86.74177551269531" y="-50.6571159362793" z="0.5"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_close_to_hero_10879">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-4.773034572601318" y="-144.03416442871094" z="0.0014286803780123591"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_w_transform_10880">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="26.461841583251953" y="-58.53840637207031" z="0.5"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_close_to_standing_10881">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-8.222152709960938" y="32.61891555786133" z="0.003056220943108201"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_w_transform_10882">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-65.97154235839844" y="-95.8687515258789" z="0.5"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_w_transform_10885">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="62.966800689697266" y="45.499794006347656" z="0.5"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_w_transform_10887">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="41.02808380126953" y="28.11642837524414" z="0.5"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_close_to_standing_10889">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-0.8974520564079285" y="17.35808753967285" z="0.0030564498156309128"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_w_transform_10891">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="49.180999755859375" y="81.64524841308594" z="0.5"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_w_transform_10892">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="92.1518325805664" y="-8.710333824157715" z="0.5"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
</Actions>
</Init>
<Story name="MyStory">
<Act name="Behavior">
<ManeuverGroup maximumExecutionCount="1" name="ManeuverSequence">
<Actors selectTriggeringEntities="false">
<EntityRef entityRef="adversary"/>
</Actors>
<Maneuver name="LaneChangeSimpleManeuver">
<Event name="AdversaryAccelerates" priority="overwrite">
<Action name="AdversaryAccelerates">
<PrivateAction>
<LongitudinalAction>
<SpeedAction>
<SpeedActionDynamics dynamicsShape="step" value="50" dynamicsDimension="distance"/>
<SpeedActionTarget>
<AbsoluteTargetSpeed value="5.0"/>
</SpeedActionTarget>
</SpeedAction>
</LongitudinalAction>
</PrivateAction>
</Action>
<StartTrigger>
<ConditionGroup>
<Condition name="StartCondition" delay="0" conditionEdge="rising">
<ByEntityCondition>
<TriggeringEntities triggeringEntitiesRule="any">
<EntityRef entityRef="hero"/>
</TriggeringEntities>
<EntityCondition>
<RelativeDistanceCondition entityRef="adversary" relativeDistanceType="cartesianDistance" value="40.0" freespace="false" rule="lessThan"/>
</EntityCondition>
</ByEntityCondition>
</Condition>
</ConditionGroup>
</StartTrigger>
</Event>
<Event name="AdversaryChangesLane" priority="overwrite">
<Action name="AdversaryChangesLane">
<PrivateAction>
<LateralAction>
<LaneChangeAction>
<LaneChangeActionDynamics dynamicsShape="linear" value="25" dynamicsDimension="distance"/>
<LaneChangeTarget>
<RelativeTargetLane entityRef="adversary" value="-1"/>
</LaneChangeTarget>
</LaneChangeAction>
</LateralAction>
</PrivateAction>
</Action>
<StartTrigger>
<ConditionGroup>
<Condition name="AfterAdversaryAccelerates" delay="0" conditionEdge="rising">
<ByValueCondition>
<StoryboardElementStateCondition storyboardElementType="action" storyboardElementRef="AdversaryAccelerates" state="completeState"/>
</ByValueCondition>
</Condition>
</ConditionGroup>
</StartTrigger>
</Event>
</Maneuver>
</ManeuverGroup>
<StartTrigger>
<ConditionGroup>
<Condition name="OverallStartCondition" delay="0" conditionEdge="rising">
<ByEntityCondition>
<TriggeringEntities triggeringEntitiesRule="any">
<EntityRef entityRef="hero"/>
</TriggeringEntities>
<EntityCondition>
<TraveledDistanceCondition value="1.0"/>
</EntityCondition>
</ByEntityCondition>
</Condition>
<Condition name="StartTime" delay="0" conditionEdge="rising">
<ByValueCondition>
<SimulationTimeCondition value="0" rule="equalTo"/>
</ByValueCondition>
</Condition>
</ConditionGroup>
</StartTrigger>
<StopTrigger>
<ConditionGroup>
<Condition name="EndCondition" delay="0" conditionEdge="rising">
<ByEntityCondition>
<TriggeringEntities triggeringEntitiesRule="any">
<EntityRef entityRef="hero"/>
</TriggeringEntities>
<EntityCondition>
<TraveledDistanceCondition value="200.0"/>
</EntityCondition>
</ByEntityCondition>
</Condition>
</ConditionGroup>
</StopTrigger>
</Act>
</Story>
<StopTrigger>
<ConditionGroup>
<Condition name="criteria_RunningStopTest" delay="0" conditionEdge="rising">
<ByValueCondition>
<ParameterCondition parameterRef="" value="" rule="lessThan"/>
</ByValueCondition>
</Condition>
<Condition name="criteria_RunningRedLightTest" delay="0" conditionEdge="rising">
<ByValueCondition>
<ParameterCondition parameterRef="" value="" rule="lessThan"/>
</ByValueCondition>
</Condition>
<Condition name="criteria_WrongLaneTest" delay="0" conditionEdge="rising">
<ByValueCondition>
<ParameterCondition parameterRef="" value="" rule="lessThan"/>
</ByValueCondition>
</Condition>
<Condition name="criteria_OnSidewalkTest" delay="0" conditionEdge="rising">
<ByValueCondition>
<ParameterCondition parameterRef="" value="" rule="lessThan"/>
</ByValueCondition>
</Condition>
<Condition name="criteria_KeepLaneTest" delay="0" conditionEdge="rising">
<ByValueCondition>
<ParameterCondition parameterRef="" value="" rule="lessThan"/>
</ByValueCondition>
</Condition>
<Condition name="criteria_CollisionTest" delay="0" conditionEdge="rising">
<ByValueCondition>
<ParameterCondition parameterRef="" value="" rule="lessThan"/>
</ByValueCondition>
</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 (27.08, -57.02, 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_standing_17686">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_w_transform_17687">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_close_to_adversary_17689">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_w_transform_17690">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_close_to_adversary_17691">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_close_to_standing_17692">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_w_transform_17693">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_close_to_hero_17694">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_close_to_standing_17695">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
</Entities>
<Storyboard>
<Init>
<Actions>
<GlobalAction>
<EnvironmentAction>
<Environment name="Environment1">
<TimeOfDay animation="false" dateTime="2019-06-25T12:00:00"/>
<Weather cloudState="free">
<Sun intensity="0.85" azimuth="0" elevation="1.31"/>
<Fog visualRange="100000.0"/>
<Precipitation precipitationType="dry" intensity="0.0"/>
</Weather>
<RoadCondition frictionScaleFactor="1.0"/>
</Environment>
</EnvironmentAction>
</GlobalAction>
<Private entityRef="hero">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-9.4" y="-152.8" z="0.5" h="1.57079632679"/>
</Position>
</TeleportAction>
</PrivateAction>
<PrivateAction>
<ControllerAction>
<AssignControllerAction>
<Controller name="HeroAgent">
<Properties>
<Property name="module" value="external_control"/>
</Properties>
</Controller>
</AssignControllerAction>
<OverrideControllerValueAction>
<Throttle value="0" active="false"/>
<Brake value="0" active="false"/>
<Clutch value="0" active="false"/>
<ParkingBrake value="0" active="false"/>
<SteeringWheel value="0" active="false"/>
<Gear number="0" active="false"/>
</OverrideControllerValueAction>
</ControllerAction>
</PrivateAction>
</Private>
<Private entityRef="adversary">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-9.4" y="-71.0" z="0.5" h="1.57079632679"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="standing">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-8.2" y="29.2" z="0.5" h="1.57079632679"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_close_to_standing_17686">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-10.870774269104004" y="27.987638473510742" z="0.003023033030331135"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_w_transform_17687">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="13.512097358703613" y="-15.37880802154541" z="0.5"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_close_to_adversary_17689">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-12.737380981445312" y="-64.9415512084961" z="0.03377769514918327"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_w_transform_17690">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="56.036136627197266" y="-32.298927307128906" z="0.5"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_close_to_adversary_17691">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-14.083255767822266" y="-69.08158874511719" z="0.03377212584018707"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_close_to_standing_17692">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-9.316518783569336" y="29.485191345214844" z="0.003075027372688055"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_w_transform_17693">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-18.132356643676758" y="60.01486587524414" z="0.5"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_close_to_hero_17694">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-12.138871192932129" y="-144.57142639160156" z="0.0014286803780123591"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_close_to_standing_17695">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-16.22544288635254" y="36.33972930908203" z="0.0030906677711755037"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
</Actions>
</Init>
<Story name="MyStory">
<Act name="Behavior">
<ManeuverGroup maximumExecutionCount="1" name="ManeuverSequence">
<Actors selectTriggeringEntities="false">
<EntityRef entityRef="adversary"/>
</Actors>
<Maneuver name="LaneChangeSimpleManeuver">
<Event name="AdversaryAccelerates" priority="overwrite">
<Action name="AdversaryAccelerates">
<PrivateAction>
<LongitudinalAction>
<SpeedAction>
<SpeedActionDynamics dynamicsShape="step" value="50" dynamicsDimension="distance"/>
<SpeedActionTarget>
<AbsoluteTargetSpeed value="5.0"/>
</SpeedActionTarget>
</SpeedAction>
</LongitudinalAction>
</PrivateAction>
</Action>
<StartTrigger>
<ConditionGroup>
<Condition name="StartCondition" delay="0" conditionEdge="rising">
<ByEntityCondition>
<TriggeringEntities triggeringEntitiesRule="any">
<EntityRef entityRef="hero"/>
</TriggeringEntities>
<EntityCondition>
<RelativeDistanceCondition entityRef="adversary" relativeDistanceType="cartesianDistance" value="40.0" freespace="false" rule="lessThan"/>
</EntityCondition>
</ByEntityCondition>
</Condition>
</ConditionGroup>
</StartTrigger>
</Event>
<Event name="AdversaryChangesLane" priority="overwrite">
<Action name="AdversaryChangesLane">
<PrivateAction>
<LateralAction>
<LaneChangeAction>
<LaneChangeActionDynamics dynamicsShape="linear" value="25" dynamicsDimension="distance"/>
<LaneChangeTarget>
<RelativeTargetLane entityRef="adversary" value="-1"/>
</LaneChangeTarget>
</LaneChangeAction>
</LateralAction>
</PrivateAction>
</Action>
<StartTrigger>
<ConditionGroup>
<Condition name="AfterAdversaryAccelerates" delay="0" conditionEdge="rising">
<ByValueCondition>
<StoryboardElementStateCondition storyboardElementType="action" storyboardElementRef="AdversaryAccelerates" state="completeState"/>
</ByValueCondition>
</Condition>
</ConditionGroup>
</StartTrigger>
</Event>
</Maneuver>
</ManeuverGroup>
<StartTrigger>
<ConditionGroup>
<Condition name="OverallStartCondition" delay="0" conditionEdge="rising">
<ByEntityCondition>
<TriggeringEntities triggeringEntitiesRule="any">
<EntityRef entityRef="hero"/>
</TriggeringEntities>
<EntityCondition>
<TraveledDistanceCondition value="1.0"/>
</EntityCondition>
</ByEntityCondition>
</Condition>
<Condition name="StartTime" delay="0" conditionEdge="rising">
<ByValueCondition>
<SimulationTimeCondition value="0" rule="equalTo"/>
</ByValueCondition>
</Condition>
</ConditionGroup>
</StartTrigger>
<StopTrigger>
<ConditionGroup>
<Condition name="EndCondition" delay="0" conditionEdge="rising">
<ByEntityCondition>
<TriggeringEntities triggeringEntitiesRule="any">
<EntityRef entityRef="hero"/>
</TriggeringEntities>
<EntityCondition>
<TraveledDistanceCondition value="200.0"/>
</EntityCondition>
</ByEntityCondition>
</Condition>
</ConditionGroup>
</StopTrigger>
</Act>
</Story>
<StopTrigger>
<ConditionGroup>
<Condition name="criteria_RunningStopTest" delay="0" conditionEdge="rising">
<ByValueCondition>
<ParameterCondition parameterRef="" value="" rule="lessThan"/>
</ByValueCondition>
</Condition>
<Condition name="criteria_RunningRedLightTest" delay="0" conditionEdge="rising">
<ByValueCondition>
<ParameterCondition parameterRef="" value="" rule="lessThan"/>
</ByValueCondition>
</Condition>
<Condition name="criteria_WrongLaneTest" delay="0" conditionEdge="rising">
<ByValueCondition>
<ParameterCondition parameterRef="" value="" rule="lessThan"/>
</ByValueCondition>
</Condition>
<Condition name="criteria_OnSidewalkTest" delay="0" conditionEdge="rising">
<ByValueCondition>
<ParameterCondition parameterRef="" value="" rule="lessThan"/>
</ByValueCondition>
</Condition>
<Condition name="criteria_KeepLaneTest" delay="0" conditionEdge="rising">
<ByValueCondition>
<ParameterCondition parameterRef="" value="" rule="lessThan"/>
</ByValueCondition>
</Condition>
<Condition name="criteria_CollisionTest" delay="0" conditionEdge="rising">
<ByValueCondition>
<ParameterCondition parameterRef="" value="" rule="lessThan"/>
</ByValueCondition>
</Condition>
<Condition name="criteria_DrivenDistanceTest" delay="0" conditionEdge="rising">
<ByValueCondition>
<ParameterCondition parameterRef="distance_success" value="100" rule="lessThan"/>
</ByValueCondition>
</Condition>
</ConditionGroup>
</StopTrigger>
</Storyboard>
</OpenSCENARIO>
``` | Here is the result:
```
<?xml version="1.0" ?>
<OpenSCENARIO>
<FileHeader revMajor="1" revMinor="0" date="2020-03-24T12:00:00" description="CARLA:LaneChangeSimple" author=""/>
<ParameterDeclarations/>
<CatalogLocations/>
<RoadNetwork>
<LogicFile filepath="Town04"/>
<SceneGraphFile filepath=""/>
</RoadNetwork>
<Entities>
<ScenarioObject name="hero">
<Vehicle name="vehicle.tesla.model3" vehicleCategory="car">
<ParameterDeclarations/>
<Performance maxSpeed="69.444" maxAcceleration="200" maxDeceleration="10.0"/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2.1" length="4.5" height="1.8"/>
</BoundingBox>
<Axles>
<FrontAxle maxSteering="0.5" wheelDiameter="0.6" trackWidth="1.8" positionX="3.1" positionZ="0.3"/>
<RearAxle maxSteering="0.0" wheelDiameter="0.6" trackWidth="1.8" positionX="0.0" positionZ="0.3"/>
</Axles>
<Properties>
<Property name="type" value="ego_vehicle"/>
</Properties>
</Vehicle>
</ScenarioObject>
<ScenarioObject name="adversary">
<Vehicle name="vehicle.lincoln.mkz_2017" vehicleCategory="car">
<ParameterDeclarations/>
<Performance maxSpeed="69.444" maxAcceleration="200" maxDeceleration="10.0"/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2.1" length="4.5" height="1.8"/>
</BoundingBox>
<Axles>
<FrontAxle maxSteering="0.5" wheelDiameter="0.6" trackWidth="1.8" positionX="3.1" positionZ="0.3"/>
<RearAxle maxSteering="0.0" wheelDiameter="0.6" trackWidth="1.8" positionX="0.0" positionZ="0.3"/>
</Axles>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Vehicle>
</ScenarioObject>
<ScenarioObject name="standing">
<Vehicle name="vehicle.volkswagen.t2" vehicleCategory="car">
<ParameterDeclarations/>
<Performance maxSpeed="69.444" maxAcceleration="200" maxDeceleration="10.0"/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2.1" length="4.5" height="1.8"/>
</BoundingBox>
<Axles>
<FrontAxle maxSteering="0.5" wheelDiameter="0.6" trackWidth="1.8" positionX="3.1" positionZ="0.3"/>
<RearAxle maxSteering="0.0" wheelDiameter="0.6" trackWidth="1.8" positionX="0.0" positionZ="0.3"/>
</Axles>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Vehicle>
</ScenarioObject>
<ScenarioObject name="pedestrian_close_to_standing_17686">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_w_transform_17687">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_close_to_adversary_17689">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_w_transform_17690">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_close_to_adversary_17691">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_close_to_standing_17692">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_w_transform_17693">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_close_to_hero_17694">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_close_to_standing_17695">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_w_transform_17696">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
</Entities>
<Storyboard>
<Init>
<Actions>
<GlobalAction>
<EnvironmentAction>
<Environment name="Environment1">
<TimeOfDay animation="false" dateTime="2019-06-25T12:00:00"/>
<Weather cloudState="free">
<Sun intensity="0.85" azimuth="0" elevation="1.31"/>
<Fog visualRange="100000.0"/>
<Precipitation precipitationType="dry" intensity="0.0"/>
</Weather>
<RoadCondition frictionScaleFactor="1.0"/>
</Environment>
</EnvironmentAction>
</GlobalAction>
<Private entityRef="hero">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-9.4" y="-152.8" z="0.5" h="1.57079632679"/>
</Position>
</TeleportAction>
</PrivateAction>
<PrivateAction>
<ControllerAction>
<AssignControllerAction>
<Controller name="HeroAgent">
<Properties>
<Property name="module" value="external_control"/>
</Properties>
</Controller>
</AssignControllerAction>
<OverrideControllerValueAction>
<Throttle value="0" active="false"/>
<Brake value="0" active="false"/>
<Clutch value="0" active="false"/>
<ParkingBrake value="0" active="false"/>
<SteeringWheel value="0" active="false"/>
<Gear number="0" active="false"/>
</OverrideControllerValueAction>
</ControllerAction>
</PrivateAction>
</Private>
<Private entityRef="adversary">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-9.4" y="-71.0" z="0.5" h="1.57079632679"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="standing">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-8.2" y="29.2" z="0.5" h="1.57079632679"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_close_to_standing_17686">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-10.870774269104004" y="27.987638473510742" z="0.003023033030331135"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_w_transform_17687">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="13.512097358703613" y="-15.37880802154541" z="0.5"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_close_to_adversary_17689">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-12.737380981445312" y="-64.9415512084961" z="0.03377769514918327"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_w_transform_17690">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="56.036136627197266" y="-32.298927307128906" z="0.5"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_close_to_adversary_17691">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-14.083255767822266" y="-69.08158874511719" z="0.03377212584018707"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_close_to_standing_17692">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-9.316518783569336" y="29.485191345214844" z="0.003075027372688055"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_w_transform_17693">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-18.132356643676758" y="60.01486587524414" z="0.5"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_close_to_hero_17694">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-12.138871192932129" y="-144.57142639160156" z="0.0014286803780123591"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_close_to_standing_17695">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-16.22544288635254" y="36.33972930908203" z="0.0030906677711755037"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_w_transform_17696">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="27.07962417602539" y="-57.02163314819336" z="0.5"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
</Actions>
</Init>
<Story name="MyStory">
<Act name="Behavior">
<ManeuverGroup maximumExecutionCount="1" name="ManeuverSequence">
<Actors selectTriggeringEntities="false">
<EntityRef entityRef="adversary"/>
</Actors>
<Maneuver name="LaneChangeSimpleManeuver">
<Event name="AdversaryAccelerates" priority="overwrite">
<Action name="AdversaryAccelerates">
<PrivateAction>
<LongitudinalAction>
<SpeedAction>
<SpeedActionDynamics dynamicsShape="step" value="50" dynamicsDimension="distance"/>
<SpeedActionTarget>
<AbsoluteTargetSpeed value="5.0"/>
</SpeedActionTarget>
</SpeedAction>
</LongitudinalAction>
</PrivateAction>
</Action>
<StartTrigger>
<ConditionGroup>
<Condition name="StartCondition" delay="0" conditionEdge="rising">
<ByEntityCondition>
<TriggeringEntities triggeringEntitiesRule="any">
<EntityRef entityRef="hero"/>
</TriggeringEntities>
<EntityCondition>
<RelativeDistanceCondition entityRef="adversary" relativeDistanceType="cartesianDistance" value="40.0" freespace="false" rule="lessThan"/>
</EntityCondition>
</ByEntityCondition>
</Condition>
</ConditionGroup>
</StartTrigger>
</Event>
<Event name="AdversaryChangesLane" priority="overwrite">
<Action name="AdversaryChangesLane">
<PrivateAction>
<LateralAction>
<LaneChangeAction>
<LaneChangeActionDynamics dynamicsShape="linear" value="25" dynamicsDimension="distance"/>
<LaneChangeTarget>
<RelativeTargetLane entityRef="adversary" value="-1"/>
</LaneChangeTarget>
</LaneChangeAction>
</LateralAction>
</PrivateAction>
</Action>
<StartTrigger>
<ConditionGroup>
<Condition name="AfterAdversaryAccelerates" delay="0" conditionEdge="rising">
<ByValueCondition>
<StoryboardElementStateCondition storyboardElementType="action" storyboardElementRef="AdversaryAccelerates" state="completeState"/>
</ByValueCondition>
</Condition>
</ConditionGroup>
</StartTrigger>
</Event>
</Maneuver>
</ManeuverGroup>
<StartTrigger>
<ConditionGroup>
<Condition name="OverallStartCondition" delay="0" conditionEdge="rising">
<ByEntityCondition>
<TriggeringEntities triggeringEntitiesRule="any">
<EntityRef entityRef="hero"/>
</TriggeringEntities>
<EntityCondition>
<TraveledDistanceCondition value="1.0"/>
</EntityCondition>
</ByEntityCondition>
</Condition>
<Condition name="StartTime" delay="0" conditionEdge="rising">
<ByValueCondition>
<SimulationTimeCondition value="0" rule="equalTo"/>
</ByValueCondition>
</Condition>
</ConditionGroup>
</StartTrigger>
<StopTrigger>
<ConditionGroup>
<Condition name="EndCondition" delay="0" conditionEdge="rising">
<ByEntityCondition>
<TriggeringEntities triggeringEntitiesRule="any">
<EntityRef entityRef="hero"/>
</TriggeringEntities>
<EntityCondition>
<TraveledDistanceCondition value="200.0"/>
</EntityCondition>
</ByEntityCondition>
</Condition>
</ConditionGroup>
</StopTrigger>
</Act>
</Story>
<StopTrigger>
<ConditionGroup>
<Condition name="criteria_RunningStopTest" delay="0" conditionEdge="rising">
<ByValueCondition>
<ParameterCondition parameterRef="" value="" rule="lessThan"/>
</ByValueCondition>
</Condition>
<Condition name="criteria_RunningRedLightTest" delay="0" conditionEdge="rising">
<ByValueCondition>
<ParameterCondition parameterRef="" value="" rule="lessThan"/>
</ByValueCondition>
</Condition>
<Condition name="criteria_WrongLaneTest" delay="0" conditionEdge="rising">
<ByValueCondition>
<ParameterCondition parameterRef="" value="" rule="lessThan"/>
</ByValueCondition>
</Condition>
<Condition name="criteria_OnSidewalkTest" delay="0" conditionEdge="rising">
<ByValueCondition>
<ParameterCondition parameterRef="" value="" rule="lessThan"/>
</ByValueCondition>
</Condition>
<Condition name="criteria_KeepLaneTest" delay="0" conditionEdge="rising">
<ByValueCondition>
<ParameterCondition parameterRef="" value="" rule="lessThan"/>
</ByValueCondition>
</Condition>
<Condition name="criteria_CollisionTest" delay="0" conditionEdge="rising">
<ByValueCondition>
<ParameterCondition parameterRef="" value="" rule="lessThan"/>
</ByValueCondition>
</Condition>
<Condition name="criteria_DrivenDistanceTest" delay="0" conditionEdge="rising">
<ByValueCondition>
<ParameterCondition parameterRef="distance_success" value="100" rule="lessThan"/>
</ByValueCondition>
</Condition>
</ConditionGroup>
</StopTrigger>
</Storyboard>
</OpenSCENARIO>
``` |
can you remove pedestrian actor named pedestrian_w_transform_1491?
```
<?xml version="1.0" ?>
<OpenSCENARIO>
<FileHeader revMajor="1" revMinor="0" date="2020-03-24T12:00:00" description="CARLA:LaneChangeSimple" author=""/>
<ParameterDeclarations/>
<CatalogLocations/>
<RoadNetwork>
<LogicFile filepath="Town04"/>
<SceneGraphFile filepath=""/>
</RoadNetwork>
<Entities>
<ScenarioObject name="hero">
<Vehicle name="vehicle.tesla.model3" vehicleCategory="car">
<ParameterDeclarations/>
<Performance maxSpeed="69.444" maxAcceleration="200" maxDeceleration="10.0"/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2.1" length="4.5" height="1.8"/>
</BoundingBox>
<Axles>
<FrontAxle maxSteering="0.5" wheelDiameter="0.6" trackWidth="1.8" positionX="3.1" positionZ="0.3"/>
<RearAxle maxSteering="0.0" wheelDiameter="0.6" trackWidth="1.8" positionX="0.0" positionZ="0.3"/>
</Axles>
<Properties>
<Property name="type" value="ego_vehicle"/>
</Properties>
</Vehicle>
</ScenarioObject>
<ScenarioObject name="adversary">
<Vehicle name="vehicle.lincoln.mkz_2017" vehicleCategory="car">
<ParameterDeclarations/>
<Performance maxSpeed="69.444" maxAcceleration="200" maxDeceleration="10.0"/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2.1" length="4.5" height="1.8"/>
</BoundingBox>
<Axles>
<FrontAxle maxSteering="0.5" wheelDiameter="0.6" trackWidth="1.8" positionX="3.1" positionZ="0.3"/>
<RearAxle maxSteering="0.0" wheelDiameter="0.6" trackWidth="1.8" positionX="0.0" positionZ="0.3"/>
</Axles>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Vehicle>
</ScenarioObject>
<ScenarioObject name="standing">
<Vehicle name="vehicle.volkswagen.t2" vehicleCategory="car">
<ParameterDeclarations/>
<Performance maxSpeed="69.444" maxAcceleration="200" maxDeceleration="10.0"/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2.1" length="4.5" height="1.8"/>
</BoundingBox>
<Axles>
<FrontAxle maxSteering="0.5" wheelDiameter="0.6" trackWidth="1.8" positionX="3.1" positionZ="0.3"/>
<RearAxle maxSteering="0.0" wheelDiameter="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_1472">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_w_transform_1474">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_w_transform_1476">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_w_transform_1477">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_w_transform_1478">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_w_transform_1479">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_w_transform_1481">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_close_to_hero_1483">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_w_transform_1484">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_close_to_standing_1486">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_close_to_hero_1487">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_close_to_standing_1489">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_w_transform_1490">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_w_transform_1491">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_w_transform_1492">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_w_transform_1495">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_w_transform_1497">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_close_to_adversary_1498">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_w_transform_1499">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
</Entities>
<Storyboard>
<Init>
<Actions>
<GlobalAction>
<EnvironmentAction>
<Environment name="Environment1">
<TimeOfDay animation="false" dateTime="2019-06-25T12:00:00"/>
<Weather cloudState="free">
<Sun intensity="0.85" azimuth="0" elevation="1.31"/>
<Fog visualRange="100000.0"/>
<Precipitation precipitationType="dry" intensity="0.0"/>
</Weather>
<RoadCondition frictionScaleFactor="1.0"/>
</Environment>
</EnvironmentAction>
</GlobalAction>
<Private entityRef="hero">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-9.4" y="-152.8" z="0.5" h="1.57079632679"/>
</Position>
</TeleportAction>
</PrivateAction>
<PrivateAction>
<ControllerAction>
<AssignControllerAction>
<Controller name="HeroAgent">
<Properties>
<Property name="module" value="external_control"/>
</Properties>
</Controller>
</AssignControllerAction>
<OverrideControllerValueAction>
<Throttle value="0" active="false"/>
<Brake value="0" active="false"/>
<Clutch value="0" active="false"/>
<ParkingBrake value="0" active="false"/>
<SteeringWheel value="0" active="false"/>
<Gear number="0" active="false"/>
</OverrideControllerValueAction>
</ControllerAction>
</PrivateAction>
</Private>
<Private entityRef="adversary">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-9.4" y="-71.0" z="0.5" h="1.57079632679"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="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_1472">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="15.24699592590332" y="0.8387609124183655" z="0.5"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_w_transform_1474">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="2.772753953933716" y="-20.84014320373535" z="0.5"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_w_transform_1476">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="70.27064514160156" y="40.62284469604492" z="0.5"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_w_transform_1477">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-90.71257019042969" y="87.23130798339844" z="0.5"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_w_transform_1478">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="98.86112213134766" y="72.62350463867188" z="0.5"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_w_transform_1479">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="40.29869842529297" y="-8.51453971862793" z="0.5"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_w_transform_1481">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="34.925743103027344" y="73.41621398925781" z="0.5"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_close_to_hero_1483">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-12.0062255859375" y="-137.145263671875" z="0.0014286803780123591"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_w_transform_1484">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-7.081482887268066" y="-98.87687683105469" z="0.5"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_close_to_standing_1486">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-8.221480369567871" y="27.228744506835938" z="0.0030525587499141693"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_close_to_hero_1487">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-11.554339408874512" y="-147.7564697265625" z="0.0014286803780123591"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_close_to_standing_1489">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-14.921806335449219" y="36.94174575805664" z="0.003072547959163785"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_w_transform_1490">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-60.34222412109375" y="-39.35099792480469" z="0.5"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_w_transform_1491">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-56.25004196166992" y="-71.54399108886719" z="0.5"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_w_transform_1492">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="62.58159637451172" y="51.15087127685547" z="0.5"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_w_transform_1495">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-80.65232849121094" y="85.27688598632812" z="0.5"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_w_transform_1497">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="16.095643997192383" y="15.59289836883545" z="0.5"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_close_to_adversary_1498">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-16.77899169921875" y="-79.85973358154297" z="0.03377422317862511"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_w_transform_1499">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="8.845125198364258" y="-44.832759857177734" z="0.5"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
</Actions>
</Init>
<Story name="MyStory">
<Act name="Behavior">
<ManeuverGroup maximumExecutionCount="1" name="ManeuverSequence">
<Actors selectTriggeringEntities="false">
<EntityRef entityRef="adversary"/>
</Actors>
<Maneuver name="LaneChangeSimpleManeuver">
<Event name="AdversaryAccelerates" priority="overwrite">
<Action name="AdversaryAccelerates">
<PrivateAction>
<LongitudinalAction>
<SpeedAction>
<SpeedActionDynamics dynamicsShape="step" value="50" dynamicsDimension="distance"/>
<SpeedActionTarget>
<AbsoluteTargetSpeed value="5.0"/>
</SpeedActionTarget>
</SpeedAction>
</LongitudinalAction>
</PrivateAction>
</Action>
<StartTrigger>
<ConditionGroup>
<Condition name="StartCondition" delay="0" conditionEdge="rising">
<ByEntityCondition>
<TriggeringEntities triggeringEntitiesRule="any">
<EntityRef entityRef="hero"/>
</TriggeringEntities>
<EntityCondition>
<RelativeDistanceCondition entityRef="adversary" relativeDistanceType="cartesianDistance" value="40.0" freespace="false" rule="lessThan"/>
</EntityCondition>
</ByEntityCondition>
</Condition>
</ConditionGroup>
</StartTrigger>
</Event>
<Event name="AdversaryChangesLane" priority="overwrite">
<Action name="AdversaryChangesLane">
<PrivateAction>
<LateralAction>
<LaneChangeAction>
<LaneChangeActionDynamics dynamicsShape="linear" value="25" dynamicsDimension="distance"/>
<LaneChangeTarget>
<RelativeTargetLane entityRef="adversary" value="-1"/>
</LaneChangeTarget>
</LaneChangeAction>
</LateralAction>
</PrivateAction>
</Action>
<StartTrigger>
<ConditionGroup>
<Condition name="AfterAdversaryAccelerates" delay="0" conditionEdge="rising">
<ByValueCondition>
<StoryboardElementStateCondition storyboardElementType="action" storyboardElementRef="AdversaryAccelerates" state="completeState"/>
</ByValueCondition>
</Condition>
</ConditionGroup>
</StartTrigger>
</Event>
</Maneuver>
</ManeuverGroup>
<StartTrigger>
<ConditionGroup>
<Condition name="OverallStartCondition" delay="0" conditionEdge="rising">
<ByEntityCondition>
<TriggeringEntities triggeringEntitiesRule="any">
<EntityRef entityRef="hero"/>
</TriggeringEntities>
<EntityCondition>
<TraveledDistanceCondition value="1.0"/>
</EntityCondition>
</ByEntityCondition>
</Condition>
<Condition name="StartTime" delay="0" conditionEdge="rising">
<ByValueCondition>
<SimulationTimeCondition value="0" rule="equalTo"/>
</ByValueCondition>
</Condition>
</ConditionGroup>
</StartTrigger>
<StopTrigger>
<ConditionGroup>
<Condition name="EndCondition" delay="0" conditionEdge="rising">
<ByEntityCondition>
<TriggeringEntities triggeringEntitiesRule="any">
<EntityRef entityRef="hero"/>
</TriggeringEntities>
<EntityCondition>
<TraveledDistanceCondition value="200.0"/>
</EntityCondition>
</ByEntityCondition>
</Condition>
</ConditionGroup>
</StopTrigger>
</Act>
</Story>
<StopTrigger>
<ConditionGroup>
<Condition name="criteria_RunningStopTest" delay="0" conditionEdge="rising">
<ByValueCondition>
<ParameterCondition parameterRef="" value="" rule="lessThan"/>
</ByValueCondition>
</Condition>
<Condition name="criteria_RunningRedLightTest" delay="0" conditionEdge="rising">
<ByValueCondition>
<ParameterCondition parameterRef="" value="" rule="lessThan"/>
</ByValueCondition>
</Condition>
<Condition name="criteria_WrongLaneTest" delay="0" conditionEdge="rising">
<ByValueCondition>
<ParameterCondition parameterRef="" value="" rule="lessThan"/>
</ByValueCondition>
</Condition>
<Condition name="criteria_OnSidewalkTest" delay="0" conditionEdge="rising">
<ByValueCondition>
<ParameterCondition parameterRef="" value="" rule="lessThan"/>
</ByValueCondition>
</Condition>
<Condition name="criteria_KeepLaneTest" delay="0" conditionEdge="rising">
<ByValueCondition>
<ParameterCondition parameterRef="" value="" rule="lessThan"/>
</ByValueCondition>
</Condition>
<Condition name="criteria_CollisionTest" delay="0" conditionEdge="rising">
<ByValueCondition>
<ParameterCondition parameterRef="" value="" rule="lessThan"/>
</ByValueCondition>
</Condition>
<Condition name="criteria_DrivenDistanceTest" delay="0" conditionEdge="rising">
<ByValueCondition>
<ParameterCondition parameterRef="distance_success" value="100" rule="lessThan"/>
</ByValueCondition>
</Condition>
</ConditionGroup>
</StopTrigger>
</Storyboard>
</OpenSCENARIO>
``` | Here is the result:
```
<?xml version="1.0" ?>
<OpenSCENARIO>
<FileHeader revMajor="1" revMinor="0" date="2020-03-24T12:00:00" description="CARLA:LaneChangeSimple" author=""/>
<ParameterDeclarations/>
<CatalogLocations/>
<RoadNetwork>
<LogicFile filepath="Town04"/>
<SceneGraphFile filepath=""/>
</RoadNetwork>
<Entities>
<ScenarioObject name="hero">
<Vehicle name="vehicle.tesla.model3" vehicleCategory="car">
<ParameterDeclarations/>
<Performance maxSpeed="69.444" maxAcceleration="200" maxDeceleration="10.0"/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2.1" length="4.5" height="1.8"/>
</BoundingBox>
<Axles>
<FrontAxle maxSteering="0.5" wheelDiameter="0.6" trackWidth="1.8" positionX="3.1" positionZ="0.3"/>
<RearAxle maxSteering="0.0" wheelDiameter="0.6" trackWidth="1.8" positionX="0.0" positionZ="0.3"/>
</Axles>
<Properties>
<Property name="type" value="ego_vehicle"/>
</Properties>
</Vehicle>
</ScenarioObject>
<ScenarioObject name="adversary">
<Vehicle name="vehicle.lincoln.mkz_2017" vehicleCategory="car">
<ParameterDeclarations/>
<Performance maxSpeed="69.444" maxAcceleration="200" maxDeceleration="10.0"/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2.1" length="4.5" height="1.8"/>
</BoundingBox>
<Axles>
<FrontAxle maxSteering="0.5" wheelDiameter="0.6" trackWidth="1.8" positionX="3.1" positionZ="0.3"/>
<RearAxle maxSteering="0.0" wheelDiameter="0.6" trackWidth="1.8" positionX="0.0" positionZ="0.3"/>
</Axles>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Vehicle>
</ScenarioObject>
<ScenarioObject name="standing">
<Vehicle name="vehicle.volkswagen.t2" vehicleCategory="car">
<ParameterDeclarations/>
<Performance maxSpeed="69.444" maxAcceleration="200" maxDeceleration="10.0"/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2.1" length="4.5" height="1.8"/>
</BoundingBox>
<Axles>
<FrontAxle maxSteering="0.5" wheelDiameter="0.6" trackWidth="1.8" positionX="3.1" positionZ="0.3"/>
<RearAxle maxSteering="0.0" wheelDiameter="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_1472">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_w_transform_1474">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_w_transform_1476">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_w_transform_1477">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_w_transform_1478">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_w_transform_1479">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_w_transform_1481">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_close_to_hero_1483">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_w_transform_1484">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_close_to_standing_1486">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_close_to_hero_1487">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_close_to_standing_1489">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_w_transform_1490">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_w_transform_1492">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_w_transform_1495">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_w_transform_1497">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_close_to_adversary_1498">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_w_transform_1499">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
</Entities>
<Storyboard>
<Init>
<Actions>
<GlobalAction>
<EnvironmentAction>
<Environment name="Environment1">
<TimeOfDay animation="false" dateTime="2019-06-25T12:00:00"/>
<Weather cloudState="free">
<Sun intensity="0.85" azimuth="0" elevation="1.31"/>
<Fog visualRange="100000.0"/>
<Precipitation precipitationType="dry" intensity="0.0"/>
</Weather>
<RoadCondition frictionScaleFactor="1.0"/>
</Environment>
</EnvironmentAction>
</GlobalAction>
<Private entityRef="hero">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-9.4" y="-152.8" z="0.5" h="1.57079632679"/>
</Position>
</TeleportAction>
</PrivateAction>
<PrivateAction>
<ControllerAction>
<AssignControllerAction>
<Controller name="HeroAgent">
<Properties>
<Property name="module" value="external_control"/>
</Properties>
</Controller>
</AssignControllerAction>
<OverrideControllerValueAction>
<Throttle value="0" active="false"/>
<Brake value="0" active="false"/>
<Clutch value="0" active="false"/>
<ParkingBrake value="0" active="false"/>
<SteeringWheel value="0" active="false"/>
<Gear number="0" active="false"/>
</OverrideControllerValueAction>
</ControllerAction>
</PrivateAction>
</Private>
<Private entityRef="adversary">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-9.4" y="-71.0" z="0.5" h="1.57079632679"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="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_1472">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="15.24699592590332" y="0.8387609124183655" z="0.5"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_w_transform_1474">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="2.772753953933716" y="-20.84014320373535" z="0.5"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_w_transform_1476">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="70.27064514160156" y="40.62284469604492" z="0.5"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_w_transform_1477">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-90.71257019042969" y="87.23130798339844" z="0.5"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_w_transform_1478">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="98.86112213134766" y="72.62350463867188" z="0.5"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_w_transform_1479">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="40.29869842529297" y="-8.51453971862793" z="0.5"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_w_transform_1481">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="34.925743103027344" y="73.41621398925781" z="0.5"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_close_to_hero_1483">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-12.0062255859375" y="-137.145263671875" z="0.0014286803780123591"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_w_transform_1484">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-7.081482887268066" y="-98.87687683105469" z="0.5"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_close_to_standing_1486">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-8.221480369567871" y="27.228744506835938" z="0.0030525587499141693"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_close_to_hero_1487">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-11.554339408874512" y="-147.7564697265625" z="0.0014286803780123591"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_close_to_standing_1489">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-14.921806335449219" y="36.94174575805664" z="0.003072547959163785"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_w_transform_1490">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-60.34222412109375" y="-39.35099792480469" z="0.5"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_w_transform_1492">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="62.58159637451172" y="51.15087127685547" z="0.5"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_w_transform_1495">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-80.65232849121094" y="85.27688598632812" z="0.5"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_w_transform_1497">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="16.095643997192383" y="15.59289836883545" z="0.5"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_close_to_adversary_1498">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-16.77899169921875" y="-79.85973358154297" z="0.03377422317862511"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_w_transform_1499">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="8.845125198364258" y="-44.832759857177734" z="0.5"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
</Actions>
</Init>
<Story name="MyStory">
<Act name="Behavior">
<ManeuverGroup maximumExecutionCount="1" name="ManeuverSequence">
<Actors selectTriggeringEntities="false">
<EntityRef entityRef="adversary"/>
</Actors>
<Maneuver name="LaneChangeSimpleManeuver">
<Event name="AdversaryAccelerates" priority="overwrite">
<Action name="AdversaryAccelerates">
<PrivateAction>
<LongitudinalAction>
<SpeedAction>
<SpeedActionDynamics dynamicsShape="step" value="50" dynamicsDimension="distance"/>
<SpeedActionTarget>
<AbsoluteTargetSpeed value="5.0"/>
</SpeedActionTarget>
</SpeedAction>
</LongitudinalAction>
</PrivateAction>
</Action>
<StartTrigger>
<ConditionGroup>
<Condition name="StartCondition" delay="0" conditionEdge="rising">
<ByEntityCondition>
<TriggeringEntities triggeringEntitiesRule="any">
<EntityRef entityRef="hero"/>
</TriggeringEntities>
<EntityCondition>
<RelativeDistanceCondition entityRef="adversary" relativeDistanceType="cartesianDistance" value="40.0" freespace="false" rule="lessThan"/>
</EntityCondition>
</ByEntityCondition>
</Condition>
</ConditionGroup>
</StartTrigger>
</Event>
<Event name="AdversaryChangesLane" priority="overwrite">
<Action name="AdversaryChangesLane">
<PrivateAction>
<LateralAction>
<LaneChangeAction>
<LaneChangeActionDynamics dynamicsShape="linear" value="25" dynamicsDimension="distance"/>
<LaneChangeTarget>
<RelativeTargetLane entityRef="adversary" value="-1"/>
</LaneChangeTarget>
</LaneChangeAction>
</LateralAction>
</PrivateAction>
</Action>
<StartTrigger>
<ConditionGroup>
<Condition name="AfterAdversaryAccelerates" delay="0" conditionEdge="rising">
<ByValueCondition>
<StoryboardElementStateCondition storyboardElementType="action" storyboardElementRef="AdversaryAccelerates" state="completeState"/>
</ByValueCondition>
</Condition>
</ConditionGroup>
</StartTrigger>
</Event>
</Maneuver>
</ManeuverGroup>
<StartTrigger>
<ConditionGroup>
<Condition name="OverallStartCondition" delay="0" conditionEdge="rising">
<ByEntityCondition>
<TriggeringEntities triggeringEntitiesRule="any">
<EntityRef entityRef="hero"/>
</TriggeringEntities>
<EntityCondition>
<TraveledDistanceCondition value="1.0"/>
</EntityCondition>
</ByEntityCondition>
</Condition>
<Condition name="StartTime" delay="0" conditionEdge="rising">
<ByValueCondition>
<SimulationTimeCondition value="0" rule="equalTo"/>
</ByValueCondition>
</Condition>
</ConditionGroup>
</StartTrigger>
<StopTrigger>
<ConditionGroup>
<Condition name="EndCondition" delay="0" conditionEdge="rising">
<ByEntityCondition>
<TriggeringEntities triggeringEntitiesRule="any">
<EntityRef entityRef="hero"/>
</TriggeringEntities>
<EntityCondition>
<TraveledDistanceCondition value="200.0"/>
</EntityCondition>
</ByEntityCondition>
</Condition>
</ConditionGroup>
</StopTrigger>
</Act>
</Story>
<StopTrigger>
<ConditionGroup>
<Condition name="criteria_RunningStopTest" delay="0" conditionEdge="rising">
<ByValueCondition>
<ParameterCondition parameterRef="" value="" rule="lessThan"/>
</ByValueCondition>
</Condition>
<Condition name="criteria_RunningRedLightTest" delay="0" conditionEdge="rising">
<ByValueCondition>
<ParameterCondition parameterRef="" value="" rule="lessThan"/>
</ByValueCondition>
</Condition>
<Condition name="criteria_WrongLaneTest" delay="0" conditionEdge="rising">
<ByValueCondition>
<ParameterCondition parameterRef="" value="" rule="lessThan"/>
</ByValueCondition>
</Condition>
<Condition name="criteria_OnSidewalkTest" delay="0" conditionEdge="rising">
<ByValueCondition>
<ParameterCondition parameterRef="" value="" rule="lessThan"/>
</ByValueCondition>
</Condition>
<Condition name="criteria_KeepLaneTest" delay="0" conditionEdge="rising">
<ByValueCondition>
<ParameterCondition parameterRef="" value="" rule="lessThan"/>
</ByValueCondition>
</Condition>
<Condition name="criteria_CollisionTest" delay="0" conditionEdge="rising">
<ByValueCondition>
<ParameterCondition parameterRef="" value="" rule="lessThan"/>
</ByValueCondition>
</Condition>
<Condition name="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_9331">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_close_to_standing_9332">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_w_transform_9333">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_close_to_hero_9334">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_close_to_hero_9335">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_w_transform_9336">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
</Entities>
<Storyboard>
<Init>
<Actions>
<GlobalAction>
<EnvironmentAction>
<Environment name="Environment1">
<TimeOfDay animation="false" dateTime="2019-06-25T12:00:00"/>
<Weather cloudState="free">
<Sun intensity="0.85" azimuth="0" elevation="1.31"/>
<Fog visualRange="100000.0"/>
<Precipitation precipitationType="dry" intensity="0.0"/>
</Weather>
<RoadCondition frictionScaleFactor="1.0"/>
</Environment>
</EnvironmentAction>
</GlobalAction>
<Private entityRef="hero">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-9.4" y="-152.8" z="0.5" h="1.57079632679"/>
</Position>
</TeleportAction>
</PrivateAction>
<PrivateAction>
<ControllerAction>
<AssignControllerAction>
<Controller name="HeroAgent">
<Properties>
<Property name="module" value="external_control"/>
</Properties>
</Controller>
</AssignControllerAction>
<OverrideControllerValueAction>
<Throttle value="0" active="false"/>
<Brake value="0" active="false"/>
<Clutch value="0" active="false"/>
<ParkingBrake value="0" active="false"/>
<SteeringWheel value="0" active="false"/>
<Gear number="0" active="false"/>
</OverrideControllerValueAction>
</ControllerAction>
</PrivateAction>
</Private>
<Private entityRef="adversary">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-9.4" y="-71.0" z="0.5" h="1.57079632679"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="standing">
<PrivateAction>
<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_9331">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-14.275882720947266" y="-158.51246643066406" z="0.0014286803780123591"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_close_to_standing_9332">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="2.977264165878296" y="29.287517547607422" z="0.0030467223841696978"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_w_transform_9333">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-96.5206527709961" y="-58.3486213684082" z="0.5"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_close_to_hero_9334">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-5.098386764526367" y="-150.7816619873047" z="0.0014286803780123591"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_close_to_hero_9335">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-2.2797300815582275" y="-161.00343322753906" z="0.0014286803780123591"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_w_transform_9336">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-51.9215202331543" y="7.20574426651001" z="0.5"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
</Actions>
</Init>
<Story name="MyStory">
<Act name="Behavior">
<ManeuverGroup maximumExecutionCount="1" name="ManeuverSequence">
<Actors selectTriggeringEntities="false">
<EntityRef entityRef="adversary"/>
</Actors>
<Maneuver name="LaneChangeSimpleManeuver">
<Event name="AdversaryAccelerates" priority="overwrite">
<Action name="AdversaryAccelerates">
<PrivateAction>
<LongitudinalAction>
<SpeedAction>
<SpeedActionDynamics dynamicsShape="step" value="50" dynamicsDimension="distance"/>
<SpeedActionTarget>
<AbsoluteTargetSpeed value="5.0"/>
</SpeedActionTarget>
</SpeedAction>
</LongitudinalAction>
</PrivateAction>
</Action>
<StartTrigger>
<ConditionGroup>
<Condition name="StartCondition" delay="0" conditionEdge="rising">
<ByEntityCondition>
<TriggeringEntities triggeringEntitiesRule="any">
<EntityRef entityRef="hero"/>
</TriggeringEntities>
<EntityCondition>
<RelativeDistanceCondition entityRef="adversary" relativeDistanceType="cartesianDistance" value="40.0" freespace="false" rule="lessThan"/>
</EntityCondition>
</ByEntityCondition>
</Condition>
</ConditionGroup>
</StartTrigger>
</Event>
<Event name="AdversaryChangesLane" priority="overwrite">
<Action name="AdversaryChangesLane">
<PrivateAction>
<LateralAction>
<LaneChangeAction>
<LaneChangeActionDynamics dynamicsShape="linear" value="25" dynamicsDimension="distance"/>
<LaneChangeTarget>
<RelativeTargetLane entityRef="adversary" value="-1"/>
</LaneChangeTarget>
</LaneChangeAction>
</LateralAction>
</PrivateAction>
</Action>
<StartTrigger>
<ConditionGroup>
<Condition name="AfterAdversaryAccelerates" delay="0" conditionEdge="rising">
<ByValueCondition>
<StoryboardElementStateCondition storyboardElementType="action" storyboardElementRef="AdversaryAccelerates" state="completeState"/>
</ByValueCondition>
</Condition>
</ConditionGroup>
</StartTrigger>
</Event>
</Maneuver>
</ManeuverGroup>
<StartTrigger>
<ConditionGroup>
<Condition name="OverallStartCondition" delay="0" conditionEdge="rising">
<ByEntityCondition>
<TriggeringEntities triggeringEntitiesRule="any">
<EntityRef entityRef="hero"/>
</TriggeringEntities>
<EntityCondition>
<TraveledDistanceCondition value="1.0"/>
</EntityCondition>
</ByEntityCondition>
</Condition>
<Condition name="StartTime" delay="0" conditionEdge="rising">
<ByValueCondition>
<SimulationTimeCondition value="0" rule="equalTo"/>
</ByValueCondition>
</Condition>
</ConditionGroup>
</StartTrigger>
<StopTrigger>
<ConditionGroup>
<Condition name="EndCondition" delay="0" conditionEdge="rising">
<ByEntityCondition>
<TriggeringEntities triggeringEntitiesRule="any">
<EntityRef entityRef="hero"/>
</TriggeringEntities>
<EntityCondition>
<TraveledDistanceCondition value="200.0"/>
</EntityCondition>
</ByEntityCondition>
</Condition>
</ConditionGroup>
</StopTrigger>
</Act>
</Story>
<StopTrigger>
<ConditionGroup>
<Condition name="criteria_RunningStopTest" delay="0" conditionEdge="rising">
<ByValueCondition>
<ParameterCondition parameterRef="" value="" rule="lessThan"/>
</ByValueCondition>
</Condition>
<Condition name="criteria_RunningRedLightTest" delay="0" conditionEdge="rising">
<ByValueCondition>
<ParameterCondition parameterRef="" value="" rule="lessThan"/>
</ByValueCondition>
</Condition>
<Condition name="criteria_WrongLaneTest" delay="0" conditionEdge="rising">
<ByValueCondition>
<ParameterCondition parameterRef="" value="" rule="lessThan"/>
</ByValueCondition>
</Condition>
<Condition name="criteria_OnSidewalkTest" delay="0" conditionEdge="rising">
<ByValueCondition>
<ParameterCondition parameterRef="" value="" rule="lessThan"/>
</ByValueCondition>
</Condition>
<Condition name="criteria_KeepLaneTest" delay="0" conditionEdge="rising">
<ByValueCondition>
<ParameterCondition parameterRef="" value="" rule="lessThan"/>
</ByValueCondition>
</Condition>
<Condition name="criteria_CollisionTest" delay="0" conditionEdge="rising">
<ByValueCondition>
<ParameterCondition parameterRef="" value="" rule="lessThan"/>
</ByValueCondition>
</Condition>
<Condition name="criteria_DrivenDistanceTest" delay="0" conditionEdge="rising">
<ByValueCondition>
<ParameterCondition parameterRef="distance_success" value="100" rule="lessThan"/>
</ByValueCondition>
</Condition>
</ConditionGroup>
</StopTrigger>
</Storyboard>
</OpenSCENARIO>
``` | Here is the result:
```
<?xml version="1.0" ?>
<OpenSCENARIO>
<FileHeader revMajor="1" revMinor="0" date="2020-03-24T12:00:00" description="CARLA:LaneChangeSimple" author=""/>
<ParameterDeclarations/>
<CatalogLocations/>
<RoadNetwork>
<LogicFile filepath="Town04"/>
<SceneGraphFile filepath=""/>
</RoadNetwork>
<Entities>
<ScenarioObject name="hero">
<Vehicle name="vehicle.tesla.model3" vehicleCategory="car">
<ParameterDeclarations/>
<Performance maxSpeed="69.444" maxAcceleration="200" maxDeceleration="10.0"/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2.1" length="4.5" height="1.8"/>
</BoundingBox>
<Axles>
<FrontAxle maxSteering="0.5" wheelDiameter="0.6" trackWidth="1.8" positionX="3.1" positionZ="0.3"/>
<RearAxle maxSteering="0.0" wheelDiameter="0.6" trackWidth="1.8" positionX="0.0" positionZ="0.3"/>
</Axles>
<Properties>
<Property name="type" value="ego_vehicle"/>
</Properties>
</Vehicle>
</ScenarioObject>
<ScenarioObject name="adversary">
<Vehicle name="vehicle.lincoln.mkz_2017" vehicleCategory="car">
<ParameterDeclarations/>
<Performance maxSpeed="69.444" maxAcceleration="200" maxDeceleration="10.0"/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2.1" length="4.5" height="1.8"/>
</BoundingBox>
<Axles>
<FrontAxle maxSteering="0.5" wheelDiameter="0.6" trackWidth="1.8" positionX="3.1" positionZ="0.3"/>
<RearAxle maxSteering="0.0" wheelDiameter="0.6" trackWidth="1.8" positionX="0.0" positionZ="0.3"/>
</Axles>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Vehicle>
</ScenarioObject>
<ScenarioObject name="standing">
<Vehicle name="vehicle.volkswagen.t2" vehicleCategory="car">
<ParameterDeclarations/>
<Performance maxSpeed="69.444" maxAcceleration="200" maxDeceleration="10.0"/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2.1" length="4.5" height="1.8"/>
</BoundingBox>
<Axles>
<FrontAxle maxSteering="0.5" wheelDiameter="0.6" trackWidth="1.8" positionX="3.1" positionZ="0.3"/>
<RearAxle maxSteering="0.0" wheelDiameter="0.6" 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_9331">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_close_to_standing_9332">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_w_transform_9333">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_close_to_hero_9334">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_close_to_hero_9335">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_w_transform_9336">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_close_to_hero_9337">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
</Entities>
<Storyboard>
<Init>
<Actions>
<GlobalAction>
<EnvironmentAction>
<Environment name="Environment1">
<TimeOfDay animation="false" dateTime="2019-06-25T12:00:00"/>
<Weather cloudState="free">
<Sun intensity="0.85" azimuth="0" elevation="1.31"/>
<Fog visualRange="100000.0"/>
<Precipitation precipitationType="dry" intensity="0.0"/>
</Weather>
<RoadCondition frictionScaleFactor="1.0"/>
</Environment>
</EnvironmentAction>
</GlobalAction>
<Private entityRef="hero">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-9.4" y="-152.8" z="0.5" h="1.57079632679"/>
</Position>
</TeleportAction>
</PrivateAction>
<PrivateAction>
<ControllerAction>
<AssignControllerAction>
<Controller name="HeroAgent">
<Properties>
<Property name="module" value="external_control"/>
</Properties>
</Controller>
</AssignControllerAction>
<OverrideControllerValueAction>
<Throttle value="0" active="false"/>
<Brake value="0" active="false"/>
<Clutch value="0" active="false"/>
<ParkingBrake value="0" active="false"/>
<SteeringWheel value="0" active="false"/>
<Gear number="0" active="false"/>
</OverrideControllerValueAction>
</ControllerAction>
</PrivateAction>
</Private>
<Private entityRef="adversary">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-9.4" y="-71.0" z="0.5" h="1.57079632679"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="standing">
<PrivateAction>
<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_9331">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-14.275882720947266" y="-158.51246643066406" z="0.0014286803780123591"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_close_to_standing_9332">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="2.977264165878296" y="29.287517547607422" z="0.0030467223841696978"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_w_transform_9333">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-96.5206527709961" y="-58.3486213684082" z="0.5"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_close_to_hero_9334">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-5.098386764526367" y="-150.7816619873047" z="0.0014286803780123591"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_close_to_hero_9335">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-2.2797300815582275" y="-161.00343322753906" z="0.0014286803780123591"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_w_transform_9336">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-51.9215202331543" y="7.20574426651001" z="0.5"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_close_to_hero_9337">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-4.76759147644043" y="-143.66677856445312" z="0.0014286803780123591"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
</Actions>
</Init>
<Story name="MyStory">
<Act name="Behavior">
<ManeuverGroup maximumExecutionCount="1" name="ManeuverSequence">
<Actors selectTriggeringEntities="false">
<EntityRef entityRef="adversary"/>
</Actors>
<Maneuver name="LaneChangeSimpleManeuver">
<Event name="AdversaryAccelerates" priority="overwrite">
<Action name="AdversaryAccelerates">
<PrivateAction>
<LongitudinalAction>
<SpeedAction>
<SpeedActionDynamics dynamicsShape="step" value="50" dynamicsDimension="distance"/>
<SpeedActionTarget>
<AbsoluteTargetSpeed value="5.0"/>
</SpeedActionTarget>
</SpeedAction>
</LongitudinalAction>
</PrivateAction>
</Action>
<StartTrigger>
<ConditionGroup>
<Condition name="StartCondition" delay="0" conditionEdge="rising">
<ByEntityCondition>
<TriggeringEntities triggeringEntitiesRule="any">
<EntityRef entityRef="hero"/>
</TriggeringEntities>
<EntityCondition>
<RelativeDistanceCondition entityRef="adversary" relativeDistanceType="cartesianDistance" value="40.0" freespace="false" rule="lessThan"/>
</EntityCondition>
</ByEntityCondition>
</Condition>
</ConditionGroup>
</StartTrigger>
</Event>
<Event name="AdversaryChangesLane" priority="overwrite">
<Action name="AdversaryChangesLane">
<PrivateAction>
<LateralAction>
<LaneChangeAction>
<LaneChangeActionDynamics dynamicsShape="linear" value="25" dynamicsDimension="distance"/>
<LaneChangeTarget>
<RelativeTargetLane entityRef="adversary" value="-1"/>
</LaneChangeTarget>
</LaneChangeAction>
</LateralAction>
</PrivateAction>
</Action>
<StartTrigger>
<ConditionGroup>
<Condition name="AfterAdversaryAccelerates" delay="0" conditionEdge="rising">
<ByValueCondition>
<StoryboardElementStateCondition storyboardElementType="action" storyboardElementRef="AdversaryAccelerates" state="completeState"/>
</ByValueCondition>
</Condition>
</ConditionGroup>
</StartTrigger>
</Event>
</Maneuver>
</ManeuverGroup>
<StartTrigger>
<ConditionGroup>
<Condition name="OverallStartCondition" delay="0" conditionEdge="rising">
<ByEntityCondition>
<TriggeringEntities triggeringEntitiesRule="any">
<EntityRef entityRef="hero"/>
</TriggeringEntities>
<EntityCondition>
<TraveledDistanceCondition value="1.0"/>
</EntityCondition>
</ByEntityCondition>
</Condition>
<Condition name="StartTime" delay="0" conditionEdge="rising">
<ByValueCondition>
<SimulationTimeCondition value="0" rule="equalTo"/>
</ByValueCondition>
</Condition>
</ConditionGroup>
</StartTrigger>
<StopTrigger>
<ConditionGroup>
<Condition name="EndCondition" delay="0" conditionEdge="rising">
<ByEntityCondition>
<TriggeringEntities triggeringEntitiesRule="any">
<EntityRef entityRef="hero"/>
</TriggeringEntities>
<EntityCondition>
<TraveledDistanceCondition value="200.0"/>
</EntityCondition>
</ByEntityCondition>
</Condition>
</ConditionGroup>
</StopTrigger>
</Act>
</Story>
<StopTrigger>
<ConditionGroup>
<Condition name="criteria_RunningStopTest" delay="0" conditionEdge="rising">
<ByValueCondition>
<ParameterCondition parameterRef="" value="" rule="lessThan"/>
</ByValueCondition>
</Condition>
<Condition name="criteria_RunningRedLightTest" delay="0" conditionEdge="rising">
<ByValueCondition>
<ParameterCondition parameterRef="" value="" rule="lessThan"/>
</ByValueCondition>
</Condition>
<Condition name="criteria_WrongLaneTest" delay="0" conditionEdge="rising">
<ByValueCondition>
<ParameterCondition parameterRef="" value="" rule="lessThan"/>
</ByValueCondition>
</Condition>
<Condition name="criteria_OnSidewalkTest" delay="0" conditionEdge="rising">
<ByValueCondition>
<ParameterCondition parameterRef="" value="" rule="lessThan"/>
</ByValueCondition>
</Condition>
<Condition name="criteria_KeepLaneTest" delay="0" conditionEdge="rising">
<ByValueCondition>
<ParameterCondition parameterRef="" value="" rule="lessThan"/>
</ByValueCondition>
</Condition>
<Condition name="criteria_CollisionTest" delay="0" conditionEdge="rising">
<ByValueCondition>
<ParameterCondition parameterRef="" value="" rule="lessThan"/>
</ByValueCondition>
</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_adversary_12020">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_close_to_hero_12021">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_close_to_adversary_12022">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_w_transform_12023">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_close_to_standing_12024">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_close_to_standing_12025">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_w_transform_12026">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_close_to_standing_12027">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_close_to_standing_12028">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_w_transform_12029">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_close_to_adversary_12030">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_close_to_adversary_12031">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_w_transform_12032">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_w_transform_12033">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_close_to_adversary_12034">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_close_to_standing_12035">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_w_transform_12036">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_close_to_hero_12037">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_close_to_adversary_12038">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_close_to_hero_12039">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_w_transform_12040">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
</Entities>
<Storyboard>
<Init>
<Actions>
<GlobalAction>
<EnvironmentAction>
<Environment name="Environment1">
<TimeOfDay animation="false" dateTime="2019-06-25T12:00:00"/>
<Weather cloudState="free">
<Sun intensity="0.85" azimuth="0" elevation="1.31"/>
<Fog visualRange="100000.0"/>
<Precipitation precipitationType="dry" intensity="0.0"/>
</Weather>
<RoadCondition frictionScaleFactor="1.0"/>
</Environment>
</EnvironmentAction>
</GlobalAction>
<Private entityRef="hero">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-9.4" y="-152.8" z="0.5" h="1.57079632679"/>
</Position>
</TeleportAction>
</PrivateAction>
<PrivateAction>
<ControllerAction>
<AssignControllerAction>
<Controller name="HeroAgent">
<Properties>
<Property name="module" value="external_control"/>
</Properties>
</Controller>
</AssignControllerAction>
<OverrideControllerValueAction>
<Throttle value="0" active="false"/>
<Brake value="0" active="false"/>
<Clutch value="0" active="false"/>
<ParkingBrake value="0" active="false"/>
<SteeringWheel value="0" active="false"/>
<Gear number="0" active="false"/>
</OverrideControllerValueAction>
</ControllerAction>
</PrivateAction>
</Private>
<Private entityRef="adversary">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-9.4" y="-71.0" z="0.5" h="1.57079632679"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="standing">
<PrivateAction>
<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_12020">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-3.339634656906128" y="-80.91329956054688" z="0.033788297325372696"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_close_to_hero_12021">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-15.788302421569824" y="-160.36859130859375" z="0.0014286803780123591"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_close_to_adversary_12022">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-16.28377914428711" y="-76.87030029296875" z="0.033827781677246094"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_w_transform_12023">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="37.54560470581055" y="76.84497833251953" z="0.5"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_close_to_standing_12024">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-12.229832649230957" y="24.156461715698242" z="0.0030936812981963158"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_close_to_standing_12025">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="4.974427700042725" y="32.60857009887695" z="0.0030500793363898993"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_w_transform_12026">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-45.358821868896484" y="-0.6510533094406128" z="0.5"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_close_to_standing_12027">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-2.0605833530426025" y="28.60321807861328" z="0.0029905319679528475"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_close_to_standing_12028">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-6.522221088409424" y="23.201290130615234" z="0.002997512696310878"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_w_transform_12029">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-97.72931671142578" y="-35.20793533325195" z="0.5"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_close_to_adversary_12030">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-7.572514057159424" y="-69.76631927490234" z="0.03377620503306389"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_close_to_adversary_12031">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-2.8968746662139893" y="-76.69332122802734" z="0.03379157930612564"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_w_transform_12032">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-65.66956329345703" y="-79.61555480957031" z="0.5"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_w_transform_12033">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-30.62114143371582" y="89.83930206298828" z="0.5"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_close_to_adversary_12034">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-5.430442810058594" y="-72.98046875" z="0.03379543125629425"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_close_to_standing_12035">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-5.626350402832031" y="23.144498825073242" z="0.0030295562464743853"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_w_transform_12036">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-20.382888793945312" y="95.45926666259766" z="0.5"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_close_to_hero_12037">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-17.398937225341797" y="-143.74313354492188" z="0.0014286803780123591"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_close_to_adversary_12038">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-14.322561264038086" y="-68.15229034423828" z="0.03376094624400139"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_close_to_hero_12039">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-12.54089069366455" y="-156.27928161621094" z="0.0014286803780123591"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_w_transform_12040">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="50.68578338623047" y="39.089820861816406" z="0.5"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
</Actions>
</Init>
<Story name="MyStory">
<Act name="Behavior">
<ManeuverGroup maximumExecutionCount="1" name="ManeuverSequence">
<Actors selectTriggeringEntities="false">
<EntityRef entityRef="adversary"/>
</Actors>
<Maneuver name="LaneChangeSimpleManeuver">
<Event name="AdversaryAccelerates" priority="overwrite">
<Action name="AdversaryAccelerates">
<PrivateAction>
<LongitudinalAction>
<SpeedAction>
<SpeedActionDynamics dynamicsShape="step" value="50" dynamicsDimension="distance"/>
<SpeedActionTarget>
<AbsoluteTargetSpeed value="5.0"/>
</SpeedActionTarget>
</SpeedAction>
</LongitudinalAction>
</PrivateAction>
</Action>
<StartTrigger>
<ConditionGroup>
<Condition name="StartCondition" delay="0" conditionEdge="rising">
<ByEntityCondition>
<TriggeringEntities triggeringEntitiesRule="any">
<EntityRef entityRef="hero"/>
</TriggeringEntities>
<EntityCondition>
<RelativeDistanceCondition entityRef="adversary" relativeDistanceType="cartesianDistance" value="40.0" freespace="false" rule="lessThan"/>
</EntityCondition>
</ByEntityCondition>
</Condition>
</ConditionGroup>
</StartTrigger>
</Event>
<Event name="AdversaryChangesLane" priority="overwrite">
<Action name="AdversaryChangesLane">
<PrivateAction>
<LateralAction>
<LaneChangeAction>
<LaneChangeActionDynamics dynamicsShape="linear" value="25" dynamicsDimension="distance"/>
<LaneChangeTarget>
<RelativeTargetLane entityRef="adversary" value="-1"/>
</LaneChangeTarget>
</LaneChangeAction>
</LateralAction>
</PrivateAction>
</Action>
<StartTrigger>
<ConditionGroup>
<Condition name="AfterAdversaryAccelerates" delay="0" conditionEdge="rising">
<ByValueCondition>
<StoryboardElementStateCondition storyboardElementType="action" storyboardElementRef="AdversaryAccelerates" state="completeState"/>
</ByValueCondition>
</Condition>
</ConditionGroup>
</StartTrigger>
</Event>
</Maneuver>
</ManeuverGroup>
<StartTrigger>
<ConditionGroup>
<Condition name="OverallStartCondition" delay="0" conditionEdge="rising">
<ByEntityCondition>
<TriggeringEntities triggeringEntitiesRule="any">
<EntityRef entityRef="hero"/>
</TriggeringEntities>
<EntityCondition>
<TraveledDistanceCondition value="1.0"/>
</EntityCondition>
</ByEntityCondition>
</Condition>
<Condition name="StartTime" delay="0" conditionEdge="rising">
<ByValueCondition>
<SimulationTimeCondition value="0" rule="equalTo"/>
</ByValueCondition>
</Condition>
</ConditionGroup>
</StartTrigger>
<StopTrigger>
<ConditionGroup>
<Condition name="EndCondition" delay="0" conditionEdge="rising">
<ByEntityCondition>
<TriggeringEntities triggeringEntitiesRule="any">
<EntityRef entityRef="hero"/>
</TriggeringEntities>
<EntityCondition>
<TraveledDistanceCondition value="200.0"/>
</EntityCondition>
</ByEntityCondition>
</Condition>
</ConditionGroup>
</StopTrigger>
</Act>
</Story>
<StopTrigger>
<ConditionGroup>
<Condition name="criteria_RunningStopTest" delay="0" conditionEdge="rising">
<ByValueCondition>
<ParameterCondition parameterRef="" value="" rule="lessThan"/>
</ByValueCondition>
</Condition>
<Condition name="criteria_RunningRedLightTest" delay="0" conditionEdge="rising">
<ByValueCondition>
<ParameterCondition parameterRef="" value="" rule="lessThan"/>
</ByValueCondition>
</Condition>
<Condition name="criteria_WrongLaneTest" delay="0" conditionEdge="rising">
<ByValueCondition>
<ParameterCondition parameterRef="" value="" rule="lessThan"/>
</ByValueCondition>
</Condition>
<Condition name="criteria_OnSidewalkTest" delay="0" conditionEdge="rising">
<ByValueCondition>
<ParameterCondition parameterRef="" value="" rule="lessThan"/>
</ByValueCondition>
</Condition>
<Condition name="criteria_KeepLaneTest" delay="0" conditionEdge="rising">
<ByValueCondition>
<ParameterCondition parameterRef="" value="" rule="lessThan"/>
</ByValueCondition>
</Condition>
<Condition name="criteria_CollisionTest" delay="0" conditionEdge="rising">
<ByValueCondition>
<ParameterCondition parameterRef="" value="" rule="lessThan"/>
</ByValueCondition>
</Condition>
<Condition name="criteria_DrivenDistanceTest" delay="0" conditionEdge="rising">
<ByValueCondition>
<ParameterCondition parameterRef="distance_success" value="100" rule="lessThan"/>
</ByValueCondition>
</Condition>
</ConditionGroup>
</StopTrigger>
</Storyboard>
</OpenSCENARIO>
``` | Here is the result:
```
<?xml version="1.0" ?>
<OpenSCENARIO>
<FileHeader revMajor="1" revMinor="0" date="2020-03-24T12:00:00" description="CARLA:LaneChangeSimple" author=""/>
<ParameterDeclarations/>
<CatalogLocations/>
<RoadNetwork>
<LogicFile filepath="Town04"/>
<SceneGraphFile filepath=""/>
</RoadNetwork>
<Entities>
<ScenarioObject name="hero">
<Vehicle name="vehicle.tesla.model3" vehicleCategory="car">
<ParameterDeclarations/>
<Performance maxSpeed="69.444" maxAcceleration="200" maxDeceleration="10.0"/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2.1" length="4.5" height="1.8"/>
</BoundingBox>
<Axles>
<FrontAxle maxSteering="0.5" wheelDiameter="0.6" trackWidth="1.8" positionX="3.1" positionZ="0.3"/>
<RearAxle maxSteering="0.0" wheelDiameter="0.6" trackWidth="1.8" positionX="0.0" positionZ="0.3"/>
</Axles>
<Properties>
<Property name="type" value="ego_vehicle"/>
</Properties>
</Vehicle>
</ScenarioObject>
<ScenarioObject name="adversary">
<Vehicle name="vehicle.lincoln.mkz_2017" vehicleCategory="car">
<ParameterDeclarations/>
<Performance maxSpeed="69.444" maxAcceleration="200" maxDeceleration="10.0"/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2.1" length="4.5" height="1.8"/>
</BoundingBox>
<Axles>
<FrontAxle maxSteering="0.5" wheelDiameter="0.6" trackWidth="1.8" positionX="3.1" positionZ="0.3"/>
<RearAxle maxSteering="0.0" wheelDiameter="0.6" trackWidth="1.8" positionX="0.0" positionZ="0.3"/>
</Axles>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Vehicle>
</ScenarioObject>
<ScenarioObject name="standing">
<Vehicle name="vehicle.volkswagen.t2" vehicleCategory="car">
<ParameterDeclarations/>
<Performance maxSpeed="69.444" maxAcceleration="200" maxDeceleration="10.0"/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2.1" length="4.5" height="1.8"/>
</BoundingBox>
<Axles>
<FrontAxle maxSteering="0.5" wheelDiameter="0.6" trackWidth="1.8" positionX="3.1" positionZ="0.3"/>
<RearAxle maxSteering="0.0" wheelDiameter="0.6" 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_12020">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_close_to_hero_12021">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_close_to_adversary_12022">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_w_transform_12023">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_close_to_standing_12024">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_close_to_standing_12025">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_w_transform_12026">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_close_to_standing_12027">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_close_to_standing_12028">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_w_transform_12029">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_close_to_adversary_12030">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_close_to_adversary_12031">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_w_transform_12032">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_w_transform_12033">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_close_to_adversary_12034">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_w_transform_12036">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_close_to_hero_12037">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_close_to_adversary_12038">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_close_to_hero_12039">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_w_transform_12040">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
</Entities>
<Storyboard>
<Init>
<Actions>
<GlobalAction>
<EnvironmentAction>
<Environment name="Environment1">
<TimeOfDay animation="false" dateTime="2019-06-25T12:00:00"/>
<Weather cloudState="free">
<Sun intensity="0.85" azimuth="0" elevation="1.31"/>
<Fog visualRange="100000.0"/>
<Precipitation precipitationType="dry" intensity="0.0"/>
</Weather>
<RoadCondition frictionScaleFactor="1.0"/>
</Environment>
</EnvironmentAction>
</GlobalAction>
<Private entityRef="hero">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-9.4" y="-152.8" z="0.5" h="1.57079632679"/>
</Position>
</TeleportAction>
</PrivateAction>
<PrivateAction>
<ControllerAction>
<AssignControllerAction>
<Controller name="HeroAgent">
<Properties>
<Property name="module" value="external_control"/>
</Properties>
</Controller>
</AssignControllerAction>
<OverrideControllerValueAction>
<Throttle value="0" active="false"/>
<Brake value="0" active="false"/>
<Clutch value="0" active="false"/>
<ParkingBrake value="0" active="false"/>
<SteeringWheel value="0" active="false"/>
<Gear number="0" active="false"/>
</OverrideControllerValueAction>
</ControllerAction>
</PrivateAction>
</Private>
<Private entityRef="adversary">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-9.4" y="-71.0" z="0.5" h="1.57079632679"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="standing">
<PrivateAction>
<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_12020">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-3.339634656906128" y="-80.91329956054688" z="0.033788297325372696"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_close_to_hero_12021">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-15.788302421569824" y="-160.36859130859375" z="0.0014286803780123591"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_close_to_adversary_12022">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-16.28377914428711" y="-76.87030029296875" z="0.033827781677246094"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_w_transform_12023">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="37.54560470581055" y="76.84497833251953" z="0.5"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_close_to_standing_12024">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-12.229832649230957" y="24.156461715698242" z="0.0030936812981963158"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_close_to_standing_12025">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="4.974427700042725" y="32.60857009887695" z="0.0030500793363898993"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_w_transform_12026">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-45.358821868896484" y="-0.6510533094406128" z="0.5"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_close_to_standing_12027">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-2.0605833530426025" y="28.60321807861328" z="0.0029905319679528475"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_close_to_standing_12028">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-6.522221088409424" y="23.201290130615234" z="0.002997512696310878"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_w_transform_12029">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-97.72931671142578" y="-35.20793533325195" z="0.5"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_close_to_adversary_12030">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-7.572514057159424" y="-69.76631927490234" z="0.03377620503306389"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_close_to_adversary_12031">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-2.8968746662139893" y="-76.69332122802734" z="0.03379157930612564"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_w_transform_12032">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-65.66956329345703" y="-79.61555480957031" z="0.5"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_w_transform_12033">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-30.62114143371582" y="89.83930206298828" z="0.5"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_close_to_adversary_12034">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-5.430442810058594" y="-72.98046875" z="0.03379543125629425"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_w_transform_12036">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-20.382888793945312" y="95.45926666259766" z="0.5"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_close_to_hero_12037">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-17.398937225341797" y="-143.74313354492188" z="0.0014286803780123591"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_close_to_adversary_12038">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-14.322561264038086" y="-68.15229034423828" z="0.03376094624400139"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_close_to_hero_12039">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-12.54089069366455" y="-156.27928161621094" z="0.0014286803780123591"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_w_transform_12040">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="50.68578338623047" y="39.089820861816406" z="0.5"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
</Actions>
</Init>
<Story name="MyStory">
<Act name="Behavior">
<ManeuverGroup maximumExecutionCount="1" name="ManeuverSequence">
<Actors selectTriggeringEntities="false">
<EntityRef entityRef="adversary"/>
</Actors>
<Maneuver name="LaneChangeSimpleManeuver">
<Event name="AdversaryAccelerates" priority="overwrite">
<Action name="AdversaryAccelerates">
<PrivateAction>
<LongitudinalAction>
<SpeedAction>
<SpeedActionDynamics dynamicsShape="step" value="50" dynamicsDimension="distance"/>
<SpeedActionTarget>
<AbsoluteTargetSpeed value="5.0"/>
</SpeedActionTarget>
</SpeedAction>
</LongitudinalAction>
</PrivateAction>
</Action>
<StartTrigger>
<ConditionGroup>
<Condition name="StartCondition" delay="0" conditionEdge="rising">
<ByEntityCondition>
<TriggeringEntities triggeringEntitiesRule="any">
<EntityRef entityRef="hero"/>
</TriggeringEntities>
<EntityCondition>
<RelativeDistanceCondition entityRef="adversary" relativeDistanceType="cartesianDistance" value="40.0" freespace="false" rule="lessThan"/>
</EntityCondition>
</ByEntityCondition>
</Condition>
</ConditionGroup>
</StartTrigger>
</Event>
<Event name="AdversaryChangesLane" priority="overwrite">
<Action name="AdversaryChangesLane">
<PrivateAction>
<LateralAction>
<LaneChangeAction>
<LaneChangeActionDynamics dynamicsShape="linear" value="25" dynamicsDimension="distance"/>
<LaneChangeTarget>
<RelativeTargetLane entityRef="adversary" value="-1"/>
</LaneChangeTarget>
</LaneChangeAction>
</LateralAction>
</PrivateAction>
</Action>
<StartTrigger>
<ConditionGroup>
<Condition name="AfterAdversaryAccelerates" delay="0" conditionEdge="rising">
<ByValueCondition>
<StoryboardElementStateCondition storyboardElementType="action" storyboardElementRef="AdversaryAccelerates" state="completeState"/>
</ByValueCondition>
</Condition>
</ConditionGroup>
</StartTrigger>
</Event>
</Maneuver>
</ManeuverGroup>
<StartTrigger>
<ConditionGroup>
<Condition name="OverallStartCondition" delay="0" conditionEdge="rising">
<ByEntityCondition>
<TriggeringEntities triggeringEntitiesRule="any">
<EntityRef entityRef="hero"/>
</TriggeringEntities>
<EntityCondition>
<TraveledDistanceCondition value="1.0"/>
</EntityCondition>
</ByEntityCondition>
</Condition>
<Condition name="StartTime" delay="0" conditionEdge="rising">
<ByValueCondition>
<SimulationTimeCondition value="0" rule="equalTo"/>
</ByValueCondition>
</Condition>
</ConditionGroup>
</StartTrigger>
<StopTrigger>
<ConditionGroup>
<Condition name="EndCondition" delay="0" conditionEdge="rising">
<ByEntityCondition>
<TriggeringEntities triggeringEntitiesRule="any">
<EntityRef entityRef="hero"/>
</TriggeringEntities>
<EntityCondition>
<TraveledDistanceCondition value="200.0"/>
</EntityCondition>
</ByEntityCondition>
</Condition>
</ConditionGroup>
</StopTrigger>
</Act>
</Story>
<StopTrigger>
<ConditionGroup>
<Condition name="criteria_RunningStopTest" delay="0" conditionEdge="rising">
<ByValueCondition>
<ParameterCondition parameterRef="" value="" rule="lessThan"/>
</ByValueCondition>
</Condition>
<Condition name="criteria_RunningRedLightTest" delay="0" conditionEdge="rising">
<ByValueCondition>
<ParameterCondition parameterRef="" value="" rule="lessThan"/>
</ByValueCondition>
</Condition>
<Condition name="criteria_WrongLaneTest" delay="0" conditionEdge="rising">
<ByValueCondition>
<ParameterCondition parameterRef="" value="" rule="lessThan"/>
</ByValueCondition>
</Condition>
<Condition name="criteria_OnSidewalkTest" delay="0" conditionEdge="rising">
<ByValueCondition>
<ParameterCondition parameterRef="" value="" rule="lessThan"/>
</ByValueCondition>
</Condition>
<Condition name="criteria_KeepLaneTest" delay="0" conditionEdge="rising">
<ByValueCondition>
<ParameterCondition parameterRef="" value="" rule="lessThan"/>
</ByValueCondition>
</Condition>
<Condition name="criteria_CollisionTest" delay="0" conditionEdge="rising">
<ByValueCondition>
<ParameterCondition parameterRef="" value="" rule="lessThan"/>
</ByValueCondition>
</Condition>
<Condition name="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 (-79.62, 83.5, 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_15192">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_close_to_hero_15193">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_w_transform_15194">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_w_transform_15195">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_w_transform_15196">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_close_to_hero_15197">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_w_transform_15198">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_w_transform_15199">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_close_to_standing_15200">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_w_transform_15201">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_close_to_hero_15202">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_w_transform_15203">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_w_transform_15204">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_w_transform_15205">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_w_transform_15206">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_close_to_hero_15207">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_close_to_standing_15208">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_close_to_standing_15209">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_w_transform_15210">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_close_to_hero_15211">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
</Entities>
<Storyboard>
<Init>
<Actions>
<GlobalAction>
<EnvironmentAction>
<Environment name="Environment1">
<TimeOfDay animation="false" dateTime="2019-06-25T12:00:00"/>
<Weather cloudState="free">
<Sun intensity="0.85" azimuth="0" elevation="1.31"/>
<Fog visualRange="100000.0"/>
<Precipitation precipitationType="dry" intensity="0.0"/>
</Weather>
<RoadCondition frictionScaleFactor="1.0"/>
</Environment>
</EnvironmentAction>
</GlobalAction>
<Private entityRef="hero">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-9.4" y="-152.8" z="0.5" h="1.57079632679"/>
</Position>
</TeleportAction>
</PrivateAction>
<PrivateAction>
<ControllerAction>
<AssignControllerAction>
<Controller name="HeroAgent">
<Properties>
<Property name="module" value="external_control"/>
</Properties>
</Controller>
</AssignControllerAction>
<OverrideControllerValueAction>
<Throttle value="0" active="false"/>
<Brake value="0" active="false"/>
<Clutch value="0" active="false"/>
<ParkingBrake value="0" active="false"/>
<SteeringWheel value="0" active="false"/>
<Gear number="0" active="false"/>
</OverrideControllerValueAction>
</ControllerAction>
</PrivateAction>
</Private>
<Private entityRef="adversary">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-9.4" y="-71.0" z="0.5" h="1.57079632679"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="standing">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-8.2" y="29.2" z="0.5" h="1.57079632679"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_close_to_standing_15192">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-9.413756370544434" y="16.16050910949707" z="0.0030312729068100452"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_close_to_hero_15193">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-4.88426399230957" y="-150.66842651367188" z="0.0014286803780123591"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_w_transform_15194">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="41.721343994140625" y="21.022226333618164" z="0.5"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_w_transform_15195">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="45.363338470458984" y="69.28412628173828" z="0.5"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_w_transform_15196">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="73.78499603271484" y="17.536577224731445" z="0.5"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_close_to_hero_15197">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-6.218420505523682" y="-148.86651611328125" z="0.0014286803780123591"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_w_transform_15198">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="80.69673919677734" y="-40.28683853149414" z="0.5"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_w_transform_15199">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="41.45917510986328" y="67.08338928222656" z="0.5"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_close_to_standing_15200">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="0.9137800931930542" y="14.192731857299805" z="0.0030565261840820312"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_w_transform_15201">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="61.877498626708984" y="35.767608642578125" z="0.5"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_close_to_hero_15202">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-7.556365966796875" y="-143.22938537597656" z="0.0014286803780123591"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_w_transform_15203">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-60.99256896972656" y="-80.9894790649414" z="0.5"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_w_transform_15204">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-20.292152404785156" y="-74.25726318359375" z="0.5"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_w_transform_15205">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="66.1657943725586" y="-82.08796691894531" z="0.5"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_w_transform_15206">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-37.51625442504883" y="20.796350479125977" z="0.5"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_close_to_hero_15207">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-5.857797145843506" y="-161.7289581298828" z="0.0014286803780123591"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_close_to_standing_15208">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-6.564963340759277" y="33.70292663574219" z="0.0030283736996352673"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_close_to_standing_15209">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-14.581400871276855" y="26.82616424560547" z="0.0030157470609992743"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_w_transform_15210">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="7.121766090393066" y="-12.377016067504883" z="0.5"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_close_to_hero_15211">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-12.378421783447266" y="-154.3573455810547" z="0.0014286803780123591"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
</Actions>
</Init>
<Story name="MyStory">
<Act name="Behavior">
<ManeuverGroup maximumExecutionCount="1" name="ManeuverSequence">
<Actors selectTriggeringEntities="false">
<EntityRef entityRef="adversary"/>
</Actors>
<Maneuver name="LaneChangeSimpleManeuver">
<Event name="AdversaryAccelerates" priority="overwrite">
<Action name="AdversaryAccelerates">
<PrivateAction>
<LongitudinalAction>
<SpeedAction>
<SpeedActionDynamics dynamicsShape="step" value="50" dynamicsDimension="distance"/>
<SpeedActionTarget>
<AbsoluteTargetSpeed value="5.0"/>
</SpeedActionTarget>
</SpeedAction>
</LongitudinalAction>
</PrivateAction>
</Action>
<StartTrigger>
<ConditionGroup>
<Condition name="StartCondition" delay="0" conditionEdge="rising">
<ByEntityCondition>
<TriggeringEntities triggeringEntitiesRule="any">
<EntityRef entityRef="hero"/>
</TriggeringEntities>
<EntityCondition>
<RelativeDistanceCondition entityRef="adversary" relativeDistanceType="cartesianDistance" value="40.0" freespace="false" rule="lessThan"/>
</EntityCondition>
</ByEntityCondition>
</Condition>
</ConditionGroup>
</StartTrigger>
</Event>
<Event name="AdversaryChangesLane" priority="overwrite">
<Action name="AdversaryChangesLane">
<PrivateAction>
<LateralAction>
<LaneChangeAction>
<LaneChangeActionDynamics dynamicsShape="linear" value="25" dynamicsDimension="distance"/>
<LaneChangeTarget>
<RelativeTargetLane entityRef="adversary" value="-1"/>
</LaneChangeTarget>
</LaneChangeAction>
</LateralAction>
</PrivateAction>
</Action>
<StartTrigger>
<ConditionGroup>
<Condition name="AfterAdversaryAccelerates" delay="0" conditionEdge="rising">
<ByValueCondition>
<StoryboardElementStateCondition storyboardElementType="action" storyboardElementRef="AdversaryAccelerates" state="completeState"/>
</ByValueCondition>
</Condition>
</ConditionGroup>
</StartTrigger>
</Event>
</Maneuver>
</ManeuverGroup>
<StartTrigger>
<ConditionGroup>
<Condition name="OverallStartCondition" delay="0" conditionEdge="rising">
<ByEntityCondition>
<TriggeringEntities triggeringEntitiesRule="any">
<EntityRef entityRef="hero"/>
</TriggeringEntities>
<EntityCondition>
<TraveledDistanceCondition value="1.0"/>
</EntityCondition>
</ByEntityCondition>
</Condition>
<Condition name="StartTime" delay="0" conditionEdge="rising">
<ByValueCondition>
<SimulationTimeCondition value="0" rule="equalTo"/>
</ByValueCondition>
</Condition>
</ConditionGroup>
</StartTrigger>
<StopTrigger>
<ConditionGroup>
<Condition name="EndCondition" delay="0" conditionEdge="rising">
<ByEntityCondition>
<TriggeringEntities triggeringEntitiesRule="any">
<EntityRef entityRef="hero"/>
</TriggeringEntities>
<EntityCondition>
<TraveledDistanceCondition value="200.0"/>
</EntityCondition>
</ByEntityCondition>
</Condition>
</ConditionGroup>
</StopTrigger>
</Act>
</Story>
<StopTrigger>
<ConditionGroup>
<Condition name="criteria_RunningStopTest" delay="0" conditionEdge="rising">
<ByValueCondition>
<ParameterCondition parameterRef="" value="" rule="lessThan"/>
</ByValueCondition>
</Condition>
<Condition name="criteria_RunningRedLightTest" delay="0" conditionEdge="rising">
<ByValueCondition>
<ParameterCondition parameterRef="" value="" rule="lessThan"/>
</ByValueCondition>
</Condition>
<Condition name="criteria_WrongLaneTest" delay="0" conditionEdge="rising">
<ByValueCondition>
<ParameterCondition parameterRef="" value="" rule="lessThan"/>
</ByValueCondition>
</Condition>
<Condition name="criteria_OnSidewalkTest" delay="0" conditionEdge="rising">
<ByValueCondition>
<ParameterCondition parameterRef="" value="" rule="lessThan"/>
</ByValueCondition>
</Condition>
<Condition name="criteria_KeepLaneTest" delay="0" conditionEdge="rising">
<ByValueCondition>
<ParameterCondition parameterRef="" value="" rule="lessThan"/>
</ByValueCondition>
</Condition>
<Condition name="criteria_CollisionTest" delay="0" conditionEdge="rising">
<ByValueCondition>
<ParameterCondition parameterRef="" value="" rule="lessThan"/>
</ByValueCondition>
</Condition>
<Condition name="criteria_DrivenDistanceTest" delay="0" conditionEdge="rising">
<ByValueCondition>
<ParameterCondition parameterRef="distance_success" value="100" rule="lessThan"/>
</ByValueCondition>
</Condition>
</ConditionGroup>
</StopTrigger>
</Storyboard>
</OpenSCENARIO>
``` | Here is the result:
```
<?xml version="1.0" ?>
<OpenSCENARIO>
<FileHeader revMajor="1" revMinor="0" date="2020-03-24T12:00:00" description="CARLA:LaneChangeSimple" author=""/>
<ParameterDeclarations/>
<CatalogLocations/>
<RoadNetwork>
<LogicFile filepath="Town04"/>
<SceneGraphFile filepath=""/>
</RoadNetwork>
<Entities>
<ScenarioObject name="hero">
<Vehicle name="vehicle.tesla.model3" vehicleCategory="car">
<ParameterDeclarations/>
<Performance maxSpeed="69.444" maxAcceleration="200" maxDeceleration="10.0"/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2.1" length="4.5" height="1.8"/>
</BoundingBox>
<Axles>
<FrontAxle maxSteering="0.5" wheelDiameter="0.6" trackWidth="1.8" positionX="3.1" positionZ="0.3"/>
<RearAxle maxSteering="0.0" wheelDiameter="0.6" trackWidth="1.8" positionX="0.0" positionZ="0.3"/>
</Axles>
<Properties>
<Property name="type" value="ego_vehicle"/>
</Properties>
</Vehicle>
</ScenarioObject>
<ScenarioObject name="adversary">
<Vehicle name="vehicle.lincoln.mkz_2017" vehicleCategory="car">
<ParameterDeclarations/>
<Performance maxSpeed="69.444" maxAcceleration="200" maxDeceleration="10.0"/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2.1" length="4.5" height="1.8"/>
</BoundingBox>
<Axles>
<FrontAxle maxSteering="0.5" wheelDiameter="0.6" trackWidth="1.8" positionX="3.1" positionZ="0.3"/>
<RearAxle maxSteering="0.0" wheelDiameter="0.6" trackWidth="1.8" positionX="0.0" positionZ="0.3"/>
</Axles>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Vehicle>
</ScenarioObject>
<ScenarioObject name="standing">
<Vehicle name="vehicle.volkswagen.t2" vehicleCategory="car">
<ParameterDeclarations/>
<Performance maxSpeed="69.444" maxAcceleration="200" maxDeceleration="10.0"/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2.1" length="4.5" height="1.8"/>
</BoundingBox>
<Axles>
<FrontAxle maxSteering="0.5" wheelDiameter="0.6" trackWidth="1.8" positionX="3.1" positionZ="0.3"/>
<RearAxle maxSteering="0.0" wheelDiameter="0.6" trackWidth="1.8" positionX="0.0" positionZ="0.3"/>
</Axles>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Vehicle>
</ScenarioObject>
<ScenarioObject name="pedestrian_close_to_standing_15192">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_close_to_hero_15193">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_w_transform_15194">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_w_transform_15195">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_w_transform_15196">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_close_to_hero_15197">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_w_transform_15198">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_w_transform_15199">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_close_to_standing_15200">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_w_transform_15201">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_close_to_hero_15202">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_w_transform_15203">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_w_transform_15204">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_w_transform_15205">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_w_transform_15206">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_close_to_hero_15207">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_close_to_standing_15208">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_close_to_standing_15209">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_w_transform_15210">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_close_to_hero_15211">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_w_transform_15212">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
</Entities>
<Storyboard>
<Init>
<Actions>
<GlobalAction>
<EnvironmentAction>
<Environment name="Environment1">
<TimeOfDay animation="false" dateTime="2019-06-25T12:00:00"/>
<Weather cloudState="free">
<Sun intensity="0.85" azimuth="0" elevation="1.31"/>
<Fog visualRange="100000.0"/>
<Precipitation precipitationType="dry" intensity="0.0"/>
</Weather>
<RoadCondition frictionScaleFactor="1.0"/>
</Environment>
</EnvironmentAction>
</GlobalAction>
<Private entityRef="hero">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-9.4" y="-152.8" z="0.5" h="1.57079632679"/>
</Position>
</TeleportAction>
</PrivateAction>
<PrivateAction>
<ControllerAction>
<AssignControllerAction>
<Controller name="HeroAgent">
<Properties>
<Property name="module" value="external_control"/>
</Properties>
</Controller>
</AssignControllerAction>
<OverrideControllerValueAction>
<Throttle value="0" active="false"/>
<Brake value="0" active="false"/>
<Clutch value="0" active="false"/>
<ParkingBrake value="0" active="false"/>
<SteeringWheel value="0" active="false"/>
<Gear number="0" active="false"/>
</OverrideControllerValueAction>
</ControllerAction>
</PrivateAction>
</Private>
<Private entityRef="adversary">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-9.4" y="-71.0" z="0.5" h="1.57079632679"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="standing">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-8.2" y="29.2" z="0.5" h="1.57079632679"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_close_to_standing_15192">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-9.413756370544434" y="16.16050910949707" z="0.0030312729068100452"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_close_to_hero_15193">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-4.88426399230957" y="-150.66842651367188" z="0.0014286803780123591"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_w_transform_15194">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="41.721343994140625" y="21.022226333618164" z="0.5"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_w_transform_15195">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="45.363338470458984" y="69.28412628173828" z="0.5"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_w_transform_15196">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="73.78499603271484" y="17.536577224731445" z="0.5"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_close_to_hero_15197">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-6.218420505523682" y="-148.86651611328125" z="0.0014286803780123591"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_w_transform_15198">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="80.69673919677734" y="-40.28683853149414" z="0.5"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_w_transform_15199">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="41.45917510986328" y="67.08338928222656" z="0.5"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_close_to_standing_15200">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="0.9137800931930542" y="14.192731857299805" z="0.0030565261840820312"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_w_transform_15201">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="61.877498626708984" y="35.767608642578125" z="0.5"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_close_to_hero_15202">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-7.556365966796875" y="-143.22938537597656" z="0.0014286803780123591"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_w_transform_15203">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-60.99256896972656" y="-80.9894790649414" z="0.5"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_w_transform_15204">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-20.292152404785156" y="-74.25726318359375" z="0.5"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_w_transform_15205">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="66.1657943725586" y="-82.08796691894531" z="0.5"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_w_transform_15206">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-37.51625442504883" y="20.796350479125977" z="0.5"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_close_to_hero_15207">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-5.857797145843506" y="-161.7289581298828" z="0.0014286803780123591"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_close_to_standing_15208">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-6.564963340759277" y="33.70292663574219" z="0.0030283736996352673"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_close_to_standing_15209">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-14.581400871276855" y="26.82616424560547" z="0.0030157470609992743"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_w_transform_15210">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="7.121766090393066" y="-12.377016067504883" z="0.5"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_close_to_hero_15211">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-12.378421783447266" y="-154.3573455810547" z="0.0014286803780123591"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_w_transform_15212">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-79.6244125366211" y="83.4959487915039" z="0.5"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
</Actions>
</Init>
<Story name="MyStory">
<Act name="Behavior">
<ManeuverGroup maximumExecutionCount="1" name="ManeuverSequence">
<Actors selectTriggeringEntities="false">
<EntityRef entityRef="adversary"/>
</Actors>
<Maneuver name="LaneChangeSimpleManeuver">
<Event name="AdversaryAccelerates" priority="overwrite">
<Action name="AdversaryAccelerates">
<PrivateAction>
<LongitudinalAction>
<SpeedAction>
<SpeedActionDynamics dynamicsShape="step" value="50" dynamicsDimension="distance"/>
<SpeedActionTarget>
<AbsoluteTargetSpeed value="5.0"/>
</SpeedActionTarget>
</SpeedAction>
</LongitudinalAction>
</PrivateAction>
</Action>
<StartTrigger>
<ConditionGroup>
<Condition name="StartCondition" delay="0" conditionEdge="rising">
<ByEntityCondition>
<TriggeringEntities triggeringEntitiesRule="any">
<EntityRef entityRef="hero"/>
</TriggeringEntities>
<EntityCondition>
<RelativeDistanceCondition entityRef="adversary" relativeDistanceType="cartesianDistance" value="40.0" freespace="false" rule="lessThan"/>
</EntityCondition>
</ByEntityCondition>
</Condition>
</ConditionGroup>
</StartTrigger>
</Event>
<Event name="AdversaryChangesLane" priority="overwrite">
<Action name="AdversaryChangesLane">
<PrivateAction>
<LateralAction>
<LaneChangeAction>
<LaneChangeActionDynamics dynamicsShape="linear" value="25" dynamicsDimension="distance"/>
<LaneChangeTarget>
<RelativeTargetLane entityRef="adversary" value="-1"/>
</LaneChangeTarget>
</LaneChangeAction>
</LateralAction>
</PrivateAction>
</Action>
<StartTrigger>
<ConditionGroup>
<Condition name="AfterAdversaryAccelerates" delay="0" conditionEdge="rising">
<ByValueCondition>
<StoryboardElementStateCondition storyboardElementType="action" storyboardElementRef="AdversaryAccelerates" state="completeState"/>
</ByValueCondition>
</Condition>
</ConditionGroup>
</StartTrigger>
</Event>
</Maneuver>
</ManeuverGroup>
<StartTrigger>
<ConditionGroup>
<Condition name="OverallStartCondition" delay="0" conditionEdge="rising">
<ByEntityCondition>
<TriggeringEntities triggeringEntitiesRule="any">
<EntityRef entityRef="hero"/>
</TriggeringEntities>
<EntityCondition>
<TraveledDistanceCondition value="1.0"/>
</EntityCondition>
</ByEntityCondition>
</Condition>
<Condition name="StartTime" delay="0" conditionEdge="rising">
<ByValueCondition>
<SimulationTimeCondition value="0" rule="equalTo"/>
</ByValueCondition>
</Condition>
</ConditionGroup>
</StartTrigger>
<StopTrigger>
<ConditionGroup>
<Condition name="EndCondition" delay="0" conditionEdge="rising">
<ByEntityCondition>
<TriggeringEntities triggeringEntitiesRule="any">
<EntityRef entityRef="hero"/>
</TriggeringEntities>
<EntityCondition>
<TraveledDistanceCondition value="200.0"/>
</EntityCondition>
</ByEntityCondition>
</Condition>
</ConditionGroup>
</StopTrigger>
</Act>
</Story>
<StopTrigger>
<ConditionGroup>
<Condition name="criteria_RunningStopTest" delay="0" conditionEdge="rising">
<ByValueCondition>
<ParameterCondition parameterRef="" value="" rule="lessThan"/>
</ByValueCondition>
</Condition>
<Condition name="criteria_RunningRedLightTest" delay="0" conditionEdge="rising">
<ByValueCondition>
<ParameterCondition parameterRef="" value="" rule="lessThan"/>
</ByValueCondition>
</Condition>
<Condition name="criteria_WrongLaneTest" delay="0" conditionEdge="rising">
<ByValueCondition>
<ParameterCondition parameterRef="" value="" rule="lessThan"/>
</ByValueCondition>
</Condition>
<Condition name="criteria_OnSidewalkTest" delay="0" conditionEdge="rising">
<ByValueCondition>
<ParameterCondition parameterRef="" value="" rule="lessThan"/>
</ByValueCondition>
</Condition>
<Condition name="criteria_KeepLaneTest" delay="0" conditionEdge="rising">
<ByValueCondition>
<ParameterCondition parameterRef="" value="" rule="lessThan"/>
</ByValueCondition>
</Condition>
<Condition name="criteria_CollisionTest" delay="0" conditionEdge="rising">
<ByValueCondition>
<ParameterCondition parameterRef="" value="" rule="lessThan"/>
</ByValueCondition>
</Condition>
<Condition name="criteria_DrivenDistanceTest" delay="0" conditionEdge="rising">
<ByValueCondition>
<ParameterCondition parameterRef="distance_success" value="100" rule="lessThan"/>
</ByValueCondition>
</Condition>
</ConditionGroup>
</StopTrigger>
</Storyboard>
</OpenSCENARIO>
``` |
i would like to direct you to add pedestrian close to hero?
```
<?xml version="1.0" ?>
<OpenSCENARIO>
<FileHeader revMajor="1" revMinor="0" date="2020-03-24T12:00:00" description="CARLA:LaneChangeSimple" author=""/>
<ParameterDeclarations/>
<CatalogLocations/>
<RoadNetwork>
<LogicFile filepath="Town04"/>
<SceneGraphFile filepath=""/>
</RoadNetwork>
<Entities>
<ScenarioObject name="hero">
<Vehicle name="vehicle.tesla.model3" vehicleCategory="car">
<ParameterDeclarations/>
<Performance maxSpeed="69.444" maxAcceleration="200" maxDeceleration="10.0"/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2.1" length="4.5" height="1.8"/>
</BoundingBox>
<Axles>
<FrontAxle maxSteering="0.5" wheelDiameter="0.6" trackWidth="1.8" positionX="3.1" positionZ="0.3"/>
<RearAxle maxSteering="0.0" wheelDiameter="0.6" trackWidth="1.8" positionX="0.0" positionZ="0.3"/>
</Axles>
<Properties>
<Property name="type" value="ego_vehicle"/>
</Properties>
</Vehicle>
</ScenarioObject>
<ScenarioObject name="adversary">
<Vehicle name="vehicle.lincoln.mkz_2017" vehicleCategory="car">
<ParameterDeclarations/>
<Performance maxSpeed="69.444" maxAcceleration="200" maxDeceleration="10.0"/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2.1" length="4.5" height="1.8"/>
</BoundingBox>
<Axles>
<FrontAxle maxSteering="0.5" wheelDiameter="0.6" trackWidth="1.8" positionX="3.1" positionZ="0.3"/>
<RearAxle maxSteering="0.0" wheelDiameter="0.6" trackWidth="1.8" positionX="0.0" positionZ="0.3"/>
</Axles>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Vehicle>
</ScenarioObject>
<ScenarioObject name="standing">
<Vehicle name="vehicle.volkswagen.t2" vehicleCategory="car">
<ParameterDeclarations/>
<Performance maxSpeed="69.444" maxAcceleration="200" maxDeceleration="10.0"/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2.1" length="4.5" height="1.8"/>
</BoundingBox>
<Axles>
<FrontAxle maxSteering="0.5" wheelDiameter="0.6" trackWidth="1.8" positionX="3.1" positionZ="0.3"/>
<RearAxle maxSteering="0.0" wheelDiameter="0.6" trackWidth="1.8" positionX="0.0" positionZ="0.3"/>
</Axles>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Vehicle>
</ScenarioObject>
<ScenarioObject name="pedestrian_close_to_hero_23698">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_close_to_standing_23699">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_w_transform_23700">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_w_transform_23702">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_close_to_standing_23703">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_close_to_hero_23704">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_close_to_hero_23705">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_close_to_adversary_23706">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
</Entities>
<Storyboard>
<Init>
<Actions>
<GlobalAction>
<EnvironmentAction>
<Environment name="Environment1">
<TimeOfDay animation="false" dateTime="2019-06-25T12:00:00"/>
<Weather cloudState="free">
<Sun intensity="0.85" azimuth="0" elevation="1.31"/>
<Fog visualRange="100000.0"/>
<Precipitation precipitationType="dry" intensity="0.0"/>
</Weather>
<RoadCondition frictionScaleFactor="1.0"/>
</Environment>
</EnvironmentAction>
</GlobalAction>
<Private entityRef="hero">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-9.4" y="-152.8" z="0.5" h="1.57079632679"/>
</Position>
</TeleportAction>
</PrivateAction>
<PrivateAction>
<ControllerAction>
<AssignControllerAction>
<Controller name="HeroAgent">
<Properties>
<Property name="module" value="external_control"/>
</Properties>
</Controller>
</AssignControllerAction>
<OverrideControllerValueAction>
<Throttle value="0" active="false"/>
<Brake value="0" active="false"/>
<Clutch value="0" active="false"/>
<ParkingBrake value="0" active="false"/>
<SteeringWheel value="0" active="false"/>
<Gear number="0" active="false"/>
</OverrideControllerValueAction>
</ControllerAction>
</PrivateAction>
</Private>
<Private entityRef="adversary">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-9.4" y="-71.0" z="0.5" h="1.57079632679"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="standing">
<PrivateAction>
<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_23698">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-5.286287307739258" y="-158.45594787597656" z="0.0014286803780123591"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_close_to_standing_23699">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-17.40859031677246" y="19.77208709716797" z="0.0030522155575454235"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_w_transform_23700">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-48.028297424316406" y="10.186071395874023" z="0.5"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_w_transform_23702">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-2.244907855987549" y="-29.62088394165039" z="0.5"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_close_to_standing_23703">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-9.159279823303223" y="21.520109176635742" z="0.0030940244905650616"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_close_to_hero_23704">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-9.415197372436523" y="-146.7461395263672" z="0.0014286803780123591"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_close_to_hero_23705">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-2.5012028217315674" y="-158.5067901611328" z="0.0014286803780123591"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_close_to_adversary_23706">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-3.249159574508667" y="-68.83811950683594" z="0.0338265597820282"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
</Actions>
</Init>
<Story name="MyStory">
<Act name="Behavior">
<ManeuverGroup maximumExecutionCount="1" name="ManeuverSequence">
<Actors selectTriggeringEntities="false">
<EntityRef entityRef="adversary"/>
</Actors>
<Maneuver name="LaneChangeSimpleManeuver">
<Event name="AdversaryAccelerates" priority="overwrite">
<Action name="AdversaryAccelerates">
<PrivateAction>
<LongitudinalAction>
<SpeedAction>
<SpeedActionDynamics dynamicsShape="step" value="50" dynamicsDimension="distance"/>
<SpeedActionTarget>
<AbsoluteTargetSpeed value="5.0"/>
</SpeedActionTarget>
</SpeedAction>
</LongitudinalAction>
</PrivateAction>
</Action>
<StartTrigger>
<ConditionGroup>
<Condition name="StartCondition" delay="0" conditionEdge="rising">
<ByEntityCondition>
<TriggeringEntities triggeringEntitiesRule="any">
<EntityRef entityRef="hero"/>
</TriggeringEntities>
<EntityCondition>
<RelativeDistanceCondition entityRef="adversary" relativeDistanceType="cartesianDistance" value="40.0" freespace="false" rule="lessThan"/>
</EntityCondition>
</ByEntityCondition>
</Condition>
</ConditionGroup>
</StartTrigger>
</Event>
<Event name="AdversaryChangesLane" priority="overwrite">
<Action name="AdversaryChangesLane">
<PrivateAction>
<LateralAction>
<LaneChangeAction>
<LaneChangeActionDynamics dynamicsShape="linear" value="25" dynamicsDimension="distance"/>
<LaneChangeTarget>
<RelativeTargetLane entityRef="adversary" value="-1"/>
</LaneChangeTarget>
</LaneChangeAction>
</LateralAction>
</PrivateAction>
</Action>
<StartTrigger>
<ConditionGroup>
<Condition name="AfterAdversaryAccelerates" delay="0" conditionEdge="rising">
<ByValueCondition>
<StoryboardElementStateCondition storyboardElementType="action" storyboardElementRef="AdversaryAccelerates" state="completeState"/>
</ByValueCondition>
</Condition>
</ConditionGroup>
</StartTrigger>
</Event>
</Maneuver>
</ManeuverGroup>
<StartTrigger>
<ConditionGroup>
<Condition name="OverallStartCondition" delay="0" conditionEdge="rising">
<ByEntityCondition>
<TriggeringEntities triggeringEntitiesRule="any">
<EntityRef entityRef="hero"/>
</TriggeringEntities>
<EntityCondition>
<TraveledDistanceCondition value="1.0"/>
</EntityCondition>
</ByEntityCondition>
</Condition>
<Condition name="StartTime" delay="0" conditionEdge="rising">
<ByValueCondition>
<SimulationTimeCondition value="0" rule="equalTo"/>
</ByValueCondition>
</Condition>
</ConditionGroup>
</StartTrigger>
<StopTrigger>
<ConditionGroup>
<Condition name="EndCondition" delay="0" conditionEdge="rising">
<ByEntityCondition>
<TriggeringEntities triggeringEntitiesRule="any">
<EntityRef entityRef="hero"/>
</TriggeringEntities>
<EntityCondition>
<TraveledDistanceCondition value="200.0"/>
</EntityCondition>
</ByEntityCondition>
</Condition>
</ConditionGroup>
</StopTrigger>
</Act>
</Story>
<StopTrigger>
<ConditionGroup>
<Condition name="criteria_RunningStopTest" delay="0" conditionEdge="rising">
<ByValueCondition>
<ParameterCondition parameterRef="" value="" rule="lessThan"/>
</ByValueCondition>
</Condition>
<Condition name="criteria_RunningRedLightTest" delay="0" conditionEdge="rising">
<ByValueCondition>
<ParameterCondition parameterRef="" value="" rule="lessThan"/>
</ByValueCondition>
</Condition>
<Condition name="criteria_WrongLaneTest" delay="0" conditionEdge="rising">
<ByValueCondition>
<ParameterCondition parameterRef="" value="" rule="lessThan"/>
</ByValueCondition>
</Condition>
<Condition name="criteria_OnSidewalkTest" delay="0" conditionEdge="rising">
<ByValueCondition>
<ParameterCondition parameterRef="" value="" rule="lessThan"/>
</ByValueCondition>
</Condition>
<Condition name="criteria_KeepLaneTest" delay="0" conditionEdge="rising">
<ByValueCondition>
<ParameterCondition parameterRef="" value="" rule="lessThan"/>
</ByValueCondition>
</Condition>
<Condition name="criteria_CollisionTest" delay="0" conditionEdge="rising">
<ByValueCondition>
<ParameterCondition parameterRef="" value="" rule="lessThan"/>
</ByValueCondition>
</Condition>
<Condition name="criteria_DrivenDistanceTest" delay="0" conditionEdge="rising">
<ByValueCondition>
<ParameterCondition parameterRef="distance_success" value="100" rule="lessThan"/>
</ByValueCondition>
</Condition>
</ConditionGroup>
</StopTrigger>
</Storyboard>
</OpenSCENARIO>
``` | Here is the result:
```
<?xml version="1.0" ?>
<OpenSCENARIO>
<FileHeader revMajor="1" revMinor="0" date="2020-03-24T12:00:00" description="CARLA:LaneChangeSimple" author=""/>
<ParameterDeclarations/>
<CatalogLocations/>
<RoadNetwork>
<LogicFile filepath="Town04"/>
<SceneGraphFile filepath=""/>
</RoadNetwork>
<Entities>
<ScenarioObject name="hero">
<Vehicle name="vehicle.tesla.model3" vehicleCategory="car">
<ParameterDeclarations/>
<Performance maxSpeed="69.444" maxAcceleration="200" maxDeceleration="10.0"/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2.1" length="4.5" height="1.8"/>
</BoundingBox>
<Axles>
<FrontAxle maxSteering="0.5" wheelDiameter="0.6" trackWidth="1.8" positionX="3.1" positionZ="0.3"/>
<RearAxle maxSteering="0.0" wheelDiameter="0.6" trackWidth="1.8" positionX="0.0" positionZ="0.3"/>
</Axles>
<Properties>
<Property name="type" value="ego_vehicle"/>
</Properties>
</Vehicle>
</ScenarioObject>
<ScenarioObject name="adversary">
<Vehicle name="vehicle.lincoln.mkz_2017" vehicleCategory="car">
<ParameterDeclarations/>
<Performance maxSpeed="69.444" maxAcceleration="200" maxDeceleration="10.0"/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2.1" length="4.5" height="1.8"/>
</BoundingBox>
<Axles>
<FrontAxle maxSteering="0.5" wheelDiameter="0.6" trackWidth="1.8" positionX="3.1" positionZ="0.3"/>
<RearAxle maxSteering="0.0" wheelDiameter="0.6" trackWidth="1.8" positionX="0.0" positionZ="0.3"/>
</Axles>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Vehicle>
</ScenarioObject>
<ScenarioObject name="standing">
<Vehicle name="vehicle.volkswagen.t2" vehicleCategory="car">
<ParameterDeclarations/>
<Performance maxSpeed="69.444" maxAcceleration="200" maxDeceleration="10.0"/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2.1" length="4.5" height="1.8"/>
</BoundingBox>
<Axles>
<FrontAxle maxSteering="0.5" wheelDiameter="0.6" trackWidth="1.8" positionX="3.1" positionZ="0.3"/>
<RearAxle maxSteering="0.0" wheelDiameter="0.6" 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_23698">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_close_to_standing_23699">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_w_transform_23700">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_w_transform_23702">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_close_to_standing_23703">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_close_to_hero_23704">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_close_to_hero_23705">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_close_to_adversary_23706">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_close_to_hero_23707">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
</Entities>
<Storyboard>
<Init>
<Actions>
<GlobalAction>
<EnvironmentAction>
<Environment name="Environment1">
<TimeOfDay animation="false" dateTime="2019-06-25T12:00:00"/>
<Weather cloudState="free">
<Sun intensity="0.85" azimuth="0" elevation="1.31"/>
<Fog visualRange="100000.0"/>
<Precipitation precipitationType="dry" intensity="0.0"/>
</Weather>
<RoadCondition frictionScaleFactor="1.0"/>
</Environment>
</EnvironmentAction>
</GlobalAction>
<Private entityRef="hero">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-9.4" y="-152.8" z="0.5" h="1.57079632679"/>
</Position>
</TeleportAction>
</PrivateAction>
<PrivateAction>
<ControllerAction>
<AssignControllerAction>
<Controller name="HeroAgent">
<Properties>
<Property name="module" value="external_control"/>
</Properties>
</Controller>
</AssignControllerAction>
<OverrideControllerValueAction>
<Throttle value="0" active="false"/>
<Brake value="0" active="false"/>
<Clutch value="0" active="false"/>
<ParkingBrake value="0" active="false"/>
<SteeringWheel value="0" active="false"/>
<Gear number="0" active="false"/>
</OverrideControllerValueAction>
</ControllerAction>
</PrivateAction>
</Private>
<Private entityRef="adversary">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-9.4" y="-71.0" z="0.5" h="1.57079632679"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="standing">
<PrivateAction>
<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_23698">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-5.286287307739258" y="-158.45594787597656" z="0.0014286803780123591"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_close_to_standing_23699">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-17.40859031677246" y="19.77208709716797" z="0.0030522155575454235"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_w_transform_23700">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-48.028297424316406" y="10.186071395874023" z="0.5"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_w_transform_23702">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-2.244907855987549" y="-29.62088394165039" z="0.5"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_close_to_standing_23703">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-9.159279823303223" y="21.520109176635742" z="0.0030940244905650616"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_close_to_hero_23704">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-9.415197372436523" y="-146.7461395263672" z="0.0014286803780123591"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_close_to_hero_23705">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-2.5012028217315674" y="-158.5067901611328" z="0.0014286803780123591"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_close_to_adversary_23706">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-3.249159574508667" y="-68.83811950683594" z="0.0338265597820282"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_close_to_hero_23707">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-9.721927642822266" y="-159.81105041503906" z="0.0014286803780123591"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
</Actions>
</Init>
<Story name="MyStory">
<Act name="Behavior">
<ManeuverGroup maximumExecutionCount="1" name="ManeuverSequence">
<Actors selectTriggeringEntities="false">
<EntityRef entityRef="adversary"/>
</Actors>
<Maneuver name="LaneChangeSimpleManeuver">
<Event name="AdversaryAccelerates" priority="overwrite">
<Action name="AdversaryAccelerates">
<PrivateAction>
<LongitudinalAction>
<SpeedAction>
<SpeedActionDynamics dynamicsShape="step" value="50" dynamicsDimension="distance"/>
<SpeedActionTarget>
<AbsoluteTargetSpeed value="5.0"/>
</SpeedActionTarget>
</SpeedAction>
</LongitudinalAction>
</PrivateAction>
</Action>
<StartTrigger>
<ConditionGroup>
<Condition name="StartCondition" delay="0" conditionEdge="rising">
<ByEntityCondition>
<TriggeringEntities triggeringEntitiesRule="any">
<EntityRef entityRef="hero"/>
</TriggeringEntities>
<EntityCondition>
<RelativeDistanceCondition entityRef="adversary" relativeDistanceType="cartesianDistance" value="40.0" freespace="false" rule="lessThan"/>
</EntityCondition>
</ByEntityCondition>
</Condition>
</ConditionGroup>
</StartTrigger>
</Event>
<Event name="AdversaryChangesLane" priority="overwrite">
<Action name="AdversaryChangesLane">
<PrivateAction>
<LateralAction>
<LaneChangeAction>
<LaneChangeActionDynamics dynamicsShape="linear" value="25" dynamicsDimension="distance"/>
<LaneChangeTarget>
<RelativeTargetLane entityRef="adversary" value="-1"/>
</LaneChangeTarget>
</LaneChangeAction>
</LateralAction>
</PrivateAction>
</Action>
<StartTrigger>
<ConditionGroup>
<Condition name="AfterAdversaryAccelerates" delay="0" conditionEdge="rising">
<ByValueCondition>
<StoryboardElementStateCondition storyboardElementType="action" storyboardElementRef="AdversaryAccelerates" state="completeState"/>
</ByValueCondition>
</Condition>
</ConditionGroup>
</StartTrigger>
</Event>
</Maneuver>
</ManeuverGroup>
<StartTrigger>
<ConditionGroup>
<Condition name="OverallStartCondition" delay="0" conditionEdge="rising">
<ByEntityCondition>
<TriggeringEntities triggeringEntitiesRule="any">
<EntityRef entityRef="hero"/>
</TriggeringEntities>
<EntityCondition>
<TraveledDistanceCondition value="1.0"/>
</EntityCondition>
</ByEntityCondition>
</Condition>
<Condition name="StartTime" delay="0" conditionEdge="rising">
<ByValueCondition>
<SimulationTimeCondition value="0" rule="equalTo"/>
</ByValueCondition>
</Condition>
</ConditionGroup>
</StartTrigger>
<StopTrigger>
<ConditionGroup>
<Condition name="EndCondition" delay="0" conditionEdge="rising">
<ByEntityCondition>
<TriggeringEntities triggeringEntitiesRule="any">
<EntityRef entityRef="hero"/>
</TriggeringEntities>
<EntityCondition>
<TraveledDistanceCondition value="200.0"/>
</EntityCondition>
</ByEntityCondition>
</Condition>
</ConditionGroup>
</StopTrigger>
</Act>
</Story>
<StopTrigger>
<ConditionGroup>
<Condition name="criteria_RunningStopTest" delay="0" conditionEdge="rising">
<ByValueCondition>
<ParameterCondition parameterRef="" value="" rule="lessThan"/>
</ByValueCondition>
</Condition>
<Condition name="criteria_RunningRedLightTest" delay="0" conditionEdge="rising">
<ByValueCondition>
<ParameterCondition parameterRef="" value="" rule="lessThan"/>
</ByValueCondition>
</Condition>
<Condition name="criteria_WrongLaneTest" delay="0" conditionEdge="rising">
<ByValueCondition>
<ParameterCondition parameterRef="" value="" rule="lessThan"/>
</ByValueCondition>
</Condition>
<Condition name="criteria_OnSidewalkTest" delay="0" conditionEdge="rising">
<ByValueCondition>
<ParameterCondition parameterRef="" value="" rule="lessThan"/>
</ByValueCondition>
</Condition>
<Condition name="criteria_KeepLaneTest" delay="0" conditionEdge="rising">
<ByValueCondition>
<ParameterCondition parameterRef="" value="" rule="lessThan"/>
</ByValueCondition>
</Condition>
<Condition name="criteria_CollisionTest" delay="0" conditionEdge="rising">
<ByValueCondition>
<ParameterCondition parameterRef="" value="" rule="lessThan"/>
</ByValueCondition>
</Condition>
<Condition name="criteria_DrivenDistanceTest" delay="0" conditionEdge="rising">
<ByValueCondition>
<ParameterCondition parameterRef="distance_success" value="100" rule="lessThan"/>
</ByValueCondition>
</Condition>
</ConditionGroup>
</StopTrigger>
</Storyboard>
</OpenSCENARIO>
``` |
i would like to lead you to remove pedestrian actor named pedestrian_close_to_hero_2156?
```
<?xml version="1.0" ?>
<OpenSCENARIO>
<FileHeader revMajor="1" revMinor="0" date="2020-03-24T12:00:00" description="CARLA:LaneChangeSimple" author=""/>
<ParameterDeclarations/>
<CatalogLocations/>
<RoadNetwork>
<LogicFile filepath="Town04"/>
<SceneGraphFile filepath=""/>
</RoadNetwork>
<Entities>
<ScenarioObject name="hero">
<Vehicle name="vehicle.tesla.model3" vehicleCategory="car">
<ParameterDeclarations/>
<Performance maxSpeed="69.444" maxAcceleration="200" maxDeceleration="10.0"/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2.1" length="4.5" height="1.8"/>
</BoundingBox>
<Axles>
<FrontAxle maxSteering="0.5" wheelDiameter="0.6" trackWidth="1.8" positionX="3.1" positionZ="0.3"/>
<RearAxle maxSteering="0.0" wheelDiameter="0.6" trackWidth="1.8" positionX="0.0" positionZ="0.3"/>
</Axles>
<Properties>
<Property name="type" value="ego_vehicle"/>
</Properties>
</Vehicle>
</ScenarioObject>
<ScenarioObject name="adversary">
<Vehicle name="vehicle.lincoln.mkz_2017" vehicleCategory="car">
<ParameterDeclarations/>
<Performance maxSpeed="69.444" maxAcceleration="200" maxDeceleration="10.0"/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2.1" length="4.5" height="1.8"/>
</BoundingBox>
<Axles>
<FrontAxle maxSteering="0.5" wheelDiameter="0.6" trackWidth="1.8" positionX="3.1" positionZ="0.3"/>
<RearAxle maxSteering="0.0" wheelDiameter="0.6" trackWidth="1.8" positionX="0.0" positionZ="0.3"/>
</Axles>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Vehicle>
</ScenarioObject>
<ScenarioObject name="standing">
<Vehicle name="vehicle.volkswagen.t2" vehicleCategory="car">
<ParameterDeclarations/>
<Performance maxSpeed="69.444" maxAcceleration="200" maxDeceleration="10.0"/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2.1" length="4.5" height="1.8"/>
</BoundingBox>
<Axles>
<FrontAxle maxSteering="0.5" wheelDiameter="0.6" trackWidth="1.8" positionX="3.1" positionZ="0.3"/>
<RearAxle maxSteering="0.0" wheelDiameter="0.6" 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_2156">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_w_transform_2157">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_w_transform_2158">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_w_transform_2159">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_close_to_standing_2160">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_w_transform_2161">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_w_transform_2162">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_w_transform_2163">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_close_to_hero_2164">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_close_to_standing_2165">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_close_to_hero_2169">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_w_transform_2171">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_w_transform_2172">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_w_transform_2173">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_w_transform_2174">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_w_transform_2175">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
</Entities>
<Storyboard>
<Init>
<Actions>
<GlobalAction>
<EnvironmentAction>
<Environment name="Environment1">
<TimeOfDay animation="false" dateTime="2019-06-25T12:00:00"/>
<Weather cloudState="free">
<Sun intensity="0.85" azimuth="0" elevation="1.31"/>
<Fog visualRange="100000.0"/>
<Precipitation precipitationType="dry" intensity="0.0"/>
</Weather>
<RoadCondition frictionScaleFactor="1.0"/>
</Environment>
</EnvironmentAction>
</GlobalAction>
<Private entityRef="hero">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-9.4" y="-152.8" z="0.5" h="1.57079632679"/>
</Position>
</TeleportAction>
</PrivateAction>
<PrivateAction>
<ControllerAction>
<AssignControllerAction>
<Controller name="HeroAgent">
<Properties>
<Property name="module" value="external_control"/>
</Properties>
</Controller>
</AssignControllerAction>
<OverrideControllerValueAction>
<Throttle value="0" active="false"/>
<Brake value="0" active="false"/>
<Clutch value="0" active="false"/>
<ParkingBrake value="0" active="false"/>
<SteeringWheel value="0" active="false"/>
<Gear number="0" active="false"/>
</OverrideControllerValueAction>
</ControllerAction>
</PrivateAction>
</Private>
<Private entityRef="adversary">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-9.4" y="-71.0" z="0.5" h="1.57079632679"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="standing">
<PrivateAction>
<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_2156">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="3.792800188064575" y="-147.44180297851562" z="0.0014286803780123591"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_w_transform_2157">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="74.97978210449219" y="42.052825927734375" z="0.5"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_w_transform_2158">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-36.80466079711914" y="69.0248031616211" z="0.5"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_w_transform_2159">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="74.88525390625" y="10.16285228729248" z="0.5"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_close_to_standing_2160">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-6.151708602905273" y="33.514915466308594" z="0.003042030381038785"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_w_transform_2161">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-48.39098358154297" y="52.39015197753906" z="0.5"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_w_transform_2162">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-2.8913371562957764" y="90.02494812011719" z="0.5"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_w_transform_2163">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-8.63333511352539" y="70.66060638427734" z="0.5"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_close_to_hero_2164">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-13.478104591369629" y="-142.87889099121094" z="0.0014286803780123591"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_close_to_standing_2165">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-9.546109199523926" y="29.760812759399414" z="0.0030384063720703125"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_close_to_hero_2169">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-8.83281421661377" y="-164.17396545410156" z="0.0014286803780123591"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_w_transform_2171">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="14.381503105163574" y="-33.50246047973633" z="0.5"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_w_transform_2172">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="72.9923324584961" y="85.6606216430664" z="0.5"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_w_transform_2173">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="90.62577819824219" y="49.5315055847168" z="0.5"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_w_transform_2174">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-84.36956787109375" y="91.92683410644531" z="0.5"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_w_transform_2175">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="44.93621826171875" y="-9.529829978942871" z="0.5"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
</Actions>
</Init>
<Story name="MyStory">
<Act name="Behavior">
<ManeuverGroup maximumExecutionCount="1" name="ManeuverSequence">
<Actors selectTriggeringEntities="false">
<EntityRef entityRef="adversary"/>
</Actors>
<Maneuver name="LaneChangeSimpleManeuver">
<Event name="AdversaryAccelerates" priority="overwrite">
<Action name="AdversaryAccelerates">
<PrivateAction>
<LongitudinalAction>
<SpeedAction>
<SpeedActionDynamics dynamicsShape="step" value="50" dynamicsDimension="distance"/>
<SpeedActionTarget>
<AbsoluteTargetSpeed value="5.0"/>
</SpeedActionTarget>
</SpeedAction>
</LongitudinalAction>
</PrivateAction>
</Action>
<StartTrigger>
<ConditionGroup>
<Condition name="StartCondition" delay="0" conditionEdge="rising">
<ByEntityCondition>
<TriggeringEntities triggeringEntitiesRule="any">
<EntityRef entityRef="hero"/>
</TriggeringEntities>
<EntityCondition>
<RelativeDistanceCondition entityRef="adversary" relativeDistanceType="cartesianDistance" value="40.0" freespace="false" rule="lessThan"/>
</EntityCondition>
</ByEntityCondition>
</Condition>
</ConditionGroup>
</StartTrigger>
</Event>
<Event name="AdversaryChangesLane" priority="overwrite">
<Action name="AdversaryChangesLane">
<PrivateAction>
<LateralAction>
<LaneChangeAction>
<LaneChangeActionDynamics dynamicsShape="linear" value="25" dynamicsDimension="distance"/>
<LaneChangeTarget>
<RelativeTargetLane entityRef="adversary" value="-1"/>
</LaneChangeTarget>
</LaneChangeAction>
</LateralAction>
</PrivateAction>
</Action>
<StartTrigger>
<ConditionGroup>
<Condition name="AfterAdversaryAccelerates" delay="0" conditionEdge="rising">
<ByValueCondition>
<StoryboardElementStateCondition storyboardElementType="action" storyboardElementRef="AdversaryAccelerates" state="completeState"/>
</ByValueCondition>
</Condition>
</ConditionGroup>
</StartTrigger>
</Event>
</Maneuver>
</ManeuverGroup>
<StartTrigger>
<ConditionGroup>
<Condition name="OverallStartCondition" delay="0" conditionEdge="rising">
<ByEntityCondition>
<TriggeringEntities triggeringEntitiesRule="any">
<EntityRef entityRef="hero"/>
</TriggeringEntities>
<EntityCondition>
<TraveledDistanceCondition value="1.0"/>
</EntityCondition>
</ByEntityCondition>
</Condition>
<Condition name="StartTime" delay="0" conditionEdge="rising">
<ByValueCondition>
<SimulationTimeCondition value="0" rule="equalTo"/>
</ByValueCondition>
</Condition>
</ConditionGroup>
</StartTrigger>
<StopTrigger>
<ConditionGroup>
<Condition name="EndCondition" delay="0" conditionEdge="rising">
<ByEntityCondition>
<TriggeringEntities triggeringEntitiesRule="any">
<EntityRef entityRef="hero"/>
</TriggeringEntities>
<EntityCondition>
<TraveledDistanceCondition value="200.0"/>
</EntityCondition>
</ByEntityCondition>
</Condition>
</ConditionGroup>
</StopTrigger>
</Act>
</Story>
<StopTrigger>
<ConditionGroup>
<Condition name="criteria_RunningStopTest" delay="0" conditionEdge="rising">
<ByValueCondition>
<ParameterCondition parameterRef="" value="" rule="lessThan"/>
</ByValueCondition>
</Condition>
<Condition name="criteria_RunningRedLightTest" delay="0" conditionEdge="rising">
<ByValueCondition>
<ParameterCondition parameterRef="" value="" rule="lessThan"/>
</ByValueCondition>
</Condition>
<Condition name="criteria_WrongLaneTest" delay="0" conditionEdge="rising">
<ByValueCondition>
<ParameterCondition parameterRef="" value="" rule="lessThan"/>
</ByValueCondition>
</Condition>
<Condition name="criteria_OnSidewalkTest" delay="0" conditionEdge="rising">
<ByValueCondition>
<ParameterCondition parameterRef="" value="" rule="lessThan"/>
</ByValueCondition>
</Condition>
<Condition name="criteria_KeepLaneTest" delay="0" conditionEdge="rising">
<ByValueCondition>
<ParameterCondition parameterRef="" value="" rule="lessThan"/>
</ByValueCondition>
</Condition>
<Condition name="criteria_CollisionTest" delay="0" conditionEdge="rising">
<ByValueCondition>
<ParameterCondition parameterRef="" value="" rule="lessThan"/>
</ByValueCondition>
</Condition>
<Condition name="criteria_DrivenDistanceTest" delay="0" conditionEdge="rising">
<ByValueCondition>
<ParameterCondition parameterRef="distance_success" value="100" rule="lessThan"/>
</ByValueCondition>
</Condition>
</ConditionGroup>
</StopTrigger>
</Storyboard>
</OpenSCENARIO>
``` | Here is the result:
```
<?xml version="1.0" ?>
<OpenSCENARIO>
<FileHeader revMajor="1" revMinor="0" date="2020-03-24T12:00:00" description="CARLA:LaneChangeSimple" author=""/>
<ParameterDeclarations/>
<CatalogLocations/>
<RoadNetwork>
<LogicFile filepath="Town04"/>
<SceneGraphFile filepath=""/>
</RoadNetwork>
<Entities>
<ScenarioObject name="hero">
<Vehicle name="vehicle.tesla.model3" vehicleCategory="car">
<ParameterDeclarations/>
<Performance maxSpeed="69.444" maxAcceleration="200" maxDeceleration="10.0"/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2.1" length="4.5" height="1.8"/>
</BoundingBox>
<Axles>
<FrontAxle maxSteering="0.5" wheelDiameter="0.6" trackWidth="1.8" positionX="3.1" positionZ="0.3"/>
<RearAxle maxSteering="0.0" wheelDiameter="0.6" trackWidth="1.8" positionX="0.0" positionZ="0.3"/>
</Axles>
<Properties>
<Property name="type" value="ego_vehicle"/>
</Properties>
</Vehicle>
</ScenarioObject>
<ScenarioObject name="adversary">
<Vehicle name="vehicle.lincoln.mkz_2017" vehicleCategory="car">
<ParameterDeclarations/>
<Performance maxSpeed="69.444" maxAcceleration="200" maxDeceleration="10.0"/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2.1" length="4.5" height="1.8"/>
</BoundingBox>
<Axles>
<FrontAxle maxSteering="0.5" wheelDiameter="0.6" trackWidth="1.8" positionX="3.1" positionZ="0.3"/>
<RearAxle maxSteering="0.0" wheelDiameter="0.6" trackWidth="1.8" positionX="0.0" positionZ="0.3"/>
</Axles>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Vehicle>
</ScenarioObject>
<ScenarioObject name="standing">
<Vehicle name="vehicle.volkswagen.t2" vehicleCategory="car">
<ParameterDeclarations/>
<Performance maxSpeed="69.444" maxAcceleration="200" maxDeceleration="10.0"/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2.1" length="4.5" height="1.8"/>
</BoundingBox>
<Axles>
<FrontAxle maxSteering="0.5" wheelDiameter="0.6" trackWidth="1.8" positionX="3.1" positionZ="0.3"/>
<RearAxle maxSteering="0.0" wheelDiameter="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_2157">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_w_transform_2158">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_w_transform_2159">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_close_to_standing_2160">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_w_transform_2161">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_w_transform_2162">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_w_transform_2163">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_close_to_hero_2164">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_close_to_standing_2165">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_close_to_hero_2169">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_w_transform_2171">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_w_transform_2172">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_w_transform_2173">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_w_transform_2174">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_w_transform_2175">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
</Entities>
<Storyboard>
<Init>
<Actions>
<GlobalAction>
<EnvironmentAction>
<Environment name="Environment1">
<TimeOfDay animation="false" dateTime="2019-06-25T12:00:00"/>
<Weather cloudState="free">
<Sun intensity="0.85" azimuth="0" elevation="1.31"/>
<Fog visualRange="100000.0"/>
<Precipitation precipitationType="dry" intensity="0.0"/>
</Weather>
<RoadCondition frictionScaleFactor="1.0"/>
</Environment>
</EnvironmentAction>
</GlobalAction>
<Private entityRef="hero">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-9.4" y="-152.8" z="0.5" h="1.57079632679"/>
</Position>
</TeleportAction>
</PrivateAction>
<PrivateAction>
<ControllerAction>
<AssignControllerAction>
<Controller name="HeroAgent">
<Properties>
<Property name="module" value="external_control"/>
</Properties>
</Controller>
</AssignControllerAction>
<OverrideControllerValueAction>
<Throttle value="0" active="false"/>
<Brake value="0" active="false"/>
<Clutch value="0" active="false"/>
<ParkingBrake value="0" active="false"/>
<SteeringWheel value="0" active="false"/>
<Gear number="0" active="false"/>
</OverrideControllerValueAction>
</ControllerAction>
</PrivateAction>
</Private>
<Private entityRef="adversary">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-9.4" y="-71.0" z="0.5" h="1.57079632679"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="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_2157">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="74.97978210449219" y="42.052825927734375" z="0.5"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_w_transform_2158">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-36.80466079711914" y="69.0248031616211" z="0.5"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_w_transform_2159">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="74.88525390625" y="10.16285228729248" z="0.5"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_close_to_standing_2160">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-6.151708602905273" y="33.514915466308594" z="0.003042030381038785"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_w_transform_2161">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-48.39098358154297" y="52.39015197753906" z="0.5"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_w_transform_2162">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-2.8913371562957764" y="90.02494812011719" z="0.5"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_w_transform_2163">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-8.63333511352539" y="70.66060638427734" z="0.5"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_close_to_hero_2164">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-13.478104591369629" y="-142.87889099121094" z="0.0014286803780123591"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_close_to_standing_2165">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-9.546109199523926" y="29.760812759399414" z="0.0030384063720703125"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_close_to_hero_2169">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-8.83281421661377" y="-164.17396545410156" z="0.0014286803780123591"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_w_transform_2171">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="14.381503105163574" y="-33.50246047973633" z="0.5"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_w_transform_2172">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="72.9923324584961" y="85.6606216430664" z="0.5"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_w_transform_2173">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="90.62577819824219" y="49.5315055847168" z="0.5"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_w_transform_2174">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-84.36956787109375" y="91.92683410644531" z="0.5"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_w_transform_2175">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="44.93621826171875" y="-9.529829978942871" z="0.5"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
</Actions>
</Init>
<Story name="MyStory">
<Act name="Behavior">
<ManeuverGroup maximumExecutionCount="1" name="ManeuverSequence">
<Actors selectTriggeringEntities="false">
<EntityRef entityRef="adversary"/>
</Actors>
<Maneuver name="LaneChangeSimpleManeuver">
<Event name="AdversaryAccelerates" priority="overwrite">
<Action name="AdversaryAccelerates">
<PrivateAction>
<LongitudinalAction>
<SpeedAction>
<SpeedActionDynamics dynamicsShape="step" value="50" dynamicsDimension="distance"/>
<SpeedActionTarget>
<AbsoluteTargetSpeed value="5.0"/>
</SpeedActionTarget>
</SpeedAction>
</LongitudinalAction>
</PrivateAction>
</Action>
<StartTrigger>
<ConditionGroup>
<Condition name="StartCondition" delay="0" conditionEdge="rising">
<ByEntityCondition>
<TriggeringEntities triggeringEntitiesRule="any">
<EntityRef entityRef="hero"/>
</TriggeringEntities>
<EntityCondition>
<RelativeDistanceCondition entityRef="adversary" relativeDistanceType="cartesianDistance" value="40.0" freespace="false" rule="lessThan"/>
</EntityCondition>
</ByEntityCondition>
</Condition>
</ConditionGroup>
</StartTrigger>
</Event>
<Event name="AdversaryChangesLane" priority="overwrite">
<Action name="AdversaryChangesLane">
<PrivateAction>
<LateralAction>
<LaneChangeAction>
<LaneChangeActionDynamics dynamicsShape="linear" value="25" dynamicsDimension="distance"/>
<LaneChangeTarget>
<RelativeTargetLane entityRef="adversary" value="-1"/>
</LaneChangeTarget>
</LaneChangeAction>
</LateralAction>
</PrivateAction>
</Action>
<StartTrigger>
<ConditionGroup>
<Condition name="AfterAdversaryAccelerates" delay="0" conditionEdge="rising">
<ByValueCondition>
<StoryboardElementStateCondition storyboardElementType="action" storyboardElementRef="AdversaryAccelerates" state="completeState"/>
</ByValueCondition>
</Condition>
</ConditionGroup>
</StartTrigger>
</Event>
</Maneuver>
</ManeuverGroup>
<StartTrigger>
<ConditionGroup>
<Condition name="OverallStartCondition" delay="0" conditionEdge="rising">
<ByEntityCondition>
<TriggeringEntities triggeringEntitiesRule="any">
<EntityRef entityRef="hero"/>
</TriggeringEntities>
<EntityCondition>
<TraveledDistanceCondition value="1.0"/>
</EntityCondition>
</ByEntityCondition>
</Condition>
<Condition name="StartTime" delay="0" conditionEdge="rising">
<ByValueCondition>
<SimulationTimeCondition value="0" rule="equalTo"/>
</ByValueCondition>
</Condition>
</ConditionGroup>
</StartTrigger>
<StopTrigger>
<ConditionGroup>
<Condition name="EndCondition" delay="0" conditionEdge="rising">
<ByEntityCondition>
<TriggeringEntities triggeringEntitiesRule="any">
<EntityRef entityRef="hero"/>
</TriggeringEntities>
<EntityCondition>
<TraveledDistanceCondition value="200.0"/>
</EntityCondition>
</ByEntityCondition>
</Condition>
</ConditionGroup>
</StopTrigger>
</Act>
</Story>
<StopTrigger>
<ConditionGroup>
<Condition name="criteria_RunningStopTest" delay="0" conditionEdge="rising">
<ByValueCondition>
<ParameterCondition parameterRef="" value="" rule="lessThan"/>
</ByValueCondition>
</Condition>
<Condition name="criteria_RunningRedLightTest" delay="0" conditionEdge="rising">
<ByValueCondition>
<ParameterCondition parameterRef="" value="" rule="lessThan"/>
</ByValueCondition>
</Condition>
<Condition name="criteria_WrongLaneTest" delay="0" conditionEdge="rising">
<ByValueCondition>
<ParameterCondition parameterRef="" value="" rule="lessThan"/>
</ByValueCondition>
</Condition>
<Condition name="criteria_OnSidewalkTest" delay="0" conditionEdge="rising">
<ByValueCondition>
<ParameterCondition parameterRef="" value="" rule="lessThan"/>
</ByValueCondition>
</Condition>
<Condition name="criteria_KeepLaneTest" delay="0" conditionEdge="rising">
<ByValueCondition>
<ParameterCondition parameterRef="" value="" rule="lessThan"/>
</ByValueCondition>
</Condition>
<Condition name="criteria_CollisionTest" delay="0" conditionEdge="rising">
<ByValueCondition>
<ParameterCondition parameterRef="" value="" rule="lessThan"/>
</ByValueCondition>
</Condition>
<Condition name="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_22416">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_w_transform_22417">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_w_transform_22418">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_w_transform_22419">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_close_to_adversary_22420">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_w_transform_22421">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_w_transform_22422">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_w_transform_22423">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_close_to_adversary_22424">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
</Entities>
<Storyboard>
<Init>
<Actions>
<GlobalAction>
<EnvironmentAction>
<Environment name="Environment1">
<TimeOfDay animation="false" dateTime="2019-06-25T12:00:00"/>
<Weather cloudState="free">
<Sun intensity="0.85" azimuth="0" elevation="1.31"/>
<Fog visualRange="100000.0"/>
<Precipitation precipitationType="dry" intensity="0.0"/>
</Weather>
<RoadCondition frictionScaleFactor="1.0"/>
</Environment>
</EnvironmentAction>
</GlobalAction>
<Private entityRef="hero">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-9.4" y="-152.8" z="0.5" h="1.57079632679"/>
</Position>
</TeleportAction>
</PrivateAction>
<PrivateAction>
<ControllerAction>
<AssignControllerAction>
<Controller name="HeroAgent">
<Properties>
<Property name="module" value="external_control"/>
</Properties>
</Controller>
</AssignControllerAction>
<OverrideControllerValueAction>
<Throttle value="0" active="false"/>
<Brake value="0" active="false"/>
<Clutch value="0" active="false"/>
<ParkingBrake value="0" active="false"/>
<SteeringWheel value="0" active="false"/>
<Gear number="0" active="false"/>
</OverrideControllerValueAction>
</ControllerAction>
</PrivateAction>
</Private>
<Private entityRef="adversary">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-9.4" y="-71.0" z="0.5" h="1.57079632679"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="standing">
<PrivateAction>
<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_22416">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-2.571913480758667" y="-77.8404312133789" z="0.033796921372413635"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_w_transform_22417">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="76.0362548828125" y="7.89743709564209" z="0.5"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_w_transform_22418">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-36.47966766357422" y="-7.334794044494629" z="0.5"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_w_transform_22419">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="97.9932861328125" y="-49.051673889160156" z="0.5"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_close_to_adversary_22420">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-19.01811408996582" y="-75.10311889648438" z="0.033760033547878265"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_w_transform_22421">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-48.50718688964844" y="-21.845613479614258" z="0.5"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_w_transform_22422">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-61.29234313964844" y="-75.17730712890625" z="0.5"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_w_transform_22423">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="61.16039276123047" y="25.391277313232422" z="0.5"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_close_to_adversary_22424">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-1.8264214992523193" y="-65.57141876220703" z="0.033798255026340485"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
</Actions>
</Init>
<Story name="MyStory">
<Act name="Behavior">
<ManeuverGroup maximumExecutionCount="1" name="ManeuverSequence">
<Actors selectTriggeringEntities="false">
<EntityRef entityRef="adversary"/>
</Actors>
<Maneuver name="LaneChangeSimpleManeuver">
<Event name="AdversaryAccelerates" priority="overwrite">
<Action name="AdversaryAccelerates">
<PrivateAction>
<LongitudinalAction>
<SpeedAction>
<SpeedActionDynamics dynamicsShape="step" value="50" dynamicsDimension="distance"/>
<SpeedActionTarget>
<AbsoluteTargetSpeed value="5.0"/>
</SpeedActionTarget>
</SpeedAction>
</LongitudinalAction>
</PrivateAction>
</Action>
<StartTrigger>
<ConditionGroup>
<Condition name="StartCondition" delay="0" conditionEdge="rising">
<ByEntityCondition>
<TriggeringEntities triggeringEntitiesRule="any">
<EntityRef entityRef="hero"/>
</TriggeringEntities>
<EntityCondition>
<RelativeDistanceCondition entityRef="adversary" relativeDistanceType="cartesianDistance" value="40.0" freespace="false" rule="lessThan"/>
</EntityCondition>
</ByEntityCondition>
</Condition>
</ConditionGroup>
</StartTrigger>
</Event>
<Event name="AdversaryChangesLane" priority="overwrite">
<Action name="AdversaryChangesLane">
<PrivateAction>
<LateralAction>
<LaneChangeAction>
<LaneChangeActionDynamics dynamicsShape="linear" value="25" dynamicsDimension="distance"/>
<LaneChangeTarget>
<RelativeTargetLane entityRef="adversary" value="-1"/>
</LaneChangeTarget>
</LaneChangeAction>
</LateralAction>
</PrivateAction>
</Action>
<StartTrigger>
<ConditionGroup>
<Condition name="AfterAdversaryAccelerates" delay="0" conditionEdge="rising">
<ByValueCondition>
<StoryboardElementStateCondition storyboardElementType="action" storyboardElementRef="AdversaryAccelerates" state="completeState"/>
</ByValueCondition>
</Condition>
</ConditionGroup>
</StartTrigger>
</Event>
</Maneuver>
</ManeuverGroup>
<StartTrigger>
<ConditionGroup>
<Condition name="OverallStartCondition" delay="0" conditionEdge="rising">
<ByEntityCondition>
<TriggeringEntities triggeringEntitiesRule="any">
<EntityRef entityRef="hero"/>
</TriggeringEntities>
<EntityCondition>
<TraveledDistanceCondition value="1.0"/>
</EntityCondition>
</ByEntityCondition>
</Condition>
<Condition name="StartTime" delay="0" conditionEdge="rising">
<ByValueCondition>
<SimulationTimeCondition value="0" rule="equalTo"/>
</ByValueCondition>
</Condition>
</ConditionGroup>
</StartTrigger>
<StopTrigger>
<ConditionGroup>
<Condition name="EndCondition" delay="0" conditionEdge="rising">
<ByEntityCondition>
<TriggeringEntities triggeringEntitiesRule="any">
<EntityRef entityRef="hero"/>
</TriggeringEntities>
<EntityCondition>
<TraveledDistanceCondition value="200.0"/>
</EntityCondition>
</ByEntityCondition>
</Condition>
</ConditionGroup>
</StopTrigger>
</Act>
</Story>
<StopTrigger>
<ConditionGroup>
<Condition name="criteria_RunningStopTest" delay="0" conditionEdge="rising">
<ByValueCondition>
<ParameterCondition parameterRef="" value="" rule="lessThan"/>
</ByValueCondition>
</Condition>
<Condition name="criteria_RunningRedLightTest" delay="0" conditionEdge="rising">
<ByValueCondition>
<ParameterCondition parameterRef="" value="" rule="lessThan"/>
</ByValueCondition>
</Condition>
<Condition name="criteria_WrongLaneTest" delay="0" conditionEdge="rising">
<ByValueCondition>
<ParameterCondition parameterRef="" value="" rule="lessThan"/>
</ByValueCondition>
</Condition>
<Condition name="criteria_OnSidewalkTest" delay="0" conditionEdge="rising">
<ByValueCondition>
<ParameterCondition parameterRef="" value="" rule="lessThan"/>
</ByValueCondition>
</Condition>
<Condition name="criteria_KeepLaneTest" delay="0" conditionEdge="rising">
<ByValueCondition>
<ParameterCondition parameterRef="" value="" rule="lessThan"/>
</ByValueCondition>
</Condition>
<Condition name="criteria_CollisionTest" delay="0" conditionEdge="rising">
<ByValueCondition>
<ParameterCondition parameterRef="" value="" rule="lessThan"/>
</ByValueCondition>
</Condition>
<Condition name="criteria_DrivenDistanceTest" delay="0" conditionEdge="rising">
<ByValueCondition>
<ParameterCondition parameterRef="distance_success" value="100" rule="lessThan"/>
</ByValueCondition>
</Condition>
</ConditionGroup>
</StopTrigger>
</Storyboard>
</OpenSCENARIO>
``` | Here is the result:
```
<?xml version="1.0" ?>
<OpenSCENARIO>
<FileHeader revMajor="1" revMinor="0" date="2020-03-24T12:00:00" description="CARLA:LaneChangeSimple" author=""/>
<ParameterDeclarations/>
<CatalogLocations/>
<RoadNetwork>
<LogicFile filepath="Town04"/>
<SceneGraphFile filepath=""/>
</RoadNetwork>
<Entities>
<ScenarioObject name="hero">
<Vehicle name="vehicle.tesla.model3" vehicleCategory="car">
<ParameterDeclarations/>
<Performance maxSpeed="69.444" maxAcceleration="200" maxDeceleration="10.0"/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2.1" length="4.5" height="1.8"/>
</BoundingBox>
<Axles>
<FrontAxle maxSteering="0.5" wheelDiameter="0.6" trackWidth="1.8" positionX="3.1" positionZ="0.3"/>
<RearAxle maxSteering="0.0" wheelDiameter="0.6" trackWidth="1.8" positionX="0.0" positionZ="0.3"/>
</Axles>
<Properties>
<Property name="type" value="ego_vehicle"/>
</Properties>
</Vehicle>
</ScenarioObject>
<ScenarioObject name="adversary">
<Vehicle name="vehicle.lincoln.mkz_2017" vehicleCategory="car">
<ParameterDeclarations/>
<Performance maxSpeed="69.444" maxAcceleration="200" maxDeceleration="10.0"/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2.1" length="4.5" height="1.8"/>
</BoundingBox>
<Axles>
<FrontAxle maxSteering="0.5" wheelDiameter="0.6" trackWidth="1.8" positionX="3.1" positionZ="0.3"/>
<RearAxle maxSteering="0.0" wheelDiameter="0.6" trackWidth="1.8" positionX="0.0" positionZ="0.3"/>
</Axles>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Vehicle>
</ScenarioObject>
<ScenarioObject name="standing">
<Vehicle name="vehicle.volkswagen.t2" vehicleCategory="car">
<ParameterDeclarations/>
<Performance maxSpeed="69.444" maxAcceleration="200" maxDeceleration="10.0"/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2.1" length="4.5" height="1.8"/>
</BoundingBox>
<Axles>
<FrontAxle maxSteering="0.5" wheelDiameter="0.6" trackWidth="1.8" positionX="3.1" positionZ="0.3"/>
<RearAxle maxSteering="0.0" wheelDiameter="0.6" 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_22416">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_w_transform_22417">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_w_transform_22418">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_w_transform_22419">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_close_to_adversary_22420">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_w_transform_22421">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_w_transform_22422">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_w_transform_22423">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_close_to_adversary_22424">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_close_to_hero_22425">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
</Entities>
<Storyboard>
<Init>
<Actions>
<GlobalAction>
<EnvironmentAction>
<Environment name="Environment1">
<TimeOfDay animation="false" dateTime="2019-06-25T12:00:00"/>
<Weather cloudState="free">
<Sun intensity="0.85" azimuth="0" elevation="1.31"/>
<Fog visualRange="100000.0"/>
<Precipitation precipitationType="dry" intensity="0.0"/>
</Weather>
<RoadCondition frictionScaleFactor="1.0"/>
</Environment>
</EnvironmentAction>
</GlobalAction>
<Private entityRef="hero">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-9.4" y="-152.8" z="0.5" h="1.57079632679"/>
</Position>
</TeleportAction>
</PrivateAction>
<PrivateAction>
<ControllerAction>
<AssignControllerAction>
<Controller name="HeroAgent">
<Properties>
<Property name="module" value="external_control"/>
</Properties>
</Controller>
</AssignControllerAction>
<OverrideControllerValueAction>
<Throttle value="0" active="false"/>
<Brake value="0" active="false"/>
<Clutch value="0" active="false"/>
<ParkingBrake value="0" active="false"/>
<SteeringWheel value="0" active="false"/>
<Gear number="0" active="false"/>
</OverrideControllerValueAction>
</ControllerAction>
</PrivateAction>
</Private>
<Private entityRef="adversary">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-9.4" y="-71.0" z="0.5" h="1.57079632679"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="standing">
<PrivateAction>
<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_22416">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-2.571913480758667" y="-77.8404312133789" z="0.033796921372413635"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_w_transform_22417">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="76.0362548828125" y="7.89743709564209" z="0.5"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_w_transform_22418">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-36.47966766357422" y="-7.334794044494629" z="0.5"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_w_transform_22419">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="97.9932861328125" y="-49.051673889160156" z="0.5"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_close_to_adversary_22420">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-19.01811408996582" y="-75.10311889648438" z="0.033760033547878265"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_w_transform_22421">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-48.50718688964844" y="-21.845613479614258" z="0.5"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_w_transform_22422">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-61.29234313964844" y="-75.17730712890625" z="0.5"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_w_transform_22423">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="61.16039276123047" y="25.391277313232422" z="0.5"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_close_to_adversary_22424">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-1.8264214992523193" y="-65.57141876220703" z="0.033798255026340485"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_close_to_hero_22425">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-20.22597312927246" y="-157.88465881347656" z="0.0014286803780123591"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
</Actions>
</Init>
<Story name="MyStory">
<Act name="Behavior">
<ManeuverGroup maximumExecutionCount="1" name="ManeuverSequence">
<Actors selectTriggeringEntities="false">
<EntityRef entityRef="adversary"/>
</Actors>
<Maneuver name="LaneChangeSimpleManeuver">
<Event name="AdversaryAccelerates" priority="overwrite">
<Action name="AdversaryAccelerates">
<PrivateAction>
<LongitudinalAction>
<SpeedAction>
<SpeedActionDynamics dynamicsShape="step" value="50" dynamicsDimension="distance"/>
<SpeedActionTarget>
<AbsoluteTargetSpeed value="5.0"/>
</SpeedActionTarget>
</SpeedAction>
</LongitudinalAction>
</PrivateAction>
</Action>
<StartTrigger>
<ConditionGroup>
<Condition name="StartCondition" delay="0" conditionEdge="rising">
<ByEntityCondition>
<TriggeringEntities triggeringEntitiesRule="any">
<EntityRef entityRef="hero"/>
</TriggeringEntities>
<EntityCondition>
<RelativeDistanceCondition entityRef="adversary" relativeDistanceType="cartesianDistance" value="40.0" freespace="false" rule="lessThan"/>
</EntityCondition>
</ByEntityCondition>
</Condition>
</ConditionGroup>
</StartTrigger>
</Event>
<Event name="AdversaryChangesLane" priority="overwrite">
<Action name="AdversaryChangesLane">
<PrivateAction>
<LateralAction>
<LaneChangeAction>
<LaneChangeActionDynamics dynamicsShape="linear" value="25" dynamicsDimension="distance"/>
<LaneChangeTarget>
<RelativeTargetLane entityRef="adversary" value="-1"/>
</LaneChangeTarget>
</LaneChangeAction>
</LateralAction>
</PrivateAction>
</Action>
<StartTrigger>
<ConditionGroup>
<Condition name="AfterAdversaryAccelerates" delay="0" conditionEdge="rising">
<ByValueCondition>
<StoryboardElementStateCondition storyboardElementType="action" storyboardElementRef="AdversaryAccelerates" state="completeState"/>
</ByValueCondition>
</Condition>
</ConditionGroup>
</StartTrigger>
</Event>
</Maneuver>
</ManeuverGroup>
<StartTrigger>
<ConditionGroup>
<Condition name="OverallStartCondition" delay="0" conditionEdge="rising">
<ByEntityCondition>
<TriggeringEntities triggeringEntitiesRule="any">
<EntityRef entityRef="hero"/>
</TriggeringEntities>
<EntityCondition>
<TraveledDistanceCondition value="1.0"/>
</EntityCondition>
</ByEntityCondition>
</Condition>
<Condition name="StartTime" delay="0" conditionEdge="rising">
<ByValueCondition>
<SimulationTimeCondition value="0" rule="equalTo"/>
</ByValueCondition>
</Condition>
</ConditionGroup>
</StartTrigger>
<StopTrigger>
<ConditionGroup>
<Condition name="EndCondition" delay="0" conditionEdge="rising">
<ByEntityCondition>
<TriggeringEntities triggeringEntitiesRule="any">
<EntityRef entityRef="hero"/>
</TriggeringEntities>
<EntityCondition>
<TraveledDistanceCondition value="200.0"/>
</EntityCondition>
</ByEntityCondition>
</Condition>
</ConditionGroup>
</StopTrigger>
</Act>
</Story>
<StopTrigger>
<ConditionGroup>
<Condition name="criteria_RunningStopTest" delay="0" conditionEdge="rising">
<ByValueCondition>
<ParameterCondition parameterRef="" value="" rule="lessThan"/>
</ByValueCondition>
</Condition>
<Condition name="criteria_RunningRedLightTest" delay="0" conditionEdge="rising">
<ByValueCondition>
<ParameterCondition parameterRef="" value="" rule="lessThan"/>
</ByValueCondition>
</Condition>
<Condition name="criteria_WrongLaneTest" delay="0" conditionEdge="rising">
<ByValueCondition>
<ParameterCondition parameterRef="" value="" rule="lessThan"/>
</ByValueCondition>
</Condition>
<Condition name="criteria_OnSidewalkTest" delay="0" conditionEdge="rising">
<ByValueCondition>
<ParameterCondition parameterRef="" value="" rule="lessThan"/>
</ByValueCondition>
</Condition>
<Condition name="criteria_KeepLaneTest" delay="0" conditionEdge="rising">
<ByValueCondition>
<ParameterCondition parameterRef="" value="" rule="lessThan"/>
</ByValueCondition>
</Condition>
<Condition name="criteria_CollisionTest" delay="0" conditionEdge="rising">
<ByValueCondition>
<ParameterCondition parameterRef="" value="" rule="lessThan"/>
</ByValueCondition>
</Condition>
<Condition name="criteria_DrivenDistanceTest" delay="0" conditionEdge="rising">
<ByValueCondition>
<ParameterCondition parameterRef="distance_success" value="100" rule="lessThan"/>
</ByValueCondition>
</Condition>
</ConditionGroup>
</StopTrigger>
</Storyboard>
</OpenSCENARIO>
``` |
i would like to guide you to add pedestrian close to adversary?
```
<?xml version="1.0" ?>
<OpenSCENARIO>
<FileHeader revMajor="1" revMinor="0" date="2020-03-24T12:00:00" description="CARLA:LaneChangeSimple" author=""/>
<ParameterDeclarations/>
<CatalogLocations/>
<RoadNetwork>
<LogicFile filepath="Town04"/>
<SceneGraphFile filepath=""/>
</RoadNetwork>
<Entities>
<ScenarioObject name="hero">
<Vehicle name="vehicle.tesla.model3" vehicleCategory="car">
<ParameterDeclarations/>
<Performance maxSpeed="69.444" maxAcceleration="200" maxDeceleration="10.0"/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2.1" length="4.5" height="1.8"/>
</BoundingBox>
<Axles>
<FrontAxle maxSteering="0.5" wheelDiameter="0.6" trackWidth="1.8" positionX="3.1" positionZ="0.3"/>
<RearAxle maxSteering="0.0" wheelDiameter="0.6" trackWidth="1.8" positionX="0.0" positionZ="0.3"/>
</Axles>
<Properties>
<Property name="type" value="ego_vehicle"/>
</Properties>
</Vehicle>
</ScenarioObject>
<ScenarioObject name="adversary">
<Vehicle name="vehicle.lincoln.mkz_2017" vehicleCategory="car">
<ParameterDeclarations/>
<Performance maxSpeed="69.444" maxAcceleration="200" maxDeceleration="10.0"/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2.1" length="4.5" height="1.8"/>
</BoundingBox>
<Axles>
<FrontAxle maxSteering="0.5" wheelDiameter="0.6" trackWidth="1.8" positionX="3.1" positionZ="0.3"/>
<RearAxle maxSteering="0.0" wheelDiameter="0.6" trackWidth="1.8" positionX="0.0" positionZ="0.3"/>
</Axles>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Vehicle>
</ScenarioObject>
<ScenarioObject name="standing">
<Vehicle name="vehicle.volkswagen.t2" vehicleCategory="car">
<ParameterDeclarations/>
<Performance maxSpeed="69.444" maxAcceleration="200" maxDeceleration="10.0"/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2.1" length="4.5" height="1.8"/>
</BoundingBox>
<Axles>
<FrontAxle maxSteering="0.5" wheelDiameter="0.6" trackWidth="1.8" positionX="3.1" positionZ="0.3"/>
<RearAxle maxSteering="0.0" wheelDiameter="0.6" trackWidth="1.8" positionX="0.0" positionZ="0.3"/>
</Axles>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Vehicle>
</ScenarioObject>
<ScenarioObject name="pedestrian_close_to_hero_16722">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_close_to_standing_16723">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_w_transform_16724">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_w_transform_16725">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_close_to_adversary_16726">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_close_to_standing_16727">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_close_to_adversary_16728">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_w_transform_16729">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_close_to_hero_16730">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_w_transform_16731">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_close_to_hero_16732">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_close_to_standing_16733">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_close_to_hero_16734">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_close_to_standing_16735">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_close_to_standing_16736">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_w_transform_16737">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_w_transform_16739">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
</Entities>
<Storyboard>
<Init>
<Actions>
<GlobalAction>
<EnvironmentAction>
<Environment name="Environment1">
<TimeOfDay animation="false" dateTime="2019-06-25T12:00:00"/>
<Weather cloudState="free">
<Sun intensity="0.85" azimuth="0" elevation="1.31"/>
<Fog visualRange="100000.0"/>
<Precipitation precipitationType="dry" intensity="0.0"/>
</Weather>
<RoadCondition frictionScaleFactor="1.0"/>
</Environment>
</EnvironmentAction>
</GlobalAction>
<Private entityRef="hero">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-9.4" y="-152.8" z="0.5" h="1.57079632679"/>
</Position>
</TeleportAction>
</PrivateAction>
<PrivateAction>
<ControllerAction>
<AssignControllerAction>
<Controller name="HeroAgent">
<Properties>
<Property name="module" value="external_control"/>
</Properties>
</Controller>
</AssignControllerAction>
<OverrideControllerValueAction>
<Throttle value="0" active="false"/>
<Brake value="0" active="false"/>
<Clutch value="0" active="false"/>
<ParkingBrake value="0" active="false"/>
<SteeringWheel value="0" active="false"/>
<Gear number="0" active="false"/>
</OverrideControllerValueAction>
</ControllerAction>
</PrivateAction>
</Private>
<Private entityRef="adversary">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-9.4" y="-71.0" z="0.5" h="1.57079632679"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="standing">
<PrivateAction>
<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_16722">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-5.960006237030029" y="-159.3976593017578" z="0.0014286803780123591"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_close_to_standing_16723">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-15.5171480178833" y="37.73356246948242" z="0.0030472944490611553"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_w_transform_16724">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-53.03523254394531" y="94.88946533203125" z="0.5"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_w_transform_16725">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="37.410953521728516" y="-8.362957000732422" z="0.5"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_close_to_adversary_16726">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-8.308588027954102" y="-81.15277099609375" z="0.03380618989467621"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_close_to_standing_16727">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-8.556266784667969" y="21.470796585083008" z="0.0030091095250099897"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_close_to_adversary_16728">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-8.543720245361328" y="-77.42236328125" z="0.03375251591205597"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_w_transform_16729">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="88.8855972290039" y="39.18313217163086" z="0.5"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_close_to_hero_16730">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-11.475168228149414" y="-136.60317993164062" z="0.0014286803780123591"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_w_transform_16731">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="55.4493522644043" y="-43.16824722290039" z="0.5"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_close_to_hero_16732">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-10.31344985961914" y="-145.31118774414062" z="0.0014286803780123591"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_close_to_standing_16733">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-23.922374725341797" y="42.76991653442383" z="0.0031053924467414618"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_close_to_hero_16734">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-1.6965349912643433" y="-155.1189422607422" z="0.0014286803780123591"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_close_to_standing_16735">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-7.572704792022705" y="21.410057067871094" z="0.0030821990221738815"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_close_to_standing_16736">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-13.864163398742676" y="25.668804168701172" z="0.003058318980038166"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_w_transform_16737">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-14.55415153503418" y="-54.305503845214844" z="0.5"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_w_transform_16739">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-47.179054260253906" y="-6.213252544403076" z="0.5"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
</Actions>
</Init>
<Story name="MyStory">
<Act name="Behavior">
<ManeuverGroup maximumExecutionCount="1" name="ManeuverSequence">
<Actors selectTriggeringEntities="false">
<EntityRef entityRef="adversary"/>
</Actors>
<Maneuver name="LaneChangeSimpleManeuver">
<Event name="AdversaryAccelerates" priority="overwrite">
<Action name="AdversaryAccelerates">
<PrivateAction>
<LongitudinalAction>
<SpeedAction>
<SpeedActionDynamics dynamicsShape="step" value="50" dynamicsDimension="distance"/>
<SpeedActionTarget>
<AbsoluteTargetSpeed value="5.0"/>
</SpeedActionTarget>
</SpeedAction>
</LongitudinalAction>
</PrivateAction>
</Action>
<StartTrigger>
<ConditionGroup>
<Condition name="StartCondition" delay="0" conditionEdge="rising">
<ByEntityCondition>
<TriggeringEntities triggeringEntitiesRule="any">
<EntityRef entityRef="hero"/>
</TriggeringEntities>
<EntityCondition>
<RelativeDistanceCondition entityRef="adversary" relativeDistanceType="cartesianDistance" value="40.0" freespace="false" rule="lessThan"/>
</EntityCondition>
</ByEntityCondition>
</Condition>
</ConditionGroup>
</StartTrigger>
</Event>
<Event name="AdversaryChangesLane" priority="overwrite">
<Action name="AdversaryChangesLane">
<PrivateAction>
<LateralAction>
<LaneChangeAction>
<LaneChangeActionDynamics dynamicsShape="linear" value="25" dynamicsDimension="distance"/>
<LaneChangeTarget>
<RelativeTargetLane entityRef="adversary" value="-1"/>
</LaneChangeTarget>
</LaneChangeAction>
</LateralAction>
</PrivateAction>
</Action>
<StartTrigger>
<ConditionGroup>
<Condition name="AfterAdversaryAccelerates" delay="0" conditionEdge="rising">
<ByValueCondition>
<StoryboardElementStateCondition storyboardElementType="action" storyboardElementRef="AdversaryAccelerates" state="completeState"/>
</ByValueCondition>
</Condition>
</ConditionGroup>
</StartTrigger>
</Event>
</Maneuver>
</ManeuverGroup>
<StartTrigger>
<ConditionGroup>
<Condition name="OverallStartCondition" delay="0" conditionEdge="rising">
<ByEntityCondition>
<TriggeringEntities triggeringEntitiesRule="any">
<EntityRef entityRef="hero"/>
</TriggeringEntities>
<EntityCondition>
<TraveledDistanceCondition value="1.0"/>
</EntityCondition>
</ByEntityCondition>
</Condition>
<Condition name="StartTime" delay="0" conditionEdge="rising">
<ByValueCondition>
<SimulationTimeCondition value="0" rule="equalTo"/>
</ByValueCondition>
</Condition>
</ConditionGroup>
</StartTrigger>
<StopTrigger>
<ConditionGroup>
<Condition name="EndCondition" delay="0" conditionEdge="rising">
<ByEntityCondition>
<TriggeringEntities triggeringEntitiesRule="any">
<EntityRef entityRef="hero"/>
</TriggeringEntities>
<EntityCondition>
<TraveledDistanceCondition value="200.0"/>
</EntityCondition>
</ByEntityCondition>
</Condition>
</ConditionGroup>
</StopTrigger>
</Act>
</Story>
<StopTrigger>
<ConditionGroup>
<Condition name="criteria_RunningStopTest" delay="0" conditionEdge="rising">
<ByValueCondition>
<ParameterCondition parameterRef="" value="" rule="lessThan"/>
</ByValueCondition>
</Condition>
<Condition name="criteria_RunningRedLightTest" delay="0" conditionEdge="rising">
<ByValueCondition>
<ParameterCondition parameterRef="" value="" rule="lessThan"/>
</ByValueCondition>
</Condition>
<Condition name="criteria_WrongLaneTest" delay="0" conditionEdge="rising">
<ByValueCondition>
<ParameterCondition parameterRef="" value="" rule="lessThan"/>
</ByValueCondition>
</Condition>
<Condition name="criteria_OnSidewalkTest" delay="0" conditionEdge="rising">
<ByValueCondition>
<ParameterCondition parameterRef="" value="" rule="lessThan"/>
</ByValueCondition>
</Condition>
<Condition name="criteria_KeepLaneTest" delay="0" conditionEdge="rising">
<ByValueCondition>
<ParameterCondition parameterRef="" value="" rule="lessThan"/>
</ByValueCondition>
</Condition>
<Condition name="criteria_CollisionTest" delay="0" conditionEdge="rising">
<ByValueCondition>
<ParameterCondition parameterRef="" value="" rule="lessThan"/>
</ByValueCondition>
</Condition>
<Condition name="criteria_DrivenDistanceTest" delay="0" conditionEdge="rising">
<ByValueCondition>
<ParameterCondition parameterRef="distance_success" value="100" rule="lessThan"/>
</ByValueCondition>
</Condition>
</ConditionGroup>
</StopTrigger>
</Storyboard>
</OpenSCENARIO>
``` | Here is the result:
```
<?xml version="1.0" ?>
<OpenSCENARIO>
<FileHeader revMajor="1" revMinor="0" date="2020-03-24T12:00:00" description="CARLA:LaneChangeSimple" author=""/>
<ParameterDeclarations/>
<CatalogLocations/>
<RoadNetwork>
<LogicFile filepath="Town04"/>
<SceneGraphFile filepath=""/>
</RoadNetwork>
<Entities>
<ScenarioObject name="hero">
<Vehicle name="vehicle.tesla.model3" vehicleCategory="car">
<ParameterDeclarations/>
<Performance maxSpeed="69.444" maxAcceleration="200" maxDeceleration="10.0"/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2.1" length="4.5" height="1.8"/>
</BoundingBox>
<Axles>
<FrontAxle maxSteering="0.5" wheelDiameter="0.6" trackWidth="1.8" positionX="3.1" positionZ="0.3"/>
<RearAxle maxSteering="0.0" wheelDiameter="0.6" trackWidth="1.8" positionX="0.0" positionZ="0.3"/>
</Axles>
<Properties>
<Property name="type" value="ego_vehicle"/>
</Properties>
</Vehicle>
</ScenarioObject>
<ScenarioObject name="adversary">
<Vehicle name="vehicle.lincoln.mkz_2017" vehicleCategory="car">
<ParameterDeclarations/>
<Performance maxSpeed="69.444" maxAcceleration="200" maxDeceleration="10.0"/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2.1" length="4.5" height="1.8"/>
</BoundingBox>
<Axles>
<FrontAxle maxSteering="0.5" wheelDiameter="0.6" trackWidth="1.8" positionX="3.1" positionZ="0.3"/>
<RearAxle maxSteering="0.0" wheelDiameter="0.6" trackWidth="1.8" positionX="0.0" positionZ="0.3"/>
</Axles>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Vehicle>
</ScenarioObject>
<ScenarioObject name="standing">
<Vehicle name="vehicle.volkswagen.t2" vehicleCategory="car">
<ParameterDeclarations/>
<Performance maxSpeed="69.444" maxAcceleration="200" maxDeceleration="10.0"/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2.1" length="4.5" height="1.8"/>
</BoundingBox>
<Axles>
<FrontAxle maxSteering="0.5" wheelDiameter="0.6" trackWidth="1.8" positionX="3.1" positionZ="0.3"/>
<RearAxle maxSteering="0.0" wheelDiameter="0.6" 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_16722">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_close_to_standing_16723">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_w_transform_16724">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_w_transform_16725">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_close_to_adversary_16726">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_close_to_standing_16727">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_close_to_adversary_16728">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_w_transform_16729">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_close_to_hero_16730">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_w_transform_16731">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_close_to_hero_16732">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_close_to_standing_16733">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_close_to_hero_16734">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_close_to_standing_16735">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_close_to_standing_16736">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_w_transform_16737">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_w_transform_16739">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_close_to_adversary_16740">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
</Entities>
<Storyboard>
<Init>
<Actions>
<GlobalAction>
<EnvironmentAction>
<Environment name="Environment1">
<TimeOfDay animation="false" dateTime="2019-06-25T12:00:00"/>
<Weather cloudState="free">
<Sun intensity="0.85" azimuth="0" elevation="1.31"/>
<Fog visualRange="100000.0"/>
<Precipitation precipitationType="dry" intensity="0.0"/>
</Weather>
<RoadCondition frictionScaleFactor="1.0"/>
</Environment>
</EnvironmentAction>
</GlobalAction>
<Private entityRef="hero">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-9.4" y="-152.8" z="0.5" h="1.57079632679"/>
</Position>
</TeleportAction>
</PrivateAction>
<PrivateAction>
<ControllerAction>
<AssignControllerAction>
<Controller name="HeroAgent">
<Properties>
<Property name="module" value="external_control"/>
</Properties>
</Controller>
</AssignControllerAction>
<OverrideControllerValueAction>
<Throttle value="0" active="false"/>
<Brake value="0" active="false"/>
<Clutch value="0" active="false"/>
<ParkingBrake value="0" active="false"/>
<SteeringWheel value="0" active="false"/>
<Gear number="0" active="false"/>
</OverrideControllerValueAction>
</ControllerAction>
</PrivateAction>
</Private>
<Private entityRef="adversary">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-9.4" y="-71.0" z="0.5" h="1.57079632679"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="standing">
<PrivateAction>
<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_16722">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-5.960006237030029" y="-159.3976593017578" z="0.0014286803780123591"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_close_to_standing_16723">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-15.5171480178833" y="37.73356246948242" z="0.0030472944490611553"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_w_transform_16724">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-53.03523254394531" y="94.88946533203125" z="0.5"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_w_transform_16725">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="37.410953521728516" y="-8.362957000732422" z="0.5"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_close_to_adversary_16726">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-8.308588027954102" y="-81.15277099609375" z="0.03380618989467621"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_close_to_standing_16727">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-8.556266784667969" y="21.470796585083008" z="0.0030091095250099897"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_close_to_adversary_16728">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-8.543720245361328" y="-77.42236328125" z="0.03375251591205597"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_w_transform_16729">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="88.8855972290039" y="39.18313217163086" z="0.5"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_close_to_hero_16730">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-11.475168228149414" y="-136.60317993164062" z="0.0014286803780123591"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_w_transform_16731">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="55.4493522644043" y="-43.16824722290039" z="0.5"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_close_to_hero_16732">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-10.31344985961914" y="-145.31118774414062" z="0.0014286803780123591"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_close_to_standing_16733">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-23.922374725341797" y="42.76991653442383" z="0.0031053924467414618"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_close_to_hero_16734">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-1.6965349912643433" y="-155.1189422607422" z="0.0014286803780123591"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_close_to_standing_16735">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-7.572704792022705" y="21.410057067871094" z="0.0030821990221738815"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_close_to_standing_16736">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-13.864163398742676" y="25.668804168701172" z="0.003058318980038166"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_w_transform_16737">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-14.55415153503418" y="-54.305503845214844" z="0.5"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_w_transform_16739">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-47.179054260253906" y="-6.213252544403076" z="0.5"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_close_to_adversary_16740">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-1.2842501401901245" y="-71.40540313720703" z="0.033785171806812286"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
</Actions>
</Init>
<Story name="MyStory">
<Act name="Behavior">
<ManeuverGroup maximumExecutionCount="1" name="ManeuverSequence">
<Actors selectTriggeringEntities="false">
<EntityRef entityRef="adversary"/>
</Actors>
<Maneuver name="LaneChangeSimpleManeuver">
<Event name="AdversaryAccelerates" priority="overwrite">
<Action name="AdversaryAccelerates">
<PrivateAction>
<LongitudinalAction>
<SpeedAction>
<SpeedActionDynamics dynamicsShape="step" value="50" dynamicsDimension="distance"/>
<SpeedActionTarget>
<AbsoluteTargetSpeed value="5.0"/>
</SpeedActionTarget>
</SpeedAction>
</LongitudinalAction>
</PrivateAction>
</Action>
<StartTrigger>
<ConditionGroup>
<Condition name="StartCondition" delay="0" conditionEdge="rising">
<ByEntityCondition>
<TriggeringEntities triggeringEntitiesRule="any">
<EntityRef entityRef="hero"/>
</TriggeringEntities>
<EntityCondition>
<RelativeDistanceCondition entityRef="adversary" relativeDistanceType="cartesianDistance" value="40.0" freespace="false" rule="lessThan"/>
</EntityCondition>
</ByEntityCondition>
</Condition>
</ConditionGroup>
</StartTrigger>
</Event>
<Event name="AdversaryChangesLane" priority="overwrite">
<Action name="AdversaryChangesLane">
<PrivateAction>
<LateralAction>
<LaneChangeAction>
<LaneChangeActionDynamics dynamicsShape="linear" value="25" dynamicsDimension="distance"/>
<LaneChangeTarget>
<RelativeTargetLane entityRef="adversary" value="-1"/>
</LaneChangeTarget>
</LaneChangeAction>
</LateralAction>
</PrivateAction>
</Action>
<StartTrigger>
<ConditionGroup>
<Condition name="AfterAdversaryAccelerates" delay="0" conditionEdge="rising">
<ByValueCondition>
<StoryboardElementStateCondition storyboardElementType="action" storyboardElementRef="AdversaryAccelerates" state="completeState"/>
</ByValueCondition>
</Condition>
</ConditionGroup>
</StartTrigger>
</Event>
</Maneuver>
</ManeuverGroup>
<StartTrigger>
<ConditionGroup>
<Condition name="OverallStartCondition" delay="0" conditionEdge="rising">
<ByEntityCondition>
<TriggeringEntities triggeringEntitiesRule="any">
<EntityRef entityRef="hero"/>
</TriggeringEntities>
<EntityCondition>
<TraveledDistanceCondition value="1.0"/>
</EntityCondition>
</ByEntityCondition>
</Condition>
<Condition name="StartTime" delay="0" conditionEdge="rising">
<ByValueCondition>
<SimulationTimeCondition value="0" rule="equalTo"/>
</ByValueCondition>
</Condition>
</ConditionGroup>
</StartTrigger>
<StopTrigger>
<ConditionGroup>
<Condition name="EndCondition" delay="0" conditionEdge="rising">
<ByEntityCondition>
<TriggeringEntities triggeringEntitiesRule="any">
<EntityRef entityRef="hero"/>
</TriggeringEntities>
<EntityCondition>
<TraveledDistanceCondition value="200.0"/>
</EntityCondition>
</ByEntityCondition>
</Condition>
</ConditionGroup>
</StopTrigger>
</Act>
</Story>
<StopTrigger>
<ConditionGroup>
<Condition name="criteria_RunningStopTest" delay="0" conditionEdge="rising">
<ByValueCondition>
<ParameterCondition parameterRef="" value="" rule="lessThan"/>
</ByValueCondition>
</Condition>
<Condition name="criteria_RunningRedLightTest" delay="0" conditionEdge="rising">
<ByValueCondition>
<ParameterCondition parameterRef="" value="" rule="lessThan"/>
</ByValueCondition>
</Condition>
<Condition name="criteria_WrongLaneTest" delay="0" conditionEdge="rising">
<ByValueCondition>
<ParameterCondition parameterRef="" value="" rule="lessThan"/>
</ByValueCondition>
</Condition>
<Condition name="criteria_OnSidewalkTest" delay="0" conditionEdge="rising">
<ByValueCondition>
<ParameterCondition parameterRef="" value="" rule="lessThan"/>
</ByValueCondition>
</Condition>
<Condition name="criteria_KeepLaneTest" delay="0" conditionEdge="rising">
<ByValueCondition>
<ParameterCondition parameterRef="" value="" rule="lessThan"/>
</ByValueCondition>
</Condition>
<Condition name="criteria_CollisionTest" delay="0" conditionEdge="rising">
<ByValueCondition>
<ParameterCondition parameterRef="" value="" rule="lessThan"/>
</ByValueCondition>
</Condition>
<Condition name="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 (0.86, -32.15, 0.5)?
```
<?xml version="1.0" ?>
<OpenSCENARIO>
<FileHeader revMajor="1" revMinor="0" date="2020-03-24T12:00:00" description="CARLA:LaneChangeSimple" author=""/>
<ParameterDeclarations/>
<CatalogLocations/>
<RoadNetwork>
<LogicFile filepath="Town04"/>
<SceneGraphFile filepath=""/>
</RoadNetwork>
<Entities>
<ScenarioObject name="hero">
<Vehicle name="vehicle.tesla.model3" vehicleCategory="car">
<ParameterDeclarations/>
<Performance maxSpeed="69.444" maxAcceleration="200" maxDeceleration="10.0"/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2.1" length="4.5" height="1.8"/>
</BoundingBox>
<Axles>
<FrontAxle maxSteering="0.5" wheelDiameter="0.6" trackWidth="1.8" positionX="3.1" positionZ="0.3"/>
<RearAxle maxSteering="0.0" wheelDiameter="0.6" trackWidth="1.8" positionX="0.0" positionZ="0.3"/>
</Axles>
<Properties>
<Property name="type" value="ego_vehicle"/>
</Properties>
</Vehicle>
</ScenarioObject>
<ScenarioObject name="adversary">
<Vehicle name="vehicle.lincoln.mkz_2017" vehicleCategory="car">
<ParameterDeclarations/>
<Performance maxSpeed="69.444" maxAcceleration="200" maxDeceleration="10.0"/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2.1" length="4.5" height="1.8"/>
</BoundingBox>
<Axles>
<FrontAxle maxSteering="0.5" wheelDiameter="0.6" trackWidth="1.8" positionX="3.1" positionZ="0.3"/>
<RearAxle maxSteering="0.0" wheelDiameter="0.6" trackWidth="1.8" positionX="0.0" positionZ="0.3"/>
</Axles>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Vehicle>
</ScenarioObject>
<ScenarioObject name="standing">
<Vehicle name="vehicle.volkswagen.t2" vehicleCategory="car">
<ParameterDeclarations/>
<Performance maxSpeed="69.444" maxAcceleration="200" maxDeceleration="10.0"/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2.1" length="4.5" height="1.8"/>
</BoundingBox>
<Axles>
<FrontAxle maxSteering="0.5" wheelDiameter="0.6" trackWidth="1.8" positionX="3.1" positionZ="0.3"/>
<RearAxle maxSteering="0.0" wheelDiameter="0.6" trackWidth="1.8" positionX="0.0" positionZ="0.3"/>
</Axles>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Vehicle>
</ScenarioObject>
<ScenarioObject name="pedestrian_close_to_standing_16976">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_close_to_adversary_16977">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_w_transform_16978">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_w_transform_16979">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_w_transform_16980">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_close_to_adversary_16981">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_w_transform_16982">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_close_to_hero_16983">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_close_to_hero_16984">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_w_transform_16985">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_close_to_hero_16986">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_w_transform_16987">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_w_transform_16990">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
</Entities>
<Storyboard>
<Init>
<Actions>
<GlobalAction>
<EnvironmentAction>
<Environment name="Environment1">
<TimeOfDay animation="false" dateTime="2019-06-25T12:00:00"/>
<Weather cloudState="free">
<Sun intensity="0.85" azimuth="0" elevation="1.31"/>
<Fog visualRange="100000.0"/>
<Precipitation precipitationType="dry" intensity="0.0"/>
</Weather>
<RoadCondition frictionScaleFactor="1.0"/>
</Environment>
</EnvironmentAction>
</GlobalAction>
<Private entityRef="hero">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-9.4" y="-152.8" z="0.5" h="1.57079632679"/>
</Position>
</TeleportAction>
</PrivateAction>
<PrivateAction>
<ControllerAction>
<AssignControllerAction>
<Controller name="HeroAgent">
<Properties>
<Property name="module" value="external_control"/>
</Properties>
</Controller>
</AssignControllerAction>
<OverrideControllerValueAction>
<Throttle value="0" active="false"/>
<Brake value="0" active="false"/>
<Clutch value="0" active="false"/>
<ParkingBrake value="0" active="false"/>
<SteeringWheel value="0" active="false"/>
<Gear number="0" active="false"/>
</OverrideControllerValueAction>
</ControllerAction>
</PrivateAction>
</Private>
<Private entityRef="adversary">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-9.4" y="-71.0" z="0.5" h="1.57079632679"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="standing">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-8.2" y="29.2" z="0.5" h="1.57079632679"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_close_to_standing_16976">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-1.477140188217163" y="35.6104736328125" z="0.0030515671242028475"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_close_to_adversary_16977">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="6.57399845123291" y="-80.39173889160156" z="0.03379634767770767"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_w_transform_16978">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-58.541439056396484" y="28.772010803222656" z="0.5"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_w_transform_16979">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-80.68146514892578" y="-43.53303146362305" z="0.5"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_w_transform_16980">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-40.75181579589844" y="-5.892599582672119" z="0.5"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_close_to_adversary_16981">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-13.94113540649414" y="-61.68760681152344" z="0.03380164876580238"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_w_transform_16982">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-30.82425308227539" y="-9.894180297851562" z="0.5"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_close_to_hero_16983">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-12.775850296020508" y="-137.3678436279297" z="0.0014286803780123591"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_close_to_hero_16984">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-8.495463371276855" y="-144.64122009277344" z="0.0014286803780123591"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_w_transform_16985">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-75.43057250976562" y="-50.4276123046875" z="0.5"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_close_to_hero_16986">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="0.5996369123458862" y="-144.66839599609375" z="0.0014286803780123591"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_w_transform_16987">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="30.975341796875" y="-10.483282089233398" z="0.5"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_w_transform_16990">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="89.28858184814453" y="-19.496667861938477" z="0.5"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
</Actions>
</Init>
<Story name="MyStory">
<Act name="Behavior">
<ManeuverGroup maximumExecutionCount="1" name="ManeuverSequence">
<Actors selectTriggeringEntities="false">
<EntityRef entityRef="adversary"/>
</Actors>
<Maneuver name="LaneChangeSimpleManeuver">
<Event name="AdversaryAccelerates" priority="overwrite">
<Action name="AdversaryAccelerates">
<PrivateAction>
<LongitudinalAction>
<SpeedAction>
<SpeedActionDynamics dynamicsShape="step" value="50" dynamicsDimension="distance"/>
<SpeedActionTarget>
<AbsoluteTargetSpeed value="5.0"/>
</SpeedActionTarget>
</SpeedAction>
</LongitudinalAction>
</PrivateAction>
</Action>
<StartTrigger>
<ConditionGroup>
<Condition name="StartCondition" delay="0" conditionEdge="rising">
<ByEntityCondition>
<TriggeringEntities triggeringEntitiesRule="any">
<EntityRef entityRef="hero"/>
</TriggeringEntities>
<EntityCondition>
<RelativeDistanceCondition entityRef="adversary" relativeDistanceType="cartesianDistance" value="40.0" freespace="false" rule="lessThan"/>
</EntityCondition>
</ByEntityCondition>
</Condition>
</ConditionGroup>
</StartTrigger>
</Event>
<Event name="AdversaryChangesLane" priority="overwrite">
<Action name="AdversaryChangesLane">
<PrivateAction>
<LateralAction>
<LaneChangeAction>
<LaneChangeActionDynamics dynamicsShape="linear" value="25" dynamicsDimension="distance"/>
<LaneChangeTarget>
<RelativeTargetLane entityRef="adversary" value="-1"/>
</LaneChangeTarget>
</LaneChangeAction>
</LateralAction>
</PrivateAction>
</Action>
<StartTrigger>
<ConditionGroup>
<Condition name="AfterAdversaryAccelerates" delay="0" conditionEdge="rising">
<ByValueCondition>
<StoryboardElementStateCondition storyboardElementType="action" storyboardElementRef="AdversaryAccelerates" state="completeState"/>
</ByValueCondition>
</Condition>
</ConditionGroup>
</StartTrigger>
</Event>
</Maneuver>
</ManeuverGroup>
<StartTrigger>
<ConditionGroup>
<Condition name="OverallStartCondition" delay="0" conditionEdge="rising">
<ByEntityCondition>
<TriggeringEntities triggeringEntitiesRule="any">
<EntityRef entityRef="hero"/>
</TriggeringEntities>
<EntityCondition>
<TraveledDistanceCondition value="1.0"/>
</EntityCondition>
</ByEntityCondition>
</Condition>
<Condition name="StartTime" delay="0" conditionEdge="rising">
<ByValueCondition>
<SimulationTimeCondition value="0" rule="equalTo"/>
</ByValueCondition>
</Condition>
</ConditionGroup>
</StartTrigger>
<StopTrigger>
<ConditionGroup>
<Condition name="EndCondition" delay="0" conditionEdge="rising">
<ByEntityCondition>
<TriggeringEntities triggeringEntitiesRule="any">
<EntityRef entityRef="hero"/>
</TriggeringEntities>
<EntityCondition>
<TraveledDistanceCondition value="200.0"/>
</EntityCondition>
</ByEntityCondition>
</Condition>
</ConditionGroup>
</StopTrigger>
</Act>
</Story>
<StopTrigger>
<ConditionGroup>
<Condition name="criteria_RunningStopTest" delay="0" conditionEdge="rising">
<ByValueCondition>
<ParameterCondition parameterRef="" value="" rule="lessThan"/>
</ByValueCondition>
</Condition>
<Condition name="criteria_RunningRedLightTest" delay="0" conditionEdge="rising">
<ByValueCondition>
<ParameterCondition parameterRef="" value="" rule="lessThan"/>
</ByValueCondition>
</Condition>
<Condition name="criteria_WrongLaneTest" delay="0" conditionEdge="rising">
<ByValueCondition>
<ParameterCondition parameterRef="" value="" rule="lessThan"/>
</ByValueCondition>
</Condition>
<Condition name="criteria_OnSidewalkTest" delay="0" conditionEdge="rising">
<ByValueCondition>
<ParameterCondition parameterRef="" value="" rule="lessThan"/>
</ByValueCondition>
</Condition>
<Condition name="criteria_KeepLaneTest" delay="0" conditionEdge="rising">
<ByValueCondition>
<ParameterCondition parameterRef="" value="" rule="lessThan"/>
</ByValueCondition>
</Condition>
<Condition name="criteria_CollisionTest" delay="0" conditionEdge="rising">
<ByValueCondition>
<ParameterCondition parameterRef="" value="" rule="lessThan"/>
</ByValueCondition>
</Condition>
<Condition name="criteria_DrivenDistanceTest" delay="0" conditionEdge="rising">
<ByValueCondition>
<ParameterCondition parameterRef="distance_success" value="100" rule="lessThan"/>
</ByValueCondition>
</Condition>
</ConditionGroup>
</StopTrigger>
</Storyboard>
</OpenSCENARIO>
``` | Here is the result:
```
<?xml version="1.0" ?>
<OpenSCENARIO>
<FileHeader revMajor="1" revMinor="0" date="2020-03-24T12:00:00" description="CARLA:LaneChangeSimple" author=""/>
<ParameterDeclarations/>
<CatalogLocations/>
<RoadNetwork>
<LogicFile filepath="Town04"/>
<SceneGraphFile filepath=""/>
</RoadNetwork>
<Entities>
<ScenarioObject name="hero">
<Vehicle name="vehicle.tesla.model3" vehicleCategory="car">
<ParameterDeclarations/>
<Performance maxSpeed="69.444" maxAcceleration="200" maxDeceleration="10.0"/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2.1" length="4.5" height="1.8"/>
</BoundingBox>
<Axles>
<FrontAxle maxSteering="0.5" wheelDiameter="0.6" trackWidth="1.8" positionX="3.1" positionZ="0.3"/>
<RearAxle maxSteering="0.0" wheelDiameter="0.6" trackWidth="1.8" positionX="0.0" positionZ="0.3"/>
</Axles>
<Properties>
<Property name="type" value="ego_vehicle"/>
</Properties>
</Vehicle>
</ScenarioObject>
<ScenarioObject name="adversary">
<Vehicle name="vehicle.lincoln.mkz_2017" vehicleCategory="car">
<ParameterDeclarations/>
<Performance maxSpeed="69.444" maxAcceleration="200" maxDeceleration="10.0"/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2.1" length="4.5" height="1.8"/>
</BoundingBox>
<Axles>
<FrontAxle maxSteering="0.5" wheelDiameter="0.6" trackWidth="1.8" positionX="3.1" positionZ="0.3"/>
<RearAxle maxSteering="0.0" wheelDiameter="0.6" trackWidth="1.8" positionX="0.0" positionZ="0.3"/>
</Axles>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Vehicle>
</ScenarioObject>
<ScenarioObject name="standing">
<Vehicle name="vehicle.volkswagen.t2" vehicleCategory="car">
<ParameterDeclarations/>
<Performance maxSpeed="69.444" maxAcceleration="200" maxDeceleration="10.0"/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2.1" length="4.5" height="1.8"/>
</BoundingBox>
<Axles>
<FrontAxle maxSteering="0.5" wheelDiameter="0.6" trackWidth="1.8" positionX="3.1" positionZ="0.3"/>
<RearAxle maxSteering="0.0" wheelDiameter="0.6" trackWidth="1.8" positionX="0.0" positionZ="0.3"/>
</Axles>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Vehicle>
</ScenarioObject>
<ScenarioObject name="pedestrian_close_to_standing_16976">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_close_to_adversary_16977">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_w_transform_16978">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_w_transform_16979">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_w_transform_16980">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_close_to_adversary_16981">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_w_transform_16982">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_close_to_hero_16983">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_close_to_hero_16984">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_w_transform_16985">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_close_to_hero_16986">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_w_transform_16987">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_w_transform_16990">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_w_transform_16991">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
</Entities>
<Storyboard>
<Init>
<Actions>
<GlobalAction>
<EnvironmentAction>
<Environment name="Environment1">
<TimeOfDay animation="false" dateTime="2019-06-25T12:00:00"/>
<Weather cloudState="free">
<Sun intensity="0.85" azimuth="0" elevation="1.31"/>
<Fog visualRange="100000.0"/>
<Precipitation precipitationType="dry" intensity="0.0"/>
</Weather>
<RoadCondition frictionScaleFactor="1.0"/>
</Environment>
</EnvironmentAction>
</GlobalAction>
<Private entityRef="hero">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-9.4" y="-152.8" z="0.5" h="1.57079632679"/>
</Position>
</TeleportAction>
</PrivateAction>
<PrivateAction>
<ControllerAction>
<AssignControllerAction>
<Controller name="HeroAgent">
<Properties>
<Property name="module" value="external_control"/>
</Properties>
</Controller>
</AssignControllerAction>
<OverrideControllerValueAction>
<Throttle value="0" active="false"/>
<Brake value="0" active="false"/>
<Clutch value="0" active="false"/>
<ParkingBrake value="0" active="false"/>
<SteeringWheel value="0" active="false"/>
<Gear number="0" active="false"/>
</OverrideControllerValueAction>
</ControllerAction>
</PrivateAction>
</Private>
<Private entityRef="adversary">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-9.4" y="-71.0" z="0.5" h="1.57079632679"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="standing">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-8.2" y="29.2" z="0.5" h="1.57079632679"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_close_to_standing_16976">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-1.477140188217163" y="35.6104736328125" z="0.0030515671242028475"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_close_to_adversary_16977">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="6.57399845123291" y="-80.39173889160156" z="0.03379634767770767"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_w_transform_16978">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-58.541439056396484" y="28.772010803222656" z="0.5"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_w_transform_16979">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-80.68146514892578" y="-43.53303146362305" z="0.5"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_w_transform_16980">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-40.75181579589844" y="-5.892599582672119" z="0.5"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_close_to_adversary_16981">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-13.94113540649414" y="-61.68760681152344" z="0.03380164876580238"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_w_transform_16982">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-30.82425308227539" y="-9.894180297851562" z="0.5"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_close_to_hero_16983">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-12.775850296020508" y="-137.3678436279297" z="0.0014286803780123591"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_close_to_hero_16984">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-8.495463371276855" y="-144.64122009277344" z="0.0014286803780123591"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_w_transform_16985">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-75.43057250976562" y="-50.4276123046875" z="0.5"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_close_to_hero_16986">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="0.5996369123458862" y="-144.66839599609375" z="0.0014286803780123591"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_w_transform_16987">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="30.975341796875" y="-10.483282089233398" z="0.5"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_w_transform_16990">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="89.28858184814453" y="-19.496667861938477" z="0.5"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_w_transform_16991">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="0.8614972233772278" y="-32.153167724609375" z="0.5"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
</Actions>
</Init>
<Story name="MyStory">
<Act name="Behavior">
<ManeuverGroup maximumExecutionCount="1" name="ManeuverSequence">
<Actors selectTriggeringEntities="false">
<EntityRef entityRef="adversary"/>
</Actors>
<Maneuver name="LaneChangeSimpleManeuver">
<Event name="AdversaryAccelerates" priority="overwrite">
<Action name="AdversaryAccelerates">
<PrivateAction>
<LongitudinalAction>
<SpeedAction>
<SpeedActionDynamics dynamicsShape="step" value="50" dynamicsDimension="distance"/>
<SpeedActionTarget>
<AbsoluteTargetSpeed value="5.0"/>
</SpeedActionTarget>
</SpeedAction>
</LongitudinalAction>
</PrivateAction>
</Action>
<StartTrigger>
<ConditionGroup>
<Condition name="StartCondition" delay="0" conditionEdge="rising">
<ByEntityCondition>
<TriggeringEntities triggeringEntitiesRule="any">
<EntityRef entityRef="hero"/>
</TriggeringEntities>
<EntityCondition>
<RelativeDistanceCondition entityRef="adversary" relativeDistanceType="cartesianDistance" value="40.0" freespace="false" rule="lessThan"/>
</EntityCondition>
</ByEntityCondition>
</Condition>
</ConditionGroup>
</StartTrigger>
</Event>
<Event name="AdversaryChangesLane" priority="overwrite">
<Action name="AdversaryChangesLane">
<PrivateAction>
<LateralAction>
<LaneChangeAction>
<LaneChangeActionDynamics dynamicsShape="linear" value="25" dynamicsDimension="distance"/>
<LaneChangeTarget>
<RelativeTargetLane entityRef="adversary" value="-1"/>
</LaneChangeTarget>
</LaneChangeAction>
</LateralAction>
</PrivateAction>
</Action>
<StartTrigger>
<ConditionGroup>
<Condition name="AfterAdversaryAccelerates" delay="0" conditionEdge="rising">
<ByValueCondition>
<StoryboardElementStateCondition storyboardElementType="action" storyboardElementRef="AdversaryAccelerates" state="completeState"/>
</ByValueCondition>
</Condition>
</ConditionGroup>
</StartTrigger>
</Event>
</Maneuver>
</ManeuverGroup>
<StartTrigger>
<ConditionGroup>
<Condition name="OverallStartCondition" delay="0" conditionEdge="rising">
<ByEntityCondition>
<TriggeringEntities triggeringEntitiesRule="any">
<EntityRef entityRef="hero"/>
</TriggeringEntities>
<EntityCondition>
<TraveledDistanceCondition value="1.0"/>
</EntityCondition>
</ByEntityCondition>
</Condition>
<Condition name="StartTime" delay="0" conditionEdge="rising">
<ByValueCondition>
<SimulationTimeCondition value="0" rule="equalTo"/>
</ByValueCondition>
</Condition>
</ConditionGroup>
</StartTrigger>
<StopTrigger>
<ConditionGroup>
<Condition name="EndCondition" delay="0" conditionEdge="rising">
<ByEntityCondition>
<TriggeringEntities triggeringEntitiesRule="any">
<EntityRef entityRef="hero"/>
</TriggeringEntities>
<EntityCondition>
<TraveledDistanceCondition value="200.0"/>
</EntityCondition>
</ByEntityCondition>
</Condition>
</ConditionGroup>
</StopTrigger>
</Act>
</Story>
<StopTrigger>
<ConditionGroup>
<Condition name="criteria_RunningStopTest" delay="0" conditionEdge="rising">
<ByValueCondition>
<ParameterCondition parameterRef="" value="" rule="lessThan"/>
</ByValueCondition>
</Condition>
<Condition name="criteria_RunningRedLightTest" delay="0" conditionEdge="rising">
<ByValueCondition>
<ParameterCondition parameterRef="" value="" rule="lessThan"/>
</ByValueCondition>
</Condition>
<Condition name="criteria_WrongLaneTest" delay="0" conditionEdge="rising">
<ByValueCondition>
<ParameterCondition parameterRef="" value="" rule="lessThan"/>
</ByValueCondition>
</Condition>
<Condition name="criteria_OnSidewalkTest" delay="0" conditionEdge="rising">
<ByValueCondition>
<ParameterCondition parameterRef="" value="" rule="lessThan"/>
</ByValueCondition>
</Condition>
<Condition name="criteria_KeepLaneTest" delay="0" conditionEdge="rising">
<ByValueCondition>
<ParameterCondition parameterRef="" value="" rule="lessThan"/>
</ByValueCondition>
</Condition>
<Condition name="criteria_CollisionTest" delay="0" conditionEdge="rising">
<ByValueCondition>
<ParameterCondition parameterRef="" value="" rule="lessThan"/>
</ByValueCondition>
</Condition>
<Condition name="criteria_DrivenDistanceTest" delay="0" conditionEdge="rising">
<ByValueCondition>
<ParameterCondition parameterRef="distance_success" value="100" rule="lessThan"/>
</ByValueCondition>
</Condition>
</ConditionGroup>
</StopTrigger>
</Storyboard>
</OpenSCENARIO>
``` |
would you remove pedestrian 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_8641">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_w_transform_8642">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_close_to_hero_8643">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_close_to_adversary_8644">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_w_transform_8645">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_w_transform_8646">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_w_transform_8647">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_w_transform_8648">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_close_to_adversary_8649">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_close_to_standing_8650">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_w_transform_8651">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_w_transform_8652">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_w_transform_8653">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_close_to_adversary_8655">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_close_to_hero_8656">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_close_to_hero_8659">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_close_to_hero_8661">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_w_transform_8662">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_close_to_hero_8663">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
</Entities>
<Storyboard>
<Init>
<Actions>
<GlobalAction>
<EnvironmentAction>
<Environment name="Environment1">
<TimeOfDay animation="false" dateTime="2019-06-25T12:00:00"/>
<Weather cloudState="free">
<Sun intensity="0.85" azimuth="0" elevation="1.31"/>
<Fog visualRange="100000.0"/>
<Precipitation precipitationType="dry" intensity="0.0"/>
</Weather>
<RoadCondition frictionScaleFactor="1.0"/>
</Environment>
</EnvironmentAction>
</GlobalAction>
<Private entityRef="hero">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-9.4" y="-152.8" z="0.5" h="1.57079632679"/>
</Position>
</TeleportAction>
</PrivateAction>
<PrivateAction>
<ControllerAction>
<AssignControllerAction>
<Controller name="HeroAgent">
<Properties>
<Property name="module" value="external_control"/>
</Properties>
</Controller>
</AssignControllerAction>
<OverrideControllerValueAction>
<Throttle value="0" active="false"/>
<Brake value="0" active="false"/>
<Clutch value="0" active="false"/>
<ParkingBrake value="0" active="false"/>
<SteeringWheel value="0" active="false"/>
<Gear number="0" active="false"/>
</OverrideControllerValueAction>
</ControllerAction>
</PrivateAction>
</Private>
<Private entityRef="adversary">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-9.4" y="-71.0" z="0.5" h="1.57079632679"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="standing">
<PrivateAction>
<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_8641">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-6.20053243637085" y="-63.043392181396484" z="0.03378055617213249"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_w_transform_8642">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="28.56172752380371" y="-71.12250518798828" z="0.5"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_close_to_hero_8643">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-14.67426586151123" y="-145.6430206298828" z="0.0014286803780123591"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_close_to_adversary_8644">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-13.138508796691895" y="-67.78260040283203" z="0.033758390694856644"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_w_transform_8645">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-97.96065521240234" y="9.31610107421875" z="0.5"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_w_transform_8646">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-16.786962509155273" y="-16.291427612304688" z="0.5"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_w_transform_8647">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-66.64057159423828" y="-7.858810901641846" z="0.5"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_w_transform_8648">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="94.08895111083984" y="46.39134216308594" z="0.5"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_close_to_adversary_8649">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-9.74221134185791" y="-54.74725341796875" z="0.03380035236477852"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_close_to_standing_8650">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-6.193196773529053" y="23.872539520263672" z="0.003051338018849492"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_w_transform_8651">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="87.70222473144531" y="-39.07255554199219" z="0.5"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_w_transform_8652">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="56.949485778808594" y="24.53388786315918" z="0.5"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_w_transform_8653">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-34.927425384521484" y="35.72544860839844" z="0.5"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_close_to_adversary_8655">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-1.2827441692352295" y="-61.464805603027344" z="0.03383808210492134"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_close_to_hero_8656">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-6.85136604309082" y="-145.0103302001953" z="0.0014286803780123591"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_close_to_hero_8659">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-1.6932737827301025" y="-148.8057403564453" z="0.0014286803780123591"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_close_to_hero_8661">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-21.07880210876465" y="-138.86293029785156" z="0.0014286803780123591"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_w_transform_8662">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-57.199954986572266" y="-61.53201675415039" z="0.5"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_close_to_hero_8663">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-9.737651824951172" y="-156.31492614746094" z="0.0014286803780123591"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
</Actions>
</Init>
<Story name="MyStory">
<Act name="Behavior">
<ManeuverGroup maximumExecutionCount="1" name="ManeuverSequence">
<Actors selectTriggeringEntities="false">
<EntityRef entityRef="adversary"/>
</Actors>
<Maneuver name="LaneChangeSimpleManeuver">
<Event name="AdversaryAccelerates" priority="overwrite">
<Action name="AdversaryAccelerates">
<PrivateAction>
<LongitudinalAction>
<SpeedAction>
<SpeedActionDynamics dynamicsShape="step" value="50" dynamicsDimension="distance"/>
<SpeedActionTarget>
<AbsoluteTargetSpeed value="5.0"/>
</SpeedActionTarget>
</SpeedAction>
</LongitudinalAction>
</PrivateAction>
</Action>
<StartTrigger>
<ConditionGroup>
<Condition name="StartCondition" delay="0" conditionEdge="rising">
<ByEntityCondition>
<TriggeringEntities triggeringEntitiesRule="any">
<EntityRef entityRef="hero"/>
</TriggeringEntities>
<EntityCondition>
<RelativeDistanceCondition entityRef="adversary" relativeDistanceType="cartesianDistance" value="40.0" freespace="false" rule="lessThan"/>
</EntityCondition>
</ByEntityCondition>
</Condition>
</ConditionGroup>
</StartTrigger>
</Event>
<Event name="AdversaryChangesLane" priority="overwrite">
<Action name="AdversaryChangesLane">
<PrivateAction>
<LateralAction>
<LaneChangeAction>
<LaneChangeActionDynamics dynamicsShape="linear" value="25" dynamicsDimension="distance"/>
<LaneChangeTarget>
<RelativeTargetLane entityRef="adversary" value="-1"/>
</LaneChangeTarget>
</LaneChangeAction>
</LateralAction>
</PrivateAction>
</Action>
<StartTrigger>
<ConditionGroup>
<Condition name="AfterAdversaryAccelerates" delay="0" conditionEdge="rising">
<ByValueCondition>
<StoryboardElementStateCondition storyboardElementType="action" storyboardElementRef="AdversaryAccelerates" state="completeState"/>
</ByValueCondition>
</Condition>
</ConditionGroup>
</StartTrigger>
</Event>
</Maneuver>
</ManeuverGroup>
<StartTrigger>
<ConditionGroup>
<Condition name="OverallStartCondition" delay="0" conditionEdge="rising">
<ByEntityCondition>
<TriggeringEntities triggeringEntitiesRule="any">
<EntityRef entityRef="hero"/>
</TriggeringEntities>
<EntityCondition>
<TraveledDistanceCondition value="1.0"/>
</EntityCondition>
</ByEntityCondition>
</Condition>
<Condition name="StartTime" delay="0" conditionEdge="rising">
<ByValueCondition>
<SimulationTimeCondition value="0" rule="equalTo"/>
</ByValueCondition>
</Condition>
</ConditionGroup>
</StartTrigger>
<StopTrigger>
<ConditionGroup>
<Condition name="EndCondition" delay="0" conditionEdge="rising">
<ByEntityCondition>
<TriggeringEntities triggeringEntitiesRule="any">
<EntityRef entityRef="hero"/>
</TriggeringEntities>
<EntityCondition>
<TraveledDistanceCondition value="200.0"/>
</EntityCondition>
</ByEntityCondition>
</Condition>
</ConditionGroup>
</StopTrigger>
</Act>
</Story>
<StopTrigger>
<ConditionGroup>
<Condition name="criteria_RunningStopTest" delay="0" conditionEdge="rising">
<ByValueCondition>
<ParameterCondition parameterRef="" value="" rule="lessThan"/>
</ByValueCondition>
</Condition>
<Condition name="criteria_RunningRedLightTest" delay="0" conditionEdge="rising">
<ByValueCondition>
<ParameterCondition parameterRef="" value="" rule="lessThan"/>
</ByValueCondition>
</Condition>
<Condition name="criteria_WrongLaneTest" delay="0" conditionEdge="rising">
<ByValueCondition>
<ParameterCondition parameterRef="" value="" rule="lessThan"/>
</ByValueCondition>
</Condition>
<Condition name="criteria_OnSidewalkTest" delay="0" conditionEdge="rising">
<ByValueCondition>
<ParameterCondition parameterRef="" value="" rule="lessThan"/>
</ByValueCondition>
</Condition>
<Condition name="criteria_KeepLaneTest" delay="0" conditionEdge="rising">
<ByValueCondition>
<ParameterCondition parameterRef="" value="" rule="lessThan"/>
</ByValueCondition>
</Condition>
<Condition name="criteria_CollisionTest" delay="0" conditionEdge="rising">
<ByValueCondition>
<ParameterCondition parameterRef="" value="" rule="lessThan"/>
</ByValueCondition>
</Condition>
<Condition name="criteria_DrivenDistanceTest" delay="0" conditionEdge="rising">
<ByValueCondition>
<ParameterCondition parameterRef="distance_success" value="100" rule="lessThan"/>
</ByValueCondition>
</Condition>
</ConditionGroup>
</StopTrigger>
</Storyboard>
</OpenSCENARIO>
``` | Here is the result:
```
<?xml version="1.0" ?>
<OpenSCENARIO>
<FileHeader revMajor="1" revMinor="0" date="2020-03-24T12:00:00" description="CARLA:LaneChangeSimple" author=""/>
<ParameterDeclarations/>
<CatalogLocations/>
<RoadNetwork>
<LogicFile filepath="Town04"/>
<SceneGraphFile filepath=""/>
</RoadNetwork>
<Entities>
<ScenarioObject name="hero">
<Vehicle name="vehicle.tesla.model3" vehicleCategory="car">
<ParameterDeclarations/>
<Performance maxSpeed="69.444" maxAcceleration="200" maxDeceleration="10.0"/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2.1" length="4.5" height="1.8"/>
</BoundingBox>
<Axles>
<FrontAxle maxSteering="0.5" wheelDiameter="0.6" trackWidth="1.8" positionX="3.1" positionZ="0.3"/>
<RearAxle maxSteering="0.0" wheelDiameter="0.6" trackWidth="1.8" positionX="0.0" positionZ="0.3"/>
</Axles>
<Properties>
<Property name="type" value="ego_vehicle"/>
</Properties>
</Vehicle>
</ScenarioObject>
<ScenarioObject name="adversary">
<Vehicle name="vehicle.lincoln.mkz_2017" vehicleCategory="car">
<ParameterDeclarations/>
<Performance maxSpeed="69.444" maxAcceleration="200" maxDeceleration="10.0"/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2.1" length="4.5" height="1.8"/>
</BoundingBox>
<Axles>
<FrontAxle maxSteering="0.5" wheelDiameter="0.6" trackWidth="1.8" positionX="3.1" positionZ="0.3"/>
<RearAxle maxSteering="0.0" wheelDiameter="0.6" trackWidth="1.8" positionX="0.0" positionZ="0.3"/>
</Axles>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Vehicle>
</ScenarioObject>
<ScenarioObject name="standing">
<Vehicle name="vehicle.volkswagen.t2" vehicleCategory="car">
<ParameterDeclarations/>
<Performance maxSpeed="69.444" maxAcceleration="200" maxDeceleration="10.0"/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2.1" length="4.5" height="1.8"/>
</BoundingBox>
<Axles>
<FrontAxle maxSteering="0.5" wheelDiameter="0.6" trackWidth="1.8" positionX="3.1" positionZ="0.3"/>
<RearAxle maxSteering="0.0" wheelDiameter="0.6" 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_8641">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_w_transform_8642">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_close_to_hero_8643">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_close_to_adversary_8644">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_w_transform_8645">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_w_transform_8646">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_w_transform_8647">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_w_transform_8648">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_close_to_adversary_8649">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_w_transform_8651">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_w_transform_8652">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_w_transform_8653">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_close_to_adversary_8655">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_close_to_hero_8656">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_close_to_hero_8659">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_close_to_hero_8661">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_w_transform_8662">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_close_to_hero_8663">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
</Entities>
<Storyboard>
<Init>
<Actions>
<GlobalAction>
<EnvironmentAction>
<Environment name="Environment1">
<TimeOfDay animation="false" dateTime="2019-06-25T12:00:00"/>
<Weather cloudState="free">
<Sun intensity="0.85" azimuth="0" elevation="1.31"/>
<Fog visualRange="100000.0"/>
<Precipitation precipitationType="dry" intensity="0.0"/>
</Weather>
<RoadCondition frictionScaleFactor="1.0"/>
</Environment>
</EnvironmentAction>
</GlobalAction>
<Private entityRef="hero">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-9.4" y="-152.8" z="0.5" h="1.57079632679"/>
</Position>
</TeleportAction>
</PrivateAction>
<PrivateAction>
<ControllerAction>
<AssignControllerAction>
<Controller name="HeroAgent">
<Properties>
<Property name="module" value="external_control"/>
</Properties>
</Controller>
</AssignControllerAction>
<OverrideControllerValueAction>
<Throttle value="0" active="false"/>
<Brake value="0" active="false"/>
<Clutch value="0" active="false"/>
<ParkingBrake value="0" active="false"/>
<SteeringWheel value="0" active="false"/>
<Gear number="0" active="false"/>
</OverrideControllerValueAction>
</ControllerAction>
</PrivateAction>
</Private>
<Private entityRef="adversary">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-9.4" y="-71.0" z="0.5" h="1.57079632679"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="standing">
<PrivateAction>
<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_8641">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-6.20053243637085" y="-63.043392181396484" z="0.03378055617213249"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_w_transform_8642">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="28.56172752380371" y="-71.12250518798828" z="0.5"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_close_to_hero_8643">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-14.67426586151123" y="-145.6430206298828" z="0.0014286803780123591"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_close_to_adversary_8644">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-13.138508796691895" y="-67.78260040283203" z="0.033758390694856644"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_w_transform_8645">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-97.96065521240234" y="9.31610107421875" z="0.5"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_w_transform_8646">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-16.786962509155273" y="-16.291427612304688" z="0.5"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_w_transform_8647">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-66.64057159423828" y="-7.858810901641846" z="0.5"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_w_transform_8648">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="94.08895111083984" y="46.39134216308594" z="0.5"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_close_to_adversary_8649">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-9.74221134185791" y="-54.74725341796875" z="0.03380035236477852"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_w_transform_8651">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="87.70222473144531" y="-39.07255554199219" z="0.5"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_w_transform_8652">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="56.949485778808594" y="24.53388786315918" z="0.5"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_w_transform_8653">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-34.927425384521484" y="35.72544860839844" z="0.5"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_close_to_adversary_8655">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-1.2827441692352295" y="-61.464805603027344" z="0.03383808210492134"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_close_to_hero_8656">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-6.85136604309082" y="-145.0103302001953" z="0.0014286803780123591"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_close_to_hero_8659">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-1.6932737827301025" y="-148.8057403564453" z="0.0014286803780123591"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_close_to_hero_8661">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-21.07880210876465" y="-138.86293029785156" z="0.0014286803780123591"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_w_transform_8662">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-57.199954986572266" y="-61.53201675415039" z="0.5"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_close_to_hero_8663">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-9.737651824951172" y="-156.31492614746094" z="0.0014286803780123591"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
</Actions>
</Init>
<Story name="MyStory">
<Act name="Behavior">
<ManeuverGroup maximumExecutionCount="1" name="ManeuverSequence">
<Actors selectTriggeringEntities="false">
<EntityRef entityRef="adversary"/>
</Actors>
<Maneuver name="LaneChangeSimpleManeuver">
<Event name="AdversaryAccelerates" priority="overwrite">
<Action name="AdversaryAccelerates">
<PrivateAction>
<LongitudinalAction>
<SpeedAction>
<SpeedActionDynamics dynamicsShape="step" value="50" dynamicsDimension="distance"/>
<SpeedActionTarget>
<AbsoluteTargetSpeed value="5.0"/>
</SpeedActionTarget>
</SpeedAction>
</LongitudinalAction>
</PrivateAction>
</Action>
<StartTrigger>
<ConditionGroup>
<Condition name="StartCondition" delay="0" conditionEdge="rising">
<ByEntityCondition>
<TriggeringEntities triggeringEntitiesRule="any">
<EntityRef entityRef="hero"/>
</TriggeringEntities>
<EntityCondition>
<RelativeDistanceCondition entityRef="adversary" relativeDistanceType="cartesianDistance" value="40.0" freespace="false" rule="lessThan"/>
</EntityCondition>
</ByEntityCondition>
</Condition>
</ConditionGroup>
</StartTrigger>
</Event>
<Event name="AdversaryChangesLane" priority="overwrite">
<Action name="AdversaryChangesLane">
<PrivateAction>
<LateralAction>
<LaneChangeAction>
<LaneChangeActionDynamics dynamicsShape="linear" value="25" dynamicsDimension="distance"/>
<LaneChangeTarget>
<RelativeTargetLane entityRef="adversary" value="-1"/>
</LaneChangeTarget>
</LaneChangeAction>
</LateralAction>
</PrivateAction>
</Action>
<StartTrigger>
<ConditionGroup>
<Condition name="AfterAdversaryAccelerates" delay="0" conditionEdge="rising">
<ByValueCondition>
<StoryboardElementStateCondition storyboardElementType="action" storyboardElementRef="AdversaryAccelerates" state="completeState"/>
</ByValueCondition>
</Condition>
</ConditionGroup>
</StartTrigger>
</Event>
</Maneuver>
</ManeuverGroup>
<StartTrigger>
<ConditionGroup>
<Condition name="OverallStartCondition" delay="0" conditionEdge="rising">
<ByEntityCondition>
<TriggeringEntities triggeringEntitiesRule="any">
<EntityRef entityRef="hero"/>
</TriggeringEntities>
<EntityCondition>
<TraveledDistanceCondition value="1.0"/>
</EntityCondition>
</ByEntityCondition>
</Condition>
<Condition name="StartTime" delay="0" conditionEdge="rising">
<ByValueCondition>
<SimulationTimeCondition value="0" rule="equalTo"/>
</ByValueCondition>
</Condition>
</ConditionGroup>
</StartTrigger>
<StopTrigger>
<ConditionGroup>
<Condition name="EndCondition" delay="0" conditionEdge="rising">
<ByEntityCondition>
<TriggeringEntities triggeringEntitiesRule="any">
<EntityRef entityRef="hero"/>
</TriggeringEntities>
<EntityCondition>
<TraveledDistanceCondition value="200.0"/>
</EntityCondition>
</ByEntityCondition>
</Condition>
</ConditionGroup>
</StopTrigger>
</Act>
</Story>
<StopTrigger>
<ConditionGroup>
<Condition name="criteria_RunningStopTest" delay="0" conditionEdge="rising">
<ByValueCondition>
<ParameterCondition parameterRef="" value="" rule="lessThan"/>
</ByValueCondition>
</Condition>
<Condition name="criteria_RunningRedLightTest" delay="0" conditionEdge="rising">
<ByValueCondition>
<ParameterCondition parameterRef="" value="" rule="lessThan"/>
</ByValueCondition>
</Condition>
<Condition name="criteria_WrongLaneTest" delay="0" conditionEdge="rising">
<ByValueCondition>
<ParameterCondition parameterRef="" value="" rule="lessThan"/>
</ByValueCondition>
</Condition>
<Condition name="criteria_OnSidewalkTest" delay="0" conditionEdge="rising">
<ByValueCondition>
<ParameterCondition parameterRef="" value="" rule="lessThan"/>
</ByValueCondition>
</Condition>
<Condition name="criteria_KeepLaneTest" delay="0" conditionEdge="rising">
<ByValueCondition>
<ParameterCondition parameterRef="" value="" rule="lessThan"/>
</ByValueCondition>
</Condition>
<Condition name="criteria_CollisionTest" delay="0" conditionEdge="rising">
<ByValueCondition>
<ParameterCondition parameterRef="" value="" rule="lessThan"/>
</ByValueCondition>
</Condition>
<Condition name="criteria_DrivenDistanceTest" delay="0" conditionEdge="rising">
<ByValueCondition>
<ParameterCondition parameterRef="distance_success" value="100" rule="lessThan"/>
</ByValueCondition>
</Condition>
</ConditionGroup>
</StopTrigger>
</Storyboard>
</OpenSCENARIO>
``` |
could you add pedestrian at location (-1.71, 71.73, 0.5)?
```
<?xml version="1.0" ?>
<OpenSCENARIO>
<FileHeader revMajor="1" revMinor="0" date="2020-03-24T12:00:00" description="CARLA:LaneChangeSimple" author=""/>
<ParameterDeclarations/>
<CatalogLocations/>
<RoadNetwork>
<LogicFile filepath="Town04"/>
<SceneGraphFile filepath=""/>
</RoadNetwork>
<Entities>
<ScenarioObject name="hero">
<Vehicle name="vehicle.tesla.model3" vehicleCategory="car">
<ParameterDeclarations/>
<Performance maxSpeed="69.444" maxAcceleration="200" maxDeceleration="10.0"/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2.1" length="4.5" height="1.8"/>
</BoundingBox>
<Axles>
<FrontAxle maxSteering="0.5" wheelDiameter="0.6" trackWidth="1.8" positionX="3.1" positionZ="0.3"/>
<RearAxle maxSteering="0.0" wheelDiameter="0.6" trackWidth="1.8" positionX="0.0" positionZ="0.3"/>
</Axles>
<Properties>
<Property name="type" value="ego_vehicle"/>
</Properties>
</Vehicle>
</ScenarioObject>
<ScenarioObject name="adversary">
<Vehicle name="vehicle.lincoln.mkz_2017" vehicleCategory="car">
<ParameterDeclarations/>
<Performance maxSpeed="69.444" maxAcceleration="200" maxDeceleration="10.0"/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2.1" length="4.5" height="1.8"/>
</BoundingBox>
<Axles>
<FrontAxle maxSteering="0.5" wheelDiameter="0.6" trackWidth="1.8" positionX="3.1" positionZ="0.3"/>
<RearAxle maxSteering="0.0" wheelDiameter="0.6" trackWidth="1.8" positionX="0.0" positionZ="0.3"/>
</Axles>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Vehicle>
</ScenarioObject>
<ScenarioObject name="standing">
<Vehicle name="vehicle.volkswagen.t2" vehicleCategory="car">
<ParameterDeclarations/>
<Performance maxSpeed="69.444" maxAcceleration="200" maxDeceleration="10.0"/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2.1" length="4.5" height="1.8"/>
</BoundingBox>
<Axles>
<FrontAxle maxSteering="0.5" wheelDiameter="0.6" trackWidth="1.8" positionX="3.1" positionZ="0.3"/>
<RearAxle maxSteering="0.0" wheelDiameter="0.6" trackWidth="1.8" positionX="0.0" positionZ="0.3"/>
</Axles>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Vehicle>
</ScenarioObject>
<ScenarioObject name="pedestrian_close_to_adversary_347">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_w_transform_348">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_close_to_hero_349">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_w_transform_350">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_close_to_adversary_351">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_close_to_adversary_352">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_w_transform_353">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
</Entities>
<Storyboard>
<Init>
<Actions>
<GlobalAction>
<EnvironmentAction>
<Environment name="Environment1">
<TimeOfDay animation="false" dateTime="2019-06-25T12:00:00"/>
<Weather cloudState="free">
<Sun intensity="0.85" azimuth="0" elevation="1.31"/>
<Fog visualRange="100000.0"/>
<Precipitation precipitationType="dry" intensity="0.0"/>
</Weather>
<RoadCondition frictionScaleFactor="1.0"/>
</Environment>
</EnvironmentAction>
</GlobalAction>
<Private entityRef="hero">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-9.4" y="-152.8" z="0.5" h="1.57079632679"/>
</Position>
</TeleportAction>
</PrivateAction>
<PrivateAction>
<ControllerAction>
<AssignControllerAction>
<Controller name="HeroAgent">
<Properties>
<Property name="module" value="external_control"/>
</Properties>
</Controller>
</AssignControllerAction>
<OverrideControllerValueAction>
<Throttle value="0" active="false"/>
<Brake value="0" active="false"/>
<Clutch value="0" active="false"/>
<ParkingBrake value="0" active="false"/>
<SteeringWheel value="0" active="false"/>
<Gear number="0" active="false"/>
</OverrideControllerValueAction>
</ControllerAction>
</PrivateAction>
</Private>
<Private entityRef="adversary">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-9.4" y="-71.0" z="0.5" h="1.57079632679"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="standing">
<PrivateAction>
<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_347">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="5.077051162719727" y="-59.13444519042969" z="0.03372783586382866"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_w_transform_348">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-7.999308109283447" y="-17.076641082763672" z="0.5"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_close_to_hero_349">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-2.0710887908935547" y="-153.88063049316406" z="0.0014286803780123591"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_w_transform_350">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="24.438072204589844" y="47.96884536743164" z="0.5"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_close_to_adversary_351">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-16.094274520874023" y="-80.99275207519531" z="0.03372131288051605"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_close_to_adversary_352">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-11.514567375183105" y="-72.11204528808594" z="0.03371192887425423"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_w_transform_353">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-8.0081787109375" y="50.90823745727539" z="0.5"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
</Actions>
</Init>
<Story name="MyStory">
<Act name="Behavior">
<ManeuverGroup maximumExecutionCount="1" name="ManeuverSequence">
<Actors selectTriggeringEntities="false">
<EntityRef entityRef="adversary"/>
</Actors>
<Maneuver name="LaneChangeSimpleManeuver">
<Event name="AdversaryAccelerates" priority="overwrite">
<Action name="AdversaryAccelerates">
<PrivateAction>
<LongitudinalAction>
<SpeedAction>
<SpeedActionDynamics dynamicsShape="step" value="50" dynamicsDimension="distance"/>
<SpeedActionTarget>
<AbsoluteTargetSpeed value="5.0"/>
</SpeedActionTarget>
</SpeedAction>
</LongitudinalAction>
</PrivateAction>
</Action>
<StartTrigger>
<ConditionGroup>
<Condition name="StartCondition" delay="0" conditionEdge="rising">
<ByEntityCondition>
<TriggeringEntities triggeringEntitiesRule="any">
<EntityRef entityRef="hero"/>
</TriggeringEntities>
<EntityCondition>
<RelativeDistanceCondition entityRef="adversary" relativeDistanceType="cartesianDistance" value="40.0" freespace="false" rule="lessThan"/>
</EntityCondition>
</ByEntityCondition>
</Condition>
</ConditionGroup>
</StartTrigger>
</Event>
<Event name="AdversaryChangesLane" priority="overwrite">
<Action name="AdversaryChangesLane">
<PrivateAction>
<LateralAction>
<LaneChangeAction>
<LaneChangeActionDynamics dynamicsShape="linear" value="25" dynamicsDimension="distance"/>
<LaneChangeTarget>
<RelativeTargetLane entityRef="adversary" value="-1"/>
</LaneChangeTarget>
</LaneChangeAction>
</LateralAction>
</PrivateAction>
</Action>
<StartTrigger>
<ConditionGroup>
<Condition name="AfterAdversaryAccelerates" delay="0" conditionEdge="rising">
<ByValueCondition>
<StoryboardElementStateCondition storyboardElementType="action" storyboardElementRef="AdversaryAccelerates" state="completeState"/>
</ByValueCondition>
</Condition>
</ConditionGroup>
</StartTrigger>
</Event>
</Maneuver>
</ManeuverGroup>
<StartTrigger>
<ConditionGroup>
<Condition name="OverallStartCondition" delay="0" conditionEdge="rising">
<ByEntityCondition>
<TriggeringEntities triggeringEntitiesRule="any">
<EntityRef entityRef="hero"/>
</TriggeringEntities>
<EntityCondition>
<TraveledDistanceCondition value="1.0"/>
</EntityCondition>
</ByEntityCondition>
</Condition>
<Condition name="StartTime" delay="0" conditionEdge="rising">
<ByValueCondition>
<SimulationTimeCondition value="0" rule="equalTo"/>
</ByValueCondition>
</Condition>
</ConditionGroup>
</StartTrigger>
<StopTrigger>
<ConditionGroup>
<Condition name="EndCondition" delay="0" conditionEdge="rising">
<ByEntityCondition>
<TriggeringEntities triggeringEntitiesRule="any">
<EntityRef entityRef="hero"/>
</TriggeringEntities>
<EntityCondition>
<TraveledDistanceCondition value="200.0"/>
</EntityCondition>
</ByEntityCondition>
</Condition>
</ConditionGroup>
</StopTrigger>
</Act>
</Story>
<StopTrigger>
<ConditionGroup>
<Condition name="criteria_RunningStopTest" delay="0" conditionEdge="rising">
<ByValueCondition>
<ParameterCondition parameterRef="" value="" rule="lessThan"/>
</ByValueCondition>
</Condition>
<Condition name="criteria_RunningRedLightTest" delay="0" conditionEdge="rising">
<ByValueCondition>
<ParameterCondition parameterRef="" value="" rule="lessThan"/>
</ByValueCondition>
</Condition>
<Condition name="criteria_WrongLaneTest" delay="0" conditionEdge="rising">
<ByValueCondition>
<ParameterCondition parameterRef="" value="" rule="lessThan"/>
</ByValueCondition>
</Condition>
<Condition name="criteria_OnSidewalkTest" delay="0" conditionEdge="rising">
<ByValueCondition>
<ParameterCondition parameterRef="" value="" rule="lessThan"/>
</ByValueCondition>
</Condition>
<Condition name="criteria_KeepLaneTest" delay="0" conditionEdge="rising">
<ByValueCondition>
<ParameterCondition parameterRef="" value="" rule="lessThan"/>
</ByValueCondition>
</Condition>
<Condition name="criteria_CollisionTest" delay="0" conditionEdge="rising">
<ByValueCondition>
<ParameterCondition parameterRef="" value="" rule="lessThan"/>
</ByValueCondition>
</Condition>
<Condition name="criteria_DrivenDistanceTest" delay="0" conditionEdge="rising">
<ByValueCondition>
<ParameterCondition parameterRef="distance_success" value="100" rule="lessThan"/>
</ByValueCondition>
</Condition>
</ConditionGroup>
</StopTrigger>
</Storyboard>
</OpenSCENARIO>
``` | Here is the result:
```
<?xml version="1.0" ?>
<OpenSCENARIO>
<FileHeader revMajor="1" revMinor="0" date="2020-03-24T12:00:00" description="CARLA:LaneChangeSimple" author=""/>
<ParameterDeclarations/>
<CatalogLocations/>
<RoadNetwork>
<LogicFile filepath="Town04"/>
<SceneGraphFile filepath=""/>
</RoadNetwork>
<Entities>
<ScenarioObject name="hero">
<Vehicle name="vehicle.tesla.model3" vehicleCategory="car">
<ParameterDeclarations/>
<Performance maxSpeed="69.444" maxAcceleration="200" maxDeceleration="10.0"/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2.1" length="4.5" height="1.8"/>
</BoundingBox>
<Axles>
<FrontAxle maxSteering="0.5" wheelDiameter="0.6" trackWidth="1.8" positionX="3.1" positionZ="0.3"/>
<RearAxle maxSteering="0.0" wheelDiameter="0.6" trackWidth="1.8" positionX="0.0" positionZ="0.3"/>
</Axles>
<Properties>
<Property name="type" value="ego_vehicle"/>
</Properties>
</Vehicle>
</ScenarioObject>
<ScenarioObject name="adversary">
<Vehicle name="vehicle.lincoln.mkz_2017" vehicleCategory="car">
<ParameterDeclarations/>
<Performance maxSpeed="69.444" maxAcceleration="200" maxDeceleration="10.0"/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2.1" length="4.5" height="1.8"/>
</BoundingBox>
<Axles>
<FrontAxle maxSteering="0.5" wheelDiameter="0.6" trackWidth="1.8" positionX="3.1" positionZ="0.3"/>
<RearAxle maxSteering="0.0" wheelDiameter="0.6" trackWidth="1.8" positionX="0.0" positionZ="0.3"/>
</Axles>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Vehicle>
</ScenarioObject>
<ScenarioObject name="standing">
<Vehicle name="vehicle.volkswagen.t2" vehicleCategory="car">
<ParameterDeclarations/>
<Performance maxSpeed="69.444" maxAcceleration="200" maxDeceleration="10.0"/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2.1" length="4.5" height="1.8"/>
</BoundingBox>
<Axles>
<FrontAxle maxSteering="0.5" wheelDiameter="0.6" trackWidth="1.8" positionX="3.1" positionZ="0.3"/>
<RearAxle maxSteering="0.0" wheelDiameter="0.6" 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_347">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_w_transform_348">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_close_to_hero_349">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_w_transform_350">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_close_to_adversary_351">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_close_to_adversary_352">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_w_transform_353">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_w_transform_354">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
</Entities>
<Storyboard>
<Init>
<Actions>
<GlobalAction>
<EnvironmentAction>
<Environment name="Environment1">
<TimeOfDay animation="false" dateTime="2019-06-25T12:00:00"/>
<Weather cloudState="free">
<Sun intensity="0.85" azimuth="0" elevation="1.31"/>
<Fog visualRange="100000.0"/>
<Precipitation precipitationType="dry" intensity="0.0"/>
</Weather>
<RoadCondition frictionScaleFactor="1.0"/>
</Environment>
</EnvironmentAction>
</GlobalAction>
<Private entityRef="hero">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-9.4" y="-152.8" z="0.5" h="1.57079632679"/>
</Position>
</TeleportAction>
</PrivateAction>
<PrivateAction>
<ControllerAction>
<AssignControllerAction>
<Controller name="HeroAgent">
<Properties>
<Property name="module" value="external_control"/>
</Properties>
</Controller>
</AssignControllerAction>
<OverrideControllerValueAction>
<Throttle value="0" active="false"/>
<Brake value="0" active="false"/>
<Clutch value="0" active="false"/>
<ParkingBrake value="0" active="false"/>
<SteeringWheel value="0" active="false"/>
<Gear number="0" active="false"/>
</OverrideControllerValueAction>
</ControllerAction>
</PrivateAction>
</Private>
<Private entityRef="adversary">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-9.4" y="-71.0" z="0.5" h="1.57079632679"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="standing">
<PrivateAction>
<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_347">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="5.077051162719727" y="-59.13444519042969" z="0.03372783586382866"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_w_transform_348">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-7.999308109283447" y="-17.076641082763672" z="0.5"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_close_to_hero_349">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-2.0710887908935547" y="-153.88063049316406" z="0.0014286803780123591"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_w_transform_350">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="24.438072204589844" y="47.96884536743164" z="0.5"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_close_to_adversary_351">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-16.094274520874023" y="-80.99275207519531" z="0.03372131288051605"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_close_to_adversary_352">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-11.514567375183105" y="-72.11204528808594" z="0.03371192887425423"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_w_transform_353">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-8.0081787109375" y="50.90823745727539" z="0.5"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_w_transform_354">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-1.706449031829834" y="71.73466491699219" z="0.5"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
</Actions>
</Init>
<Story name="MyStory">
<Act name="Behavior">
<ManeuverGroup maximumExecutionCount="1" name="ManeuverSequence">
<Actors selectTriggeringEntities="false">
<EntityRef entityRef="adversary"/>
</Actors>
<Maneuver name="LaneChangeSimpleManeuver">
<Event name="AdversaryAccelerates" priority="overwrite">
<Action name="AdversaryAccelerates">
<PrivateAction>
<LongitudinalAction>
<SpeedAction>
<SpeedActionDynamics dynamicsShape="step" value="50" dynamicsDimension="distance"/>
<SpeedActionTarget>
<AbsoluteTargetSpeed value="5.0"/>
</SpeedActionTarget>
</SpeedAction>
</LongitudinalAction>
</PrivateAction>
</Action>
<StartTrigger>
<ConditionGroup>
<Condition name="StartCondition" delay="0" conditionEdge="rising">
<ByEntityCondition>
<TriggeringEntities triggeringEntitiesRule="any">
<EntityRef entityRef="hero"/>
</TriggeringEntities>
<EntityCondition>
<RelativeDistanceCondition entityRef="adversary" relativeDistanceType="cartesianDistance" value="40.0" freespace="false" rule="lessThan"/>
</EntityCondition>
</ByEntityCondition>
</Condition>
</ConditionGroup>
</StartTrigger>
</Event>
<Event name="AdversaryChangesLane" priority="overwrite">
<Action name="AdversaryChangesLane">
<PrivateAction>
<LateralAction>
<LaneChangeAction>
<LaneChangeActionDynamics dynamicsShape="linear" value="25" dynamicsDimension="distance"/>
<LaneChangeTarget>
<RelativeTargetLane entityRef="adversary" value="-1"/>
</LaneChangeTarget>
</LaneChangeAction>
</LateralAction>
</PrivateAction>
</Action>
<StartTrigger>
<ConditionGroup>
<Condition name="AfterAdversaryAccelerates" delay="0" conditionEdge="rising">
<ByValueCondition>
<StoryboardElementStateCondition storyboardElementType="action" storyboardElementRef="AdversaryAccelerates" state="completeState"/>
</ByValueCondition>
</Condition>
</ConditionGroup>
</StartTrigger>
</Event>
</Maneuver>
</ManeuverGroup>
<StartTrigger>
<ConditionGroup>
<Condition name="OverallStartCondition" delay="0" conditionEdge="rising">
<ByEntityCondition>
<TriggeringEntities triggeringEntitiesRule="any">
<EntityRef entityRef="hero"/>
</TriggeringEntities>
<EntityCondition>
<TraveledDistanceCondition value="1.0"/>
</EntityCondition>
</ByEntityCondition>
</Condition>
<Condition name="StartTime" delay="0" conditionEdge="rising">
<ByValueCondition>
<SimulationTimeCondition value="0" rule="equalTo"/>
</ByValueCondition>
</Condition>
</ConditionGroup>
</StartTrigger>
<StopTrigger>
<ConditionGroup>
<Condition name="EndCondition" delay="0" conditionEdge="rising">
<ByEntityCondition>
<TriggeringEntities triggeringEntitiesRule="any">
<EntityRef entityRef="hero"/>
</TriggeringEntities>
<EntityCondition>
<TraveledDistanceCondition value="200.0"/>
</EntityCondition>
</ByEntityCondition>
</Condition>
</ConditionGroup>
</StopTrigger>
</Act>
</Story>
<StopTrigger>
<ConditionGroup>
<Condition name="criteria_RunningStopTest" delay="0" conditionEdge="rising">
<ByValueCondition>
<ParameterCondition parameterRef="" value="" rule="lessThan"/>
</ByValueCondition>
</Condition>
<Condition name="criteria_RunningRedLightTest" delay="0" conditionEdge="rising">
<ByValueCondition>
<ParameterCondition parameterRef="" value="" rule="lessThan"/>
</ByValueCondition>
</Condition>
<Condition name="criteria_WrongLaneTest" delay="0" conditionEdge="rising">
<ByValueCondition>
<ParameterCondition parameterRef="" value="" rule="lessThan"/>
</ByValueCondition>
</Condition>
<Condition name="criteria_OnSidewalkTest" delay="0" conditionEdge="rising">
<ByValueCondition>
<ParameterCondition parameterRef="" value="" rule="lessThan"/>
</ByValueCondition>
</Condition>
<Condition name="criteria_KeepLaneTest" delay="0" conditionEdge="rising">
<ByValueCondition>
<ParameterCondition parameterRef="" value="" rule="lessThan"/>
</ByValueCondition>
</Condition>
<Condition name="criteria_CollisionTest" delay="0" conditionEdge="rising">
<ByValueCondition>
<ParameterCondition parameterRef="" value="" rule="lessThan"/>
</ByValueCondition>
</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 (-63.28, 93.77, 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_17764">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_close_to_standing_17765">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_w_transform_17766">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
</Entities>
<Storyboard>
<Init>
<Actions>
<GlobalAction>
<EnvironmentAction>
<Environment name="Environment1">
<TimeOfDay animation="false" dateTime="2019-06-25T12:00:00"/>
<Weather cloudState="free">
<Sun intensity="0.85" azimuth="0" elevation="1.31"/>
<Fog visualRange="100000.0"/>
<Precipitation precipitationType="dry" intensity="0.0"/>
</Weather>
<RoadCondition frictionScaleFactor="1.0"/>
</Environment>
</EnvironmentAction>
</GlobalAction>
<Private entityRef="hero">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-9.4" y="-152.8" z="0.5" h="1.57079632679"/>
</Position>
</TeleportAction>
</PrivateAction>
<PrivateAction>
<ControllerAction>
<AssignControllerAction>
<Controller name="HeroAgent">
<Properties>
<Property name="module" value="external_control"/>
</Properties>
</Controller>
</AssignControllerAction>
<OverrideControllerValueAction>
<Throttle value="0" active="false"/>
<Brake value="0" active="false"/>
<Clutch value="0" active="false"/>
<ParkingBrake value="0" active="false"/>
<SteeringWheel value="0" active="false"/>
<Gear number="0" active="false"/>
</OverrideControllerValueAction>
</ControllerAction>
</PrivateAction>
</Private>
<Private entityRef="adversary">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-9.4" y="-71.0" z="0.5" h="1.57079632679"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="standing">
<PrivateAction>
<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_17764">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-12.249994277954102" y="-66.5082778930664" z="0.03375690430402756"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_close_to_standing_17765">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-18.087900161743164" y="37.82807922363281" z="0.003075828542932868"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_w_transform_17766">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="91.18891906738281" y="-16.089750289916992" z="0.5"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
</Actions>
</Init>
<Story name="MyStory">
<Act name="Behavior">
<ManeuverGroup maximumExecutionCount="1" name="ManeuverSequence">
<Actors selectTriggeringEntities="false">
<EntityRef entityRef="adversary"/>
</Actors>
<Maneuver name="LaneChangeSimpleManeuver">
<Event name="AdversaryAccelerates" priority="overwrite">
<Action name="AdversaryAccelerates">
<PrivateAction>
<LongitudinalAction>
<SpeedAction>
<SpeedActionDynamics dynamicsShape="step" value="50" dynamicsDimension="distance"/>
<SpeedActionTarget>
<AbsoluteTargetSpeed value="5.0"/>
</SpeedActionTarget>
</SpeedAction>
</LongitudinalAction>
</PrivateAction>
</Action>
<StartTrigger>
<ConditionGroup>
<Condition name="StartCondition" delay="0" conditionEdge="rising">
<ByEntityCondition>
<TriggeringEntities triggeringEntitiesRule="any">
<EntityRef entityRef="hero"/>
</TriggeringEntities>
<EntityCondition>
<RelativeDistanceCondition entityRef="adversary" relativeDistanceType="cartesianDistance" value="40.0" freespace="false" rule="lessThan"/>
</EntityCondition>
</ByEntityCondition>
</Condition>
</ConditionGroup>
</StartTrigger>
</Event>
<Event name="AdversaryChangesLane" priority="overwrite">
<Action name="AdversaryChangesLane">
<PrivateAction>
<LateralAction>
<LaneChangeAction>
<LaneChangeActionDynamics dynamicsShape="linear" value="25" dynamicsDimension="distance"/>
<LaneChangeTarget>
<RelativeTargetLane entityRef="adversary" value="-1"/>
</LaneChangeTarget>
</LaneChangeAction>
</LateralAction>
</PrivateAction>
</Action>
<StartTrigger>
<ConditionGroup>
<Condition name="AfterAdversaryAccelerates" delay="0" conditionEdge="rising">
<ByValueCondition>
<StoryboardElementStateCondition storyboardElementType="action" storyboardElementRef="AdversaryAccelerates" state="completeState"/>
</ByValueCondition>
</Condition>
</ConditionGroup>
</StartTrigger>
</Event>
</Maneuver>
</ManeuverGroup>
<StartTrigger>
<ConditionGroup>
<Condition name="OverallStartCondition" delay="0" conditionEdge="rising">
<ByEntityCondition>
<TriggeringEntities triggeringEntitiesRule="any">
<EntityRef entityRef="hero"/>
</TriggeringEntities>
<EntityCondition>
<TraveledDistanceCondition value="1.0"/>
</EntityCondition>
</ByEntityCondition>
</Condition>
<Condition name="StartTime" delay="0" conditionEdge="rising">
<ByValueCondition>
<SimulationTimeCondition value="0" rule="equalTo"/>
</ByValueCondition>
</Condition>
</ConditionGroup>
</StartTrigger>
<StopTrigger>
<ConditionGroup>
<Condition name="EndCondition" delay="0" conditionEdge="rising">
<ByEntityCondition>
<TriggeringEntities triggeringEntitiesRule="any">
<EntityRef entityRef="hero"/>
</TriggeringEntities>
<EntityCondition>
<TraveledDistanceCondition value="200.0"/>
</EntityCondition>
</ByEntityCondition>
</Condition>
</ConditionGroup>
</StopTrigger>
</Act>
</Story>
<StopTrigger>
<ConditionGroup>
<Condition name="criteria_RunningStopTest" delay="0" conditionEdge="rising">
<ByValueCondition>
<ParameterCondition parameterRef="" value="" rule="lessThan"/>
</ByValueCondition>
</Condition>
<Condition name="criteria_RunningRedLightTest" delay="0" conditionEdge="rising">
<ByValueCondition>
<ParameterCondition parameterRef="" value="" rule="lessThan"/>
</ByValueCondition>
</Condition>
<Condition name="criteria_WrongLaneTest" delay="0" conditionEdge="rising">
<ByValueCondition>
<ParameterCondition parameterRef="" value="" rule="lessThan"/>
</ByValueCondition>
</Condition>
<Condition name="criteria_OnSidewalkTest" delay="0" conditionEdge="rising">
<ByValueCondition>
<ParameterCondition parameterRef="" value="" rule="lessThan"/>
</ByValueCondition>
</Condition>
<Condition name="criteria_KeepLaneTest" delay="0" conditionEdge="rising">
<ByValueCondition>
<ParameterCondition parameterRef="" value="" rule="lessThan"/>
</ByValueCondition>
</Condition>
<Condition name="criteria_CollisionTest" delay="0" conditionEdge="rising">
<ByValueCondition>
<ParameterCondition parameterRef="" value="" rule="lessThan"/>
</ByValueCondition>
</Condition>
<Condition name="criteria_DrivenDistanceTest" delay="0" conditionEdge="rising">
<ByValueCondition>
<ParameterCondition parameterRef="distance_success" value="100" rule="lessThan"/>
</ByValueCondition>
</Condition>
</ConditionGroup>
</StopTrigger>
</Storyboard>
</OpenSCENARIO>
``` | Here is the result:
```
<?xml version="1.0" ?>
<OpenSCENARIO>
<FileHeader revMajor="1" revMinor="0" date="2020-03-24T12:00:00" description="CARLA:LaneChangeSimple" author=""/>
<ParameterDeclarations/>
<CatalogLocations/>
<RoadNetwork>
<LogicFile filepath="Town04"/>
<SceneGraphFile filepath=""/>
</RoadNetwork>
<Entities>
<ScenarioObject name="hero">
<Vehicle name="vehicle.tesla.model3" vehicleCategory="car">
<ParameterDeclarations/>
<Performance maxSpeed="69.444" maxAcceleration="200" maxDeceleration="10.0"/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2.1" length="4.5" height="1.8"/>
</BoundingBox>
<Axles>
<FrontAxle maxSteering="0.5" wheelDiameter="0.6" trackWidth="1.8" positionX="3.1" positionZ="0.3"/>
<RearAxle maxSteering="0.0" wheelDiameter="0.6" trackWidth="1.8" positionX="0.0" positionZ="0.3"/>
</Axles>
<Properties>
<Property name="type" value="ego_vehicle"/>
</Properties>
</Vehicle>
</ScenarioObject>
<ScenarioObject name="adversary">
<Vehicle name="vehicle.lincoln.mkz_2017" vehicleCategory="car">
<ParameterDeclarations/>
<Performance maxSpeed="69.444" maxAcceleration="200" maxDeceleration="10.0"/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2.1" length="4.5" height="1.8"/>
</BoundingBox>
<Axles>
<FrontAxle maxSteering="0.5" wheelDiameter="0.6" trackWidth="1.8" positionX="3.1" positionZ="0.3"/>
<RearAxle maxSteering="0.0" wheelDiameter="0.6" trackWidth="1.8" positionX="0.0" positionZ="0.3"/>
</Axles>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Vehicle>
</ScenarioObject>
<ScenarioObject name="standing">
<Vehicle name="vehicle.volkswagen.t2" vehicleCategory="car">
<ParameterDeclarations/>
<Performance maxSpeed="69.444" maxAcceleration="200" maxDeceleration="10.0"/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2.1" length="4.5" height="1.8"/>
</BoundingBox>
<Axles>
<FrontAxle maxSteering="0.5" wheelDiameter="0.6" trackWidth="1.8" positionX="3.1" positionZ="0.3"/>
<RearAxle maxSteering="0.0" wheelDiameter="0.6" 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_17764">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_close_to_standing_17765">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_w_transform_17766">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_w_transform_17767">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
</Entities>
<Storyboard>
<Init>
<Actions>
<GlobalAction>
<EnvironmentAction>
<Environment name="Environment1">
<TimeOfDay animation="false" dateTime="2019-06-25T12:00:00"/>
<Weather cloudState="free">
<Sun intensity="0.85" azimuth="0" elevation="1.31"/>
<Fog visualRange="100000.0"/>
<Precipitation precipitationType="dry" intensity="0.0"/>
</Weather>
<RoadCondition frictionScaleFactor="1.0"/>
</Environment>
</EnvironmentAction>
</GlobalAction>
<Private entityRef="hero">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-9.4" y="-152.8" z="0.5" h="1.57079632679"/>
</Position>
</TeleportAction>
</PrivateAction>
<PrivateAction>
<ControllerAction>
<AssignControllerAction>
<Controller name="HeroAgent">
<Properties>
<Property name="module" value="external_control"/>
</Properties>
</Controller>
</AssignControllerAction>
<OverrideControllerValueAction>
<Throttle value="0" active="false"/>
<Brake value="0" active="false"/>
<Clutch value="0" active="false"/>
<ParkingBrake value="0" active="false"/>
<SteeringWheel value="0" active="false"/>
<Gear number="0" active="false"/>
</OverrideControllerValueAction>
</ControllerAction>
</PrivateAction>
</Private>
<Private entityRef="adversary">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-9.4" y="-71.0" z="0.5" h="1.57079632679"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="standing">
<PrivateAction>
<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_17764">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-12.249994277954102" y="-66.5082778930664" z="0.03375690430402756"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_close_to_standing_17765">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-18.087900161743164" y="37.82807922363281" z="0.003075828542932868"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_w_transform_17766">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="91.18891906738281" y="-16.089750289916992" z="0.5"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_w_transform_17767">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-63.27848815917969" y="93.76700592041016" z="0.5"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
</Actions>
</Init>
<Story name="MyStory">
<Act name="Behavior">
<ManeuverGroup maximumExecutionCount="1" name="ManeuverSequence">
<Actors selectTriggeringEntities="false">
<EntityRef entityRef="adversary"/>
</Actors>
<Maneuver name="LaneChangeSimpleManeuver">
<Event name="AdversaryAccelerates" priority="overwrite">
<Action name="AdversaryAccelerates">
<PrivateAction>
<LongitudinalAction>
<SpeedAction>
<SpeedActionDynamics dynamicsShape="step" value="50" dynamicsDimension="distance"/>
<SpeedActionTarget>
<AbsoluteTargetSpeed value="5.0"/>
</SpeedActionTarget>
</SpeedAction>
</LongitudinalAction>
</PrivateAction>
</Action>
<StartTrigger>
<ConditionGroup>
<Condition name="StartCondition" delay="0" conditionEdge="rising">
<ByEntityCondition>
<TriggeringEntities triggeringEntitiesRule="any">
<EntityRef entityRef="hero"/>
</TriggeringEntities>
<EntityCondition>
<RelativeDistanceCondition entityRef="adversary" relativeDistanceType="cartesianDistance" value="40.0" freespace="false" rule="lessThan"/>
</EntityCondition>
</ByEntityCondition>
</Condition>
</ConditionGroup>
</StartTrigger>
</Event>
<Event name="AdversaryChangesLane" priority="overwrite">
<Action name="AdversaryChangesLane">
<PrivateAction>
<LateralAction>
<LaneChangeAction>
<LaneChangeActionDynamics dynamicsShape="linear" value="25" dynamicsDimension="distance"/>
<LaneChangeTarget>
<RelativeTargetLane entityRef="adversary" value="-1"/>
</LaneChangeTarget>
</LaneChangeAction>
</LateralAction>
</PrivateAction>
</Action>
<StartTrigger>
<ConditionGroup>
<Condition name="AfterAdversaryAccelerates" delay="0" conditionEdge="rising">
<ByValueCondition>
<StoryboardElementStateCondition storyboardElementType="action" storyboardElementRef="AdversaryAccelerates" state="completeState"/>
</ByValueCondition>
</Condition>
</ConditionGroup>
</StartTrigger>
</Event>
</Maneuver>
</ManeuverGroup>
<StartTrigger>
<ConditionGroup>
<Condition name="OverallStartCondition" delay="0" conditionEdge="rising">
<ByEntityCondition>
<TriggeringEntities triggeringEntitiesRule="any">
<EntityRef entityRef="hero"/>
</TriggeringEntities>
<EntityCondition>
<TraveledDistanceCondition value="1.0"/>
</EntityCondition>
</ByEntityCondition>
</Condition>
<Condition name="StartTime" delay="0" conditionEdge="rising">
<ByValueCondition>
<SimulationTimeCondition value="0" rule="equalTo"/>
</ByValueCondition>
</Condition>
</ConditionGroup>
</StartTrigger>
<StopTrigger>
<ConditionGroup>
<Condition name="EndCondition" delay="0" conditionEdge="rising">
<ByEntityCondition>
<TriggeringEntities triggeringEntitiesRule="any">
<EntityRef entityRef="hero"/>
</TriggeringEntities>
<EntityCondition>
<TraveledDistanceCondition value="200.0"/>
</EntityCondition>
</ByEntityCondition>
</Condition>
</ConditionGroup>
</StopTrigger>
</Act>
</Story>
<StopTrigger>
<ConditionGroup>
<Condition name="criteria_RunningStopTest" delay="0" conditionEdge="rising">
<ByValueCondition>
<ParameterCondition parameterRef="" value="" rule="lessThan"/>
</ByValueCondition>
</Condition>
<Condition name="criteria_RunningRedLightTest" delay="0" conditionEdge="rising">
<ByValueCondition>
<ParameterCondition parameterRef="" value="" rule="lessThan"/>
</ByValueCondition>
</Condition>
<Condition name="criteria_WrongLaneTest" delay="0" conditionEdge="rising">
<ByValueCondition>
<ParameterCondition parameterRef="" value="" rule="lessThan"/>
</ByValueCondition>
</Condition>
<Condition name="criteria_OnSidewalkTest" delay="0" conditionEdge="rising">
<ByValueCondition>
<ParameterCondition parameterRef="" value="" rule="lessThan"/>
</ByValueCondition>
</Condition>
<Condition name="criteria_KeepLaneTest" delay="0" conditionEdge="rising">
<ByValueCondition>
<ParameterCondition parameterRef="" value="" rule="lessThan"/>
</ByValueCondition>
</Condition>
<Condition name="criteria_CollisionTest" delay="0" conditionEdge="rising">
<ByValueCondition>
<ParameterCondition parameterRef="" value="" rule="lessThan"/>
</ByValueCondition>
</Condition>
<Condition name="criteria_DrivenDistanceTest" delay="0" conditionEdge="rising">
<ByValueCondition>
<ParameterCondition parameterRef="distance_success" value="100" rule="lessThan"/>
</ByValueCondition>
</Condition>
</ConditionGroup>
</StopTrigger>
</Storyboard>
</OpenSCENARIO>
``` |
i would like to order you to add pedestrian close to adversary?
```
<?xml version="1.0" ?>
<OpenSCENARIO>
<FileHeader revMajor="1" revMinor="0" date="2020-03-24T12:00:00" description="CARLA:LaneChangeSimple" author=""/>
<ParameterDeclarations/>
<CatalogLocations/>
<RoadNetwork>
<LogicFile filepath="Town04"/>
<SceneGraphFile filepath=""/>
</RoadNetwork>
<Entities>
<ScenarioObject name="hero">
<Vehicle name="vehicle.tesla.model3" vehicleCategory="car">
<ParameterDeclarations/>
<Performance maxSpeed="69.444" maxAcceleration="200" maxDeceleration="10.0"/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2.1" length="4.5" height="1.8"/>
</BoundingBox>
<Axles>
<FrontAxle maxSteering="0.5" wheelDiameter="0.6" trackWidth="1.8" positionX="3.1" positionZ="0.3"/>
<RearAxle maxSteering="0.0" wheelDiameter="0.6" trackWidth="1.8" positionX="0.0" positionZ="0.3"/>
</Axles>
<Properties>
<Property name="type" value="ego_vehicle"/>
</Properties>
</Vehicle>
</ScenarioObject>
<ScenarioObject name="adversary">
<Vehicle name="vehicle.lincoln.mkz_2017" vehicleCategory="car">
<ParameterDeclarations/>
<Performance maxSpeed="69.444" maxAcceleration="200" maxDeceleration="10.0"/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2.1" length="4.5" height="1.8"/>
</BoundingBox>
<Axles>
<FrontAxle maxSteering="0.5" wheelDiameter="0.6" trackWidth="1.8" positionX="3.1" positionZ="0.3"/>
<RearAxle maxSteering="0.0" wheelDiameter="0.6" trackWidth="1.8" positionX="0.0" positionZ="0.3"/>
</Axles>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Vehicle>
</ScenarioObject>
<ScenarioObject name="standing">
<Vehicle name="vehicle.volkswagen.t2" vehicleCategory="car">
<ParameterDeclarations/>
<Performance maxSpeed="69.444" maxAcceleration="200" maxDeceleration="10.0"/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2.1" length="4.5" height="1.8"/>
</BoundingBox>
<Axles>
<FrontAxle maxSteering="0.5" wheelDiameter="0.6" trackWidth="1.8" positionX="3.1" positionZ="0.3"/>
<RearAxle maxSteering="0.0" wheelDiameter="0.6" trackWidth="1.8" positionX="0.0" positionZ="0.3"/>
</Axles>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Vehicle>
</ScenarioObject>
<ScenarioObject name="pedestrian_close_to_hero_21274">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_w_transform_21275">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_close_to_hero_21276">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_close_to_hero_21277">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_w_transform_21278">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_close_to_standing_21279">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_w_transform_21280">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_close_to_adversary_21281">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_w_transform_21282">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_w_transform_21283">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_w_transform_21284">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_close_to_standing_21285">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_w_transform_21286">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
</Entities>
<Storyboard>
<Init>
<Actions>
<GlobalAction>
<EnvironmentAction>
<Environment name="Environment1">
<TimeOfDay animation="false" dateTime="2019-06-25T12:00:00"/>
<Weather cloudState="free">
<Sun intensity="0.85" azimuth="0" elevation="1.31"/>
<Fog visualRange="100000.0"/>
<Precipitation precipitationType="dry" intensity="0.0"/>
</Weather>
<RoadCondition frictionScaleFactor="1.0"/>
</Environment>
</EnvironmentAction>
</GlobalAction>
<Private entityRef="hero">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-9.4" y="-152.8" z="0.5" h="1.57079632679"/>
</Position>
</TeleportAction>
</PrivateAction>
<PrivateAction>
<ControllerAction>
<AssignControllerAction>
<Controller name="HeroAgent">
<Properties>
<Property name="module" value="external_control"/>
</Properties>
</Controller>
</AssignControllerAction>
<OverrideControllerValueAction>
<Throttle value="0" active="false"/>
<Brake value="0" active="false"/>
<Clutch value="0" active="false"/>
<ParkingBrake value="0" active="false"/>
<SteeringWheel value="0" active="false"/>
<Gear number="0" active="false"/>
</OverrideControllerValueAction>
</ControllerAction>
</PrivateAction>
</Private>
<Private entityRef="adversary">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-9.4" y="-71.0" z="0.5" h="1.57079632679"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="standing">
<PrivateAction>
<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_21274">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-1.6910876035690308" y="-146.77151489257812" z="0.0014286803780123591"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_w_transform_21275">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-57.92443084716797" y="-43.726192474365234" z="0.5"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_close_to_hero_21276">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-6.172215938568115" y="-161.93763732910156" z="0.0014286803780123591"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_close_to_hero_21277">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-6.660041332244873" y="-145.40687561035156" z="0.0014286803780123591"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_w_transform_21278">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="29.96778106689453" y="67.91075134277344" z="0.5"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_close_to_standing_21279">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="10.582036972045898" y="29.304035186767578" z="0.0030707931146025658"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_w_transform_21280">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="0.43834179639816284" y="83.23600769042969" z="0.5"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_close_to_adversary_21281">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-12.186416625976562" y="-65.1771469116211" z="0.033790472894907"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_w_transform_21282">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="78.72749328613281" y="47.34641647338867" z="0.5"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_w_transform_21283">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="70.49009704589844" y="28.927186965942383" z="0.5"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_w_transform_21284">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="79.75509643554688" y="13.787025451660156" z="0.5"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_close_to_standing_21285">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-2.666735887527466" y="34.14902114868164" z="0.0030421828851103783"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_w_transform_21286">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="87.40767669677734" y="55.46109390258789" z="0.5"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
</Actions>
</Init>
<Story name="MyStory">
<Act name="Behavior">
<ManeuverGroup maximumExecutionCount="1" name="ManeuverSequence">
<Actors selectTriggeringEntities="false">
<EntityRef entityRef="adversary"/>
</Actors>
<Maneuver name="LaneChangeSimpleManeuver">
<Event name="AdversaryAccelerates" priority="overwrite">
<Action name="AdversaryAccelerates">
<PrivateAction>
<LongitudinalAction>
<SpeedAction>
<SpeedActionDynamics dynamicsShape="step" value="50" dynamicsDimension="distance"/>
<SpeedActionTarget>
<AbsoluteTargetSpeed value="5.0"/>
</SpeedActionTarget>
</SpeedAction>
</LongitudinalAction>
</PrivateAction>
</Action>
<StartTrigger>
<ConditionGroup>
<Condition name="StartCondition" delay="0" conditionEdge="rising">
<ByEntityCondition>
<TriggeringEntities triggeringEntitiesRule="any">
<EntityRef entityRef="hero"/>
</TriggeringEntities>
<EntityCondition>
<RelativeDistanceCondition entityRef="adversary" relativeDistanceType="cartesianDistance" value="40.0" freespace="false" rule="lessThan"/>
</EntityCondition>
</ByEntityCondition>
</Condition>
</ConditionGroup>
</StartTrigger>
</Event>
<Event name="AdversaryChangesLane" priority="overwrite">
<Action name="AdversaryChangesLane">
<PrivateAction>
<LateralAction>
<LaneChangeAction>
<LaneChangeActionDynamics dynamicsShape="linear" value="25" dynamicsDimension="distance"/>
<LaneChangeTarget>
<RelativeTargetLane entityRef="adversary" value="-1"/>
</LaneChangeTarget>
</LaneChangeAction>
</LateralAction>
</PrivateAction>
</Action>
<StartTrigger>
<ConditionGroup>
<Condition name="AfterAdversaryAccelerates" delay="0" conditionEdge="rising">
<ByValueCondition>
<StoryboardElementStateCondition storyboardElementType="action" storyboardElementRef="AdversaryAccelerates" state="completeState"/>
</ByValueCondition>
</Condition>
</ConditionGroup>
</StartTrigger>
</Event>
</Maneuver>
</ManeuverGroup>
<StartTrigger>
<ConditionGroup>
<Condition name="OverallStartCondition" delay="0" conditionEdge="rising">
<ByEntityCondition>
<TriggeringEntities triggeringEntitiesRule="any">
<EntityRef entityRef="hero"/>
</TriggeringEntities>
<EntityCondition>
<TraveledDistanceCondition value="1.0"/>
</EntityCondition>
</ByEntityCondition>
</Condition>
<Condition name="StartTime" delay="0" conditionEdge="rising">
<ByValueCondition>
<SimulationTimeCondition value="0" rule="equalTo"/>
</ByValueCondition>
</Condition>
</ConditionGroup>
</StartTrigger>
<StopTrigger>
<ConditionGroup>
<Condition name="EndCondition" delay="0" conditionEdge="rising">
<ByEntityCondition>
<TriggeringEntities triggeringEntitiesRule="any">
<EntityRef entityRef="hero"/>
</TriggeringEntities>
<EntityCondition>
<TraveledDistanceCondition value="200.0"/>
</EntityCondition>
</ByEntityCondition>
</Condition>
</ConditionGroup>
</StopTrigger>
</Act>
</Story>
<StopTrigger>
<ConditionGroup>
<Condition name="criteria_RunningStopTest" delay="0" conditionEdge="rising">
<ByValueCondition>
<ParameterCondition parameterRef="" value="" rule="lessThan"/>
</ByValueCondition>
</Condition>
<Condition name="criteria_RunningRedLightTest" delay="0" conditionEdge="rising">
<ByValueCondition>
<ParameterCondition parameterRef="" value="" rule="lessThan"/>
</ByValueCondition>
</Condition>
<Condition name="criteria_WrongLaneTest" delay="0" conditionEdge="rising">
<ByValueCondition>
<ParameterCondition parameterRef="" value="" rule="lessThan"/>
</ByValueCondition>
</Condition>
<Condition name="criteria_OnSidewalkTest" delay="0" conditionEdge="rising">
<ByValueCondition>
<ParameterCondition parameterRef="" value="" rule="lessThan"/>
</ByValueCondition>
</Condition>
<Condition name="criteria_KeepLaneTest" delay="0" conditionEdge="rising">
<ByValueCondition>
<ParameterCondition parameterRef="" value="" rule="lessThan"/>
</ByValueCondition>
</Condition>
<Condition name="criteria_CollisionTest" delay="0" conditionEdge="rising">
<ByValueCondition>
<ParameterCondition parameterRef="" value="" rule="lessThan"/>
</ByValueCondition>
</Condition>
<Condition name="criteria_DrivenDistanceTest" delay="0" conditionEdge="rising">
<ByValueCondition>
<ParameterCondition parameterRef="distance_success" value="100" rule="lessThan"/>
</ByValueCondition>
</Condition>
</ConditionGroup>
</StopTrigger>
</Storyboard>
</OpenSCENARIO>
``` | Here is the result:
```
<?xml version="1.0" ?>
<OpenSCENARIO>
<FileHeader revMajor="1" revMinor="0" date="2020-03-24T12:00:00" description="CARLA:LaneChangeSimple" author=""/>
<ParameterDeclarations/>
<CatalogLocations/>
<RoadNetwork>
<LogicFile filepath="Town04"/>
<SceneGraphFile filepath=""/>
</RoadNetwork>
<Entities>
<ScenarioObject name="hero">
<Vehicle name="vehicle.tesla.model3" vehicleCategory="car">
<ParameterDeclarations/>
<Performance maxSpeed="69.444" maxAcceleration="200" maxDeceleration="10.0"/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2.1" length="4.5" height="1.8"/>
</BoundingBox>
<Axles>
<FrontAxle maxSteering="0.5" wheelDiameter="0.6" trackWidth="1.8" positionX="3.1" positionZ="0.3"/>
<RearAxle maxSteering="0.0" wheelDiameter="0.6" trackWidth="1.8" positionX="0.0" positionZ="0.3"/>
</Axles>
<Properties>
<Property name="type" value="ego_vehicle"/>
</Properties>
</Vehicle>
</ScenarioObject>
<ScenarioObject name="adversary">
<Vehicle name="vehicle.lincoln.mkz_2017" vehicleCategory="car">
<ParameterDeclarations/>
<Performance maxSpeed="69.444" maxAcceleration="200" maxDeceleration="10.0"/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2.1" length="4.5" height="1.8"/>
</BoundingBox>
<Axles>
<FrontAxle maxSteering="0.5" wheelDiameter="0.6" trackWidth="1.8" positionX="3.1" positionZ="0.3"/>
<RearAxle maxSteering="0.0" wheelDiameter="0.6" trackWidth="1.8" positionX="0.0" positionZ="0.3"/>
</Axles>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Vehicle>
</ScenarioObject>
<ScenarioObject name="standing">
<Vehicle name="vehicle.volkswagen.t2" vehicleCategory="car">
<ParameterDeclarations/>
<Performance maxSpeed="69.444" maxAcceleration="200" maxDeceleration="10.0"/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2.1" length="4.5" height="1.8"/>
</BoundingBox>
<Axles>
<FrontAxle maxSteering="0.5" wheelDiameter="0.6" trackWidth="1.8" positionX="3.1" positionZ="0.3"/>
<RearAxle maxSteering="0.0" wheelDiameter="0.6" 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_21274">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_w_transform_21275">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_close_to_hero_21276">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_close_to_hero_21277">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_w_transform_21278">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_close_to_standing_21279">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_w_transform_21280">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_close_to_adversary_21281">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_w_transform_21282">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_w_transform_21283">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_w_transform_21284">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_close_to_standing_21285">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_w_transform_21286">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_close_to_adversary_21287">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
</Entities>
<Storyboard>
<Init>
<Actions>
<GlobalAction>
<EnvironmentAction>
<Environment name="Environment1">
<TimeOfDay animation="false" dateTime="2019-06-25T12:00:00"/>
<Weather cloudState="free">
<Sun intensity="0.85" azimuth="0" elevation="1.31"/>
<Fog visualRange="100000.0"/>
<Precipitation precipitationType="dry" intensity="0.0"/>
</Weather>
<RoadCondition frictionScaleFactor="1.0"/>
</Environment>
</EnvironmentAction>
</GlobalAction>
<Private entityRef="hero">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-9.4" y="-152.8" z="0.5" h="1.57079632679"/>
</Position>
</TeleportAction>
</PrivateAction>
<PrivateAction>
<ControllerAction>
<AssignControllerAction>
<Controller name="HeroAgent">
<Properties>
<Property name="module" value="external_control"/>
</Properties>
</Controller>
</AssignControllerAction>
<OverrideControllerValueAction>
<Throttle value="0" active="false"/>
<Brake value="0" active="false"/>
<Clutch value="0" active="false"/>
<ParkingBrake value="0" active="false"/>
<SteeringWheel value="0" active="false"/>
<Gear number="0" active="false"/>
</OverrideControllerValueAction>
</ControllerAction>
</PrivateAction>
</Private>
<Private entityRef="adversary">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-9.4" y="-71.0" z="0.5" h="1.57079632679"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="standing">
<PrivateAction>
<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_21274">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-1.6910876035690308" y="-146.77151489257812" z="0.0014286803780123591"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_w_transform_21275">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-57.92443084716797" y="-43.726192474365234" z="0.5"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_close_to_hero_21276">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-6.172215938568115" y="-161.93763732910156" z="0.0014286803780123591"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_close_to_hero_21277">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-6.660041332244873" y="-145.40687561035156" z="0.0014286803780123591"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_w_transform_21278">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="29.96778106689453" y="67.91075134277344" z="0.5"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_close_to_standing_21279">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="10.582036972045898" y="29.304035186767578" z="0.0030707931146025658"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_w_transform_21280">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="0.43834179639816284" y="83.23600769042969" z="0.5"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_close_to_adversary_21281">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-12.186416625976562" y="-65.1771469116211" z="0.033790472894907"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_w_transform_21282">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="78.72749328613281" y="47.34641647338867" z="0.5"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_w_transform_21283">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="70.49009704589844" y="28.927186965942383" z="0.5"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_w_transform_21284">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="79.75509643554688" y="13.787025451660156" z="0.5"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_close_to_standing_21285">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-2.666735887527466" y="34.14902114868164" z="0.0030421828851103783"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_w_transform_21286">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="87.40767669677734" y="55.46109390258789" z="0.5"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_close_to_adversary_21287">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-4.506070137023926" y="-73.50542449951172" z="0.03384460508823395"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
</Actions>
</Init>
<Story name="MyStory">
<Act name="Behavior">
<ManeuverGroup maximumExecutionCount="1" name="ManeuverSequence">
<Actors selectTriggeringEntities="false">
<EntityRef entityRef="adversary"/>
</Actors>
<Maneuver name="LaneChangeSimpleManeuver">
<Event name="AdversaryAccelerates" priority="overwrite">
<Action name="AdversaryAccelerates">
<PrivateAction>
<LongitudinalAction>
<SpeedAction>
<SpeedActionDynamics dynamicsShape="step" value="50" dynamicsDimension="distance"/>
<SpeedActionTarget>
<AbsoluteTargetSpeed value="5.0"/>
</SpeedActionTarget>
</SpeedAction>
</LongitudinalAction>
</PrivateAction>
</Action>
<StartTrigger>
<ConditionGroup>
<Condition name="StartCondition" delay="0" conditionEdge="rising">
<ByEntityCondition>
<TriggeringEntities triggeringEntitiesRule="any">
<EntityRef entityRef="hero"/>
</TriggeringEntities>
<EntityCondition>
<RelativeDistanceCondition entityRef="adversary" relativeDistanceType="cartesianDistance" value="40.0" freespace="false" rule="lessThan"/>
</EntityCondition>
</ByEntityCondition>
</Condition>
</ConditionGroup>
</StartTrigger>
</Event>
<Event name="AdversaryChangesLane" priority="overwrite">
<Action name="AdversaryChangesLane">
<PrivateAction>
<LateralAction>
<LaneChangeAction>
<LaneChangeActionDynamics dynamicsShape="linear" value="25" dynamicsDimension="distance"/>
<LaneChangeTarget>
<RelativeTargetLane entityRef="adversary" value="-1"/>
</LaneChangeTarget>
</LaneChangeAction>
</LateralAction>
</PrivateAction>
</Action>
<StartTrigger>
<ConditionGroup>
<Condition name="AfterAdversaryAccelerates" delay="0" conditionEdge="rising">
<ByValueCondition>
<StoryboardElementStateCondition storyboardElementType="action" storyboardElementRef="AdversaryAccelerates" state="completeState"/>
</ByValueCondition>
</Condition>
</ConditionGroup>
</StartTrigger>
</Event>
</Maneuver>
</ManeuverGroup>
<StartTrigger>
<ConditionGroup>
<Condition name="OverallStartCondition" delay="0" conditionEdge="rising">
<ByEntityCondition>
<TriggeringEntities triggeringEntitiesRule="any">
<EntityRef entityRef="hero"/>
</TriggeringEntities>
<EntityCondition>
<TraveledDistanceCondition value="1.0"/>
</EntityCondition>
</ByEntityCondition>
</Condition>
<Condition name="StartTime" delay="0" conditionEdge="rising">
<ByValueCondition>
<SimulationTimeCondition value="0" rule="equalTo"/>
</ByValueCondition>
</Condition>
</ConditionGroup>
</StartTrigger>
<StopTrigger>
<ConditionGroup>
<Condition name="EndCondition" delay="0" conditionEdge="rising">
<ByEntityCondition>
<TriggeringEntities triggeringEntitiesRule="any">
<EntityRef entityRef="hero"/>
</TriggeringEntities>
<EntityCondition>
<TraveledDistanceCondition value="200.0"/>
</EntityCondition>
</ByEntityCondition>
</Condition>
</ConditionGroup>
</StopTrigger>
</Act>
</Story>
<StopTrigger>
<ConditionGroup>
<Condition name="criteria_RunningStopTest" delay="0" conditionEdge="rising">
<ByValueCondition>
<ParameterCondition parameterRef="" value="" rule="lessThan"/>
</ByValueCondition>
</Condition>
<Condition name="criteria_RunningRedLightTest" delay="0" conditionEdge="rising">
<ByValueCondition>
<ParameterCondition parameterRef="" value="" rule="lessThan"/>
</ByValueCondition>
</Condition>
<Condition name="criteria_WrongLaneTest" delay="0" conditionEdge="rising">
<ByValueCondition>
<ParameterCondition parameterRef="" value="" rule="lessThan"/>
</ByValueCondition>
</Condition>
<Condition name="criteria_OnSidewalkTest" delay="0" conditionEdge="rising">
<ByValueCondition>
<ParameterCondition parameterRef="" value="" rule="lessThan"/>
</ByValueCondition>
</Condition>
<Condition name="criteria_KeepLaneTest" delay="0" conditionEdge="rising">
<ByValueCondition>
<ParameterCondition parameterRef="" value="" rule="lessThan"/>
</ByValueCondition>
</Condition>
<Condition name="criteria_CollisionTest" delay="0" conditionEdge="rising">
<ByValueCondition>
<ParameterCondition parameterRef="" value="" rule="lessThan"/>
</ByValueCondition>
</Condition>
<Condition name="criteria_DrivenDistanceTest" delay="0" conditionEdge="rising">
<ByValueCondition>
<ParameterCondition parameterRef="distance_success" value="100" rule="lessThan"/>
</ByValueCondition>
</Condition>
</ConditionGroup>
</StopTrigger>
</Storyboard>
</OpenSCENARIO>
``` |
can you remove pedestrian actor named pedestrian_w_transform_16012?
```
<?xml version="1.0" ?>
<OpenSCENARIO>
<FileHeader revMajor="1" revMinor="0" date="2020-03-24T12:00:00" description="CARLA:LaneChangeSimple" author=""/>
<ParameterDeclarations/>
<CatalogLocations/>
<RoadNetwork>
<LogicFile filepath="Town04"/>
<SceneGraphFile filepath=""/>
</RoadNetwork>
<Entities>
<ScenarioObject name="hero">
<Vehicle name="vehicle.tesla.model3" vehicleCategory="car">
<ParameterDeclarations/>
<Performance maxSpeed="69.444" maxAcceleration="200" maxDeceleration="10.0"/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2.1" length="4.5" height="1.8"/>
</BoundingBox>
<Axles>
<FrontAxle maxSteering="0.5" wheelDiameter="0.6" trackWidth="1.8" positionX="3.1" positionZ="0.3"/>
<RearAxle maxSteering="0.0" wheelDiameter="0.6" trackWidth="1.8" positionX="0.0" positionZ="0.3"/>
</Axles>
<Properties>
<Property name="type" value="ego_vehicle"/>
</Properties>
</Vehicle>
</ScenarioObject>
<ScenarioObject name="adversary">
<Vehicle name="vehicle.lincoln.mkz_2017" vehicleCategory="car">
<ParameterDeclarations/>
<Performance maxSpeed="69.444" maxAcceleration="200" maxDeceleration="10.0"/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2.1" length="4.5" height="1.8"/>
</BoundingBox>
<Axles>
<FrontAxle maxSteering="0.5" wheelDiameter="0.6" trackWidth="1.8" positionX="3.1" positionZ="0.3"/>
<RearAxle maxSteering="0.0" wheelDiameter="0.6" trackWidth="1.8" positionX="0.0" positionZ="0.3"/>
</Axles>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Vehicle>
</ScenarioObject>
<ScenarioObject name="standing">
<Vehicle name="vehicle.volkswagen.t2" vehicleCategory="car">
<ParameterDeclarations/>
<Performance maxSpeed="69.444" maxAcceleration="200" maxDeceleration="10.0"/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2.1" length="4.5" height="1.8"/>
</BoundingBox>
<Axles>
<FrontAxle maxSteering="0.5" wheelDiameter="0.6" trackWidth="1.8" positionX="3.1" positionZ="0.3"/>
<RearAxle maxSteering="0.0" wheelDiameter="0.6" 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_16001">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_close_to_standing_16002">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_w_transform_16007">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_close_to_adversary_16008">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_w_transform_16009">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_w_transform_16012">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_w_transform_16014">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
</Entities>
<Storyboard>
<Init>
<Actions>
<GlobalAction>
<EnvironmentAction>
<Environment name="Environment1">
<TimeOfDay animation="false" dateTime="2019-06-25T12:00:00"/>
<Weather cloudState="free">
<Sun intensity="0.85" azimuth="0" elevation="1.31"/>
<Fog visualRange="100000.0"/>
<Precipitation precipitationType="dry" intensity="0.0"/>
</Weather>
<RoadCondition frictionScaleFactor="1.0"/>
</Environment>
</EnvironmentAction>
</GlobalAction>
<Private entityRef="hero">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-9.4" y="-152.8" z="0.5" h="1.57079632679"/>
</Position>
</TeleportAction>
</PrivateAction>
<PrivateAction>
<ControllerAction>
<AssignControllerAction>
<Controller name="HeroAgent">
<Properties>
<Property name="module" value="external_control"/>
</Properties>
</Controller>
</AssignControllerAction>
<OverrideControllerValueAction>
<Throttle value="0" active="false"/>
<Brake value="0" active="false"/>
<Clutch value="0" active="false"/>
<ParkingBrake value="0" active="false"/>
<SteeringWheel value="0" active="false"/>
<Gear number="0" active="false"/>
</OverrideControllerValueAction>
</ControllerAction>
</PrivateAction>
</Private>
<Private entityRef="adversary">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-9.4" y="-71.0" z="0.5" h="1.57079632679"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="standing">
<PrivateAction>
<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_16001">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-14.644543647766113" y="-69.57421112060547" z="0.03380405530333519"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_close_to_standing_16002">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-16.31377410888672" y="28.176902770996094" z="0.0030670547857880592"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_w_transform_16007">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-95.93494415283203" y="23.999670028686523" z="0.5"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_close_to_adversary_16008">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-36.99046325683594" y="-56.473907470703125" z="0.033745117485523224"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_w_transform_16009">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="40.42363739013672" y="75.49557495117188" z="0.5"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_w_transform_16012">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-98.79499053955078" y="-28.21117401123047" z="0.5"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_w_transform_16014">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="69.45780181884766" y="55.61030960083008" z="0.5"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
</Actions>
</Init>
<Story name="MyStory">
<Act name="Behavior">
<ManeuverGroup maximumExecutionCount="1" name="ManeuverSequence">
<Actors selectTriggeringEntities="false">
<EntityRef entityRef="adversary"/>
</Actors>
<Maneuver name="LaneChangeSimpleManeuver">
<Event name="AdversaryAccelerates" priority="overwrite">
<Action name="AdversaryAccelerates">
<PrivateAction>
<LongitudinalAction>
<SpeedAction>
<SpeedActionDynamics dynamicsShape="step" value="50" dynamicsDimension="distance"/>
<SpeedActionTarget>
<AbsoluteTargetSpeed value="5.0"/>
</SpeedActionTarget>
</SpeedAction>
</LongitudinalAction>
</PrivateAction>
</Action>
<StartTrigger>
<ConditionGroup>
<Condition name="StartCondition" delay="0" conditionEdge="rising">
<ByEntityCondition>
<TriggeringEntities triggeringEntitiesRule="any">
<EntityRef entityRef="hero"/>
</TriggeringEntities>
<EntityCondition>
<RelativeDistanceCondition entityRef="adversary" relativeDistanceType="cartesianDistance" value="40.0" freespace="false" rule="lessThan"/>
</EntityCondition>
</ByEntityCondition>
</Condition>
</ConditionGroup>
</StartTrigger>
</Event>
<Event name="AdversaryChangesLane" priority="overwrite">
<Action name="AdversaryChangesLane">
<PrivateAction>
<LateralAction>
<LaneChangeAction>
<LaneChangeActionDynamics dynamicsShape="linear" value="25" dynamicsDimension="distance"/>
<LaneChangeTarget>
<RelativeTargetLane entityRef="adversary" value="-1"/>
</LaneChangeTarget>
</LaneChangeAction>
</LateralAction>
</PrivateAction>
</Action>
<StartTrigger>
<ConditionGroup>
<Condition name="AfterAdversaryAccelerates" delay="0" conditionEdge="rising">
<ByValueCondition>
<StoryboardElementStateCondition storyboardElementType="action" storyboardElementRef="AdversaryAccelerates" state="completeState"/>
</ByValueCondition>
</Condition>
</ConditionGroup>
</StartTrigger>
</Event>
</Maneuver>
</ManeuverGroup>
<StartTrigger>
<ConditionGroup>
<Condition name="OverallStartCondition" delay="0" conditionEdge="rising">
<ByEntityCondition>
<TriggeringEntities triggeringEntitiesRule="any">
<EntityRef entityRef="hero"/>
</TriggeringEntities>
<EntityCondition>
<TraveledDistanceCondition value="1.0"/>
</EntityCondition>
</ByEntityCondition>
</Condition>
<Condition name="StartTime" delay="0" conditionEdge="rising">
<ByValueCondition>
<SimulationTimeCondition value="0" rule="equalTo"/>
</ByValueCondition>
</Condition>
</ConditionGroup>
</StartTrigger>
<StopTrigger>
<ConditionGroup>
<Condition name="EndCondition" delay="0" conditionEdge="rising">
<ByEntityCondition>
<TriggeringEntities triggeringEntitiesRule="any">
<EntityRef entityRef="hero"/>
</TriggeringEntities>
<EntityCondition>
<TraveledDistanceCondition value="200.0"/>
</EntityCondition>
</ByEntityCondition>
</Condition>
</ConditionGroup>
</StopTrigger>
</Act>
</Story>
<StopTrigger>
<ConditionGroup>
<Condition name="criteria_RunningStopTest" delay="0" conditionEdge="rising">
<ByValueCondition>
<ParameterCondition parameterRef="" value="" rule="lessThan"/>
</ByValueCondition>
</Condition>
<Condition name="criteria_RunningRedLightTest" delay="0" conditionEdge="rising">
<ByValueCondition>
<ParameterCondition parameterRef="" value="" rule="lessThan"/>
</ByValueCondition>
</Condition>
<Condition name="criteria_WrongLaneTest" delay="0" conditionEdge="rising">
<ByValueCondition>
<ParameterCondition parameterRef="" value="" rule="lessThan"/>
</ByValueCondition>
</Condition>
<Condition name="criteria_OnSidewalkTest" delay="0" conditionEdge="rising">
<ByValueCondition>
<ParameterCondition parameterRef="" value="" rule="lessThan"/>
</ByValueCondition>
</Condition>
<Condition name="criteria_KeepLaneTest" delay="0" conditionEdge="rising">
<ByValueCondition>
<ParameterCondition parameterRef="" value="" rule="lessThan"/>
</ByValueCondition>
</Condition>
<Condition name="criteria_CollisionTest" delay="0" conditionEdge="rising">
<ByValueCondition>
<ParameterCondition parameterRef="" value="" rule="lessThan"/>
</ByValueCondition>
</Condition>
<Condition name="criteria_DrivenDistanceTest" delay="0" conditionEdge="rising">
<ByValueCondition>
<ParameterCondition parameterRef="distance_success" value="100" rule="lessThan"/>
</ByValueCondition>
</Condition>
</ConditionGroup>
</StopTrigger>
</Storyboard>
</OpenSCENARIO>
``` | Here is the result:
```
<?xml version="1.0" ?>
<OpenSCENARIO>
<FileHeader revMajor="1" revMinor="0" date="2020-03-24T12:00:00" description="CARLA:LaneChangeSimple" author=""/>
<ParameterDeclarations/>
<CatalogLocations/>
<RoadNetwork>
<LogicFile filepath="Town04"/>
<SceneGraphFile filepath=""/>
</RoadNetwork>
<Entities>
<ScenarioObject name="hero">
<Vehicle name="vehicle.tesla.model3" vehicleCategory="car">
<ParameterDeclarations/>
<Performance maxSpeed="69.444" maxAcceleration="200" maxDeceleration="10.0"/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2.1" length="4.5" height="1.8"/>
</BoundingBox>
<Axles>
<FrontAxle maxSteering="0.5" wheelDiameter="0.6" trackWidth="1.8" positionX="3.1" positionZ="0.3"/>
<RearAxle maxSteering="0.0" wheelDiameter="0.6" trackWidth="1.8" positionX="0.0" positionZ="0.3"/>
</Axles>
<Properties>
<Property name="type" value="ego_vehicle"/>
</Properties>
</Vehicle>
</ScenarioObject>
<ScenarioObject name="adversary">
<Vehicle name="vehicle.lincoln.mkz_2017" vehicleCategory="car">
<ParameterDeclarations/>
<Performance maxSpeed="69.444" maxAcceleration="200" maxDeceleration="10.0"/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2.1" length="4.5" height="1.8"/>
</BoundingBox>
<Axles>
<FrontAxle maxSteering="0.5" wheelDiameter="0.6" trackWidth="1.8" positionX="3.1" positionZ="0.3"/>
<RearAxle maxSteering="0.0" wheelDiameter="0.6" trackWidth="1.8" positionX="0.0" positionZ="0.3"/>
</Axles>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Vehicle>
</ScenarioObject>
<ScenarioObject name="standing">
<Vehicle name="vehicle.volkswagen.t2" vehicleCategory="car">
<ParameterDeclarations/>
<Performance maxSpeed="69.444" maxAcceleration="200" maxDeceleration="10.0"/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2.1" length="4.5" height="1.8"/>
</BoundingBox>
<Axles>
<FrontAxle maxSteering="0.5" wheelDiameter="0.6" trackWidth="1.8" positionX="3.1" positionZ="0.3"/>
<RearAxle maxSteering="0.0" wheelDiameter="0.6" 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_16001">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_close_to_standing_16002">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_w_transform_16007">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_close_to_adversary_16008">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_w_transform_16009">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_w_transform_16014">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
</Entities>
<Storyboard>
<Init>
<Actions>
<GlobalAction>
<EnvironmentAction>
<Environment name="Environment1">
<TimeOfDay animation="false" dateTime="2019-06-25T12:00:00"/>
<Weather cloudState="free">
<Sun intensity="0.85" azimuth="0" elevation="1.31"/>
<Fog visualRange="100000.0"/>
<Precipitation precipitationType="dry" intensity="0.0"/>
</Weather>
<RoadCondition frictionScaleFactor="1.0"/>
</Environment>
</EnvironmentAction>
</GlobalAction>
<Private entityRef="hero">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-9.4" y="-152.8" z="0.5" h="1.57079632679"/>
</Position>
</TeleportAction>
</PrivateAction>
<PrivateAction>
<ControllerAction>
<AssignControllerAction>
<Controller name="HeroAgent">
<Properties>
<Property name="module" value="external_control"/>
</Properties>
</Controller>
</AssignControllerAction>
<OverrideControllerValueAction>
<Throttle value="0" active="false"/>
<Brake value="0" active="false"/>
<Clutch value="0" active="false"/>
<ParkingBrake value="0" active="false"/>
<SteeringWheel value="0" active="false"/>
<Gear number="0" active="false"/>
</OverrideControllerValueAction>
</ControllerAction>
</PrivateAction>
</Private>
<Private entityRef="adversary">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-9.4" y="-71.0" z="0.5" h="1.57079632679"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="standing">
<PrivateAction>
<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_16001">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-14.644543647766113" y="-69.57421112060547" z="0.03380405530333519"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_close_to_standing_16002">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-16.31377410888672" y="28.176902770996094" z="0.0030670547857880592"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_w_transform_16007">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-95.93494415283203" y="23.999670028686523" z="0.5"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_close_to_adversary_16008">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-36.99046325683594" y="-56.473907470703125" z="0.033745117485523224"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_w_transform_16009">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="40.42363739013672" y="75.49557495117188" z="0.5"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_w_transform_16014">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="69.45780181884766" y="55.61030960083008" z="0.5"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
</Actions>
</Init>
<Story name="MyStory">
<Act name="Behavior">
<ManeuverGroup maximumExecutionCount="1" name="ManeuverSequence">
<Actors selectTriggeringEntities="false">
<EntityRef entityRef="adversary"/>
</Actors>
<Maneuver name="LaneChangeSimpleManeuver">
<Event name="AdversaryAccelerates" priority="overwrite">
<Action name="AdversaryAccelerates">
<PrivateAction>
<LongitudinalAction>
<SpeedAction>
<SpeedActionDynamics dynamicsShape="step" value="50" dynamicsDimension="distance"/>
<SpeedActionTarget>
<AbsoluteTargetSpeed value="5.0"/>
</SpeedActionTarget>
</SpeedAction>
</LongitudinalAction>
</PrivateAction>
</Action>
<StartTrigger>
<ConditionGroup>
<Condition name="StartCondition" delay="0" conditionEdge="rising">
<ByEntityCondition>
<TriggeringEntities triggeringEntitiesRule="any">
<EntityRef entityRef="hero"/>
</TriggeringEntities>
<EntityCondition>
<RelativeDistanceCondition entityRef="adversary" relativeDistanceType="cartesianDistance" value="40.0" freespace="false" rule="lessThan"/>
</EntityCondition>
</ByEntityCondition>
</Condition>
</ConditionGroup>
</StartTrigger>
</Event>
<Event name="AdversaryChangesLane" priority="overwrite">
<Action name="AdversaryChangesLane">
<PrivateAction>
<LateralAction>
<LaneChangeAction>
<LaneChangeActionDynamics dynamicsShape="linear" value="25" dynamicsDimension="distance"/>
<LaneChangeTarget>
<RelativeTargetLane entityRef="adversary" value="-1"/>
</LaneChangeTarget>
</LaneChangeAction>
</LateralAction>
</PrivateAction>
</Action>
<StartTrigger>
<ConditionGroup>
<Condition name="AfterAdversaryAccelerates" delay="0" conditionEdge="rising">
<ByValueCondition>
<StoryboardElementStateCondition storyboardElementType="action" storyboardElementRef="AdversaryAccelerates" state="completeState"/>
</ByValueCondition>
</Condition>
</ConditionGroup>
</StartTrigger>
</Event>
</Maneuver>
</ManeuverGroup>
<StartTrigger>
<ConditionGroup>
<Condition name="OverallStartCondition" delay="0" conditionEdge="rising">
<ByEntityCondition>
<TriggeringEntities triggeringEntitiesRule="any">
<EntityRef entityRef="hero"/>
</TriggeringEntities>
<EntityCondition>
<TraveledDistanceCondition value="1.0"/>
</EntityCondition>
</ByEntityCondition>
</Condition>
<Condition name="StartTime" delay="0" conditionEdge="rising">
<ByValueCondition>
<SimulationTimeCondition value="0" rule="equalTo"/>
</ByValueCondition>
</Condition>
</ConditionGroup>
</StartTrigger>
<StopTrigger>
<ConditionGroup>
<Condition name="EndCondition" delay="0" conditionEdge="rising">
<ByEntityCondition>
<TriggeringEntities triggeringEntitiesRule="any">
<EntityRef entityRef="hero"/>
</TriggeringEntities>
<EntityCondition>
<TraveledDistanceCondition value="200.0"/>
</EntityCondition>
</ByEntityCondition>
</Condition>
</ConditionGroup>
</StopTrigger>
</Act>
</Story>
<StopTrigger>
<ConditionGroup>
<Condition name="criteria_RunningStopTest" delay="0" conditionEdge="rising">
<ByValueCondition>
<ParameterCondition parameterRef="" value="" rule="lessThan"/>
</ByValueCondition>
</Condition>
<Condition name="criteria_RunningRedLightTest" delay="0" conditionEdge="rising">
<ByValueCondition>
<ParameterCondition parameterRef="" value="" rule="lessThan"/>
</ByValueCondition>
</Condition>
<Condition name="criteria_WrongLaneTest" delay="0" conditionEdge="rising">
<ByValueCondition>
<ParameterCondition parameterRef="" value="" rule="lessThan"/>
</ByValueCondition>
</Condition>
<Condition name="criteria_OnSidewalkTest" delay="0" conditionEdge="rising">
<ByValueCondition>
<ParameterCondition parameterRef="" value="" rule="lessThan"/>
</ByValueCondition>
</Condition>
<Condition name="criteria_KeepLaneTest" delay="0" conditionEdge="rising">
<ByValueCondition>
<ParameterCondition parameterRef="" value="" rule="lessThan"/>
</ByValueCondition>
</Condition>
<Condition name="criteria_CollisionTest" delay="0" conditionEdge="rising">
<ByValueCondition>
<ParameterCondition parameterRef="" value="" rule="lessThan"/>
</ByValueCondition>
</Condition>
<Condition name="criteria_DrivenDistanceTest" delay="0" conditionEdge="rising">
<ByValueCondition>
<ParameterCondition parameterRef="distance_success" value="100" rule="lessThan"/>
</ByValueCondition>
</Condition>
</ConditionGroup>
</StopTrigger>
</Storyboard>
</OpenSCENARIO>
``` |
i would like you to demonstrate add pedestrian at location (-79.33, 14.79, 0.5)?
```
<?xml version="1.0" ?>
<OpenSCENARIO>
<FileHeader revMajor="1" revMinor="0" date="2020-03-24T12:00:00" description="CARLA:LaneChangeSimple" author=""/>
<ParameterDeclarations/>
<CatalogLocations/>
<RoadNetwork>
<LogicFile filepath="Town04"/>
<SceneGraphFile filepath=""/>
</RoadNetwork>
<Entities>
<ScenarioObject name="hero">
<Vehicle name="vehicle.tesla.model3" vehicleCategory="car">
<ParameterDeclarations/>
<Performance maxSpeed="69.444" maxAcceleration="200" maxDeceleration="10.0"/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2.1" length="4.5" height="1.8"/>
</BoundingBox>
<Axles>
<FrontAxle maxSteering="0.5" wheelDiameter="0.6" trackWidth="1.8" positionX="3.1" positionZ="0.3"/>
<RearAxle maxSteering="0.0" wheelDiameter="0.6" trackWidth="1.8" positionX="0.0" positionZ="0.3"/>
</Axles>
<Properties>
<Property name="type" value="ego_vehicle"/>
</Properties>
</Vehicle>
</ScenarioObject>
<ScenarioObject name="adversary">
<Vehicle name="vehicle.lincoln.mkz_2017" vehicleCategory="car">
<ParameterDeclarations/>
<Performance maxSpeed="69.444" maxAcceleration="200" maxDeceleration="10.0"/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2.1" length="4.5" height="1.8"/>
</BoundingBox>
<Axles>
<FrontAxle maxSteering="0.5" wheelDiameter="0.6" trackWidth="1.8" positionX="3.1" positionZ="0.3"/>
<RearAxle maxSteering="0.0" wheelDiameter="0.6" trackWidth="1.8" positionX="0.0" positionZ="0.3"/>
</Axles>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Vehicle>
</ScenarioObject>
<ScenarioObject name="standing">
<Vehicle name="vehicle.volkswagen.t2" vehicleCategory="car">
<ParameterDeclarations/>
<Performance maxSpeed="69.444" maxAcceleration="200" maxDeceleration="10.0"/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2.1" length="4.5" height="1.8"/>
</BoundingBox>
<Axles>
<FrontAxle maxSteering="0.5" wheelDiameter="0.6" trackWidth="1.8" positionX="3.1" positionZ="0.3"/>
<RearAxle maxSteering="0.0" wheelDiameter="0.6" trackWidth="1.8" positionX="0.0" positionZ="0.3"/>
</Axles>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Vehicle>
</ScenarioObject>
<ScenarioObject name="pedestrian_close_to_hero_5480">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_w_transform_5481">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_close_to_hero_5482">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_close_to_adversary_5483">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_w_transform_5484">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_close_to_hero_5485">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_close_to_hero_5486">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_close_to_standing_5487">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_close_to_standing_5488">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_close_to_standing_5489">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_close_to_hero_5490">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_close_to_hero_5491">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_close_to_standing_5492">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_w_transform_5493">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_w_transform_5494">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
</Entities>
<Storyboard>
<Init>
<Actions>
<GlobalAction>
<EnvironmentAction>
<Environment name="Environment1">
<TimeOfDay animation="false" dateTime="2019-06-25T12:00:00"/>
<Weather cloudState="free">
<Sun intensity="0.85" azimuth="0" elevation="1.31"/>
<Fog visualRange="100000.0"/>
<Precipitation precipitationType="dry" intensity="0.0"/>
</Weather>
<RoadCondition frictionScaleFactor="1.0"/>
</Environment>
</EnvironmentAction>
</GlobalAction>
<Private entityRef="hero">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-9.4" y="-152.8" z="0.5" h="1.57079632679"/>
</Position>
</TeleportAction>
</PrivateAction>
<PrivateAction>
<ControllerAction>
<AssignControllerAction>
<Controller name="HeroAgent">
<Properties>
<Property name="module" value="external_control"/>
</Properties>
</Controller>
</AssignControllerAction>
<OverrideControllerValueAction>
<Throttle value="0" active="false"/>
<Brake value="0" active="false"/>
<Clutch value="0" active="false"/>
<ParkingBrake value="0" active="false"/>
<SteeringWheel value="0" active="false"/>
<Gear number="0" active="false"/>
</OverrideControllerValueAction>
</ControllerAction>
</PrivateAction>
</Private>
<Private entityRef="adversary">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-9.4" y="-71.0" z="0.5" h="1.57079632679"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="standing">
<PrivateAction>
<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_5480">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-15.65457820892334" y="-161.7915496826172" z="0.0014286803780123591"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_w_transform_5481">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-52.89959716796875" y="-73.55147552490234" z="0.5"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_close_to_hero_5482">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-10.223411560058594" y="-149.01902770996094" z="0.0014286803780123591"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_close_to_adversary_5483">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-17.91622543334961" y="-66.8965835571289" z="0.03382854536175728"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_w_transform_5484">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="37.7513313293457" y="-47.154014587402344" z="0.5"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_close_to_hero_5485">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-17.16266441345215" y="-157.37615966796875" z="0.0014286803780123591"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_close_to_hero_5486">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-5.442408561706543" y="-158.45465087890625" z="0.0014286803780123591"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_close_to_standing_5487">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-1.7898222208023071" y="26.866722106933594" z="0.003021087497472763"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_close_to_standing_5488">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-17.658323287963867" y="26.921419143676758" z="0.0030326079577207565"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_close_to_standing_5489">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="9.347654342651367" y="22.801828384399414" z="0.0030341718811541796"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_close_to_hero_5490">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-2.9419429302215576" y="-143.96629333496094" z="0.0014286803780123591"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_close_to_hero_5491">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-17.34095573425293" y="-144.8187713623047" z="0.0014286803780123591"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_close_to_standing_5492">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-4.810454368591309" y="38.32715606689453" z="0.003017692593857646"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_w_transform_5493">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-43.38318634033203" y="-99.6846923828125" z="0.5"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_w_transform_5494">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="97.78509521484375" y="-26.876697540283203" z="0.5"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
</Actions>
</Init>
<Story name="MyStory">
<Act name="Behavior">
<ManeuverGroup maximumExecutionCount="1" name="ManeuverSequence">
<Actors selectTriggeringEntities="false">
<EntityRef entityRef="adversary"/>
</Actors>
<Maneuver name="LaneChangeSimpleManeuver">
<Event name="AdversaryAccelerates" priority="overwrite">
<Action name="AdversaryAccelerates">
<PrivateAction>
<LongitudinalAction>
<SpeedAction>
<SpeedActionDynamics dynamicsShape="step" value="50" dynamicsDimension="distance"/>
<SpeedActionTarget>
<AbsoluteTargetSpeed value="5.0"/>
</SpeedActionTarget>
</SpeedAction>
</LongitudinalAction>
</PrivateAction>
</Action>
<StartTrigger>
<ConditionGroup>
<Condition name="StartCondition" delay="0" conditionEdge="rising">
<ByEntityCondition>
<TriggeringEntities triggeringEntitiesRule="any">
<EntityRef entityRef="hero"/>
</TriggeringEntities>
<EntityCondition>
<RelativeDistanceCondition entityRef="adversary" relativeDistanceType="cartesianDistance" value="40.0" freespace="false" rule="lessThan"/>
</EntityCondition>
</ByEntityCondition>
</Condition>
</ConditionGroup>
</StartTrigger>
</Event>
<Event name="AdversaryChangesLane" priority="overwrite">
<Action name="AdversaryChangesLane">
<PrivateAction>
<LateralAction>
<LaneChangeAction>
<LaneChangeActionDynamics dynamicsShape="linear" value="25" dynamicsDimension="distance"/>
<LaneChangeTarget>
<RelativeTargetLane entityRef="adversary" value="-1"/>
</LaneChangeTarget>
</LaneChangeAction>
</LateralAction>
</PrivateAction>
</Action>
<StartTrigger>
<ConditionGroup>
<Condition name="AfterAdversaryAccelerates" delay="0" conditionEdge="rising">
<ByValueCondition>
<StoryboardElementStateCondition storyboardElementType="action" storyboardElementRef="AdversaryAccelerates" state="completeState"/>
</ByValueCondition>
</Condition>
</ConditionGroup>
</StartTrigger>
</Event>
</Maneuver>
</ManeuverGroup>
<StartTrigger>
<ConditionGroup>
<Condition name="OverallStartCondition" delay="0" conditionEdge="rising">
<ByEntityCondition>
<TriggeringEntities triggeringEntitiesRule="any">
<EntityRef entityRef="hero"/>
</TriggeringEntities>
<EntityCondition>
<TraveledDistanceCondition value="1.0"/>
</EntityCondition>
</ByEntityCondition>
</Condition>
<Condition name="StartTime" delay="0" conditionEdge="rising">
<ByValueCondition>
<SimulationTimeCondition value="0" rule="equalTo"/>
</ByValueCondition>
</Condition>
</ConditionGroup>
</StartTrigger>
<StopTrigger>
<ConditionGroup>
<Condition name="EndCondition" delay="0" conditionEdge="rising">
<ByEntityCondition>
<TriggeringEntities triggeringEntitiesRule="any">
<EntityRef entityRef="hero"/>
</TriggeringEntities>
<EntityCondition>
<TraveledDistanceCondition value="200.0"/>
</EntityCondition>
</ByEntityCondition>
</Condition>
</ConditionGroup>
</StopTrigger>
</Act>
</Story>
<StopTrigger>
<ConditionGroup>
<Condition name="criteria_RunningStopTest" delay="0" conditionEdge="rising">
<ByValueCondition>
<ParameterCondition parameterRef="" value="" rule="lessThan"/>
</ByValueCondition>
</Condition>
<Condition name="criteria_RunningRedLightTest" delay="0" conditionEdge="rising">
<ByValueCondition>
<ParameterCondition parameterRef="" value="" rule="lessThan"/>
</ByValueCondition>
</Condition>
<Condition name="criteria_WrongLaneTest" delay="0" conditionEdge="rising">
<ByValueCondition>
<ParameterCondition parameterRef="" value="" rule="lessThan"/>
</ByValueCondition>
</Condition>
<Condition name="criteria_OnSidewalkTest" delay="0" conditionEdge="rising">
<ByValueCondition>
<ParameterCondition parameterRef="" value="" rule="lessThan"/>
</ByValueCondition>
</Condition>
<Condition name="criteria_KeepLaneTest" delay="0" conditionEdge="rising">
<ByValueCondition>
<ParameterCondition parameterRef="" value="" rule="lessThan"/>
</ByValueCondition>
</Condition>
<Condition name="criteria_CollisionTest" delay="0" conditionEdge="rising">
<ByValueCondition>
<ParameterCondition parameterRef="" value="" rule="lessThan"/>
</ByValueCondition>
</Condition>
<Condition name="criteria_DrivenDistanceTest" delay="0" conditionEdge="rising">
<ByValueCondition>
<ParameterCondition parameterRef="distance_success" value="100" rule="lessThan"/>
</ByValueCondition>
</Condition>
</ConditionGroup>
</StopTrigger>
</Storyboard>
</OpenSCENARIO>
``` | Here is the result:
```
<?xml version="1.0" ?>
<OpenSCENARIO>
<FileHeader revMajor="1" revMinor="0" date="2020-03-24T12:00:00" description="CARLA:LaneChangeSimple" author=""/>
<ParameterDeclarations/>
<CatalogLocations/>
<RoadNetwork>
<LogicFile filepath="Town04"/>
<SceneGraphFile filepath=""/>
</RoadNetwork>
<Entities>
<ScenarioObject name="hero">
<Vehicle name="vehicle.tesla.model3" vehicleCategory="car">
<ParameterDeclarations/>
<Performance maxSpeed="69.444" maxAcceleration="200" maxDeceleration="10.0"/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2.1" length="4.5" height="1.8"/>
</BoundingBox>
<Axles>
<FrontAxle maxSteering="0.5" wheelDiameter="0.6" trackWidth="1.8" positionX="3.1" positionZ="0.3"/>
<RearAxle maxSteering="0.0" wheelDiameter="0.6" trackWidth="1.8" positionX="0.0" positionZ="0.3"/>
</Axles>
<Properties>
<Property name="type" value="ego_vehicle"/>
</Properties>
</Vehicle>
</ScenarioObject>
<ScenarioObject name="adversary">
<Vehicle name="vehicle.lincoln.mkz_2017" vehicleCategory="car">
<ParameterDeclarations/>
<Performance maxSpeed="69.444" maxAcceleration="200" maxDeceleration="10.0"/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2.1" length="4.5" height="1.8"/>
</BoundingBox>
<Axles>
<FrontAxle maxSteering="0.5" wheelDiameter="0.6" trackWidth="1.8" positionX="3.1" positionZ="0.3"/>
<RearAxle maxSteering="0.0" wheelDiameter="0.6" trackWidth="1.8" positionX="0.0" positionZ="0.3"/>
</Axles>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Vehicle>
</ScenarioObject>
<ScenarioObject name="standing">
<Vehicle name="vehicle.volkswagen.t2" vehicleCategory="car">
<ParameterDeclarations/>
<Performance maxSpeed="69.444" maxAcceleration="200" maxDeceleration="10.0"/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2.1" length="4.5" height="1.8"/>
</BoundingBox>
<Axles>
<FrontAxle maxSteering="0.5" wheelDiameter="0.6" trackWidth="1.8" positionX="3.1" positionZ="0.3"/>
<RearAxle maxSteering="0.0" wheelDiameter="0.6" 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_5480">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_w_transform_5481">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_close_to_hero_5482">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_close_to_adversary_5483">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_w_transform_5484">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_close_to_hero_5485">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_close_to_hero_5486">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_close_to_standing_5487">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_close_to_standing_5488">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_close_to_standing_5489">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_close_to_hero_5490">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_close_to_hero_5491">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_close_to_standing_5492">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_w_transform_5493">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_w_transform_5494">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_w_transform_5495">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
</Entities>
<Storyboard>
<Init>
<Actions>
<GlobalAction>
<EnvironmentAction>
<Environment name="Environment1">
<TimeOfDay animation="false" dateTime="2019-06-25T12:00:00"/>
<Weather cloudState="free">
<Sun intensity="0.85" azimuth="0" elevation="1.31"/>
<Fog visualRange="100000.0"/>
<Precipitation precipitationType="dry" intensity="0.0"/>
</Weather>
<RoadCondition frictionScaleFactor="1.0"/>
</Environment>
</EnvironmentAction>
</GlobalAction>
<Private entityRef="hero">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-9.4" y="-152.8" z="0.5" h="1.57079632679"/>
</Position>
</TeleportAction>
</PrivateAction>
<PrivateAction>
<ControllerAction>
<AssignControllerAction>
<Controller name="HeroAgent">
<Properties>
<Property name="module" value="external_control"/>
</Properties>
</Controller>
</AssignControllerAction>
<OverrideControllerValueAction>
<Throttle value="0" active="false"/>
<Brake value="0" active="false"/>
<Clutch value="0" active="false"/>
<ParkingBrake value="0" active="false"/>
<SteeringWheel value="0" active="false"/>
<Gear number="0" active="false"/>
</OverrideControllerValueAction>
</ControllerAction>
</PrivateAction>
</Private>
<Private entityRef="adversary">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-9.4" y="-71.0" z="0.5" h="1.57079632679"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="standing">
<PrivateAction>
<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_5480">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-15.65457820892334" y="-161.7915496826172" z="0.0014286803780123591"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_w_transform_5481">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-52.89959716796875" y="-73.55147552490234" z="0.5"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_close_to_hero_5482">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-10.223411560058594" y="-149.01902770996094" z="0.0014286803780123591"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_close_to_adversary_5483">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-17.91622543334961" y="-66.8965835571289" z="0.03382854536175728"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_w_transform_5484">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="37.7513313293457" y="-47.154014587402344" z="0.5"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_close_to_hero_5485">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-17.16266441345215" y="-157.37615966796875" z="0.0014286803780123591"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_close_to_hero_5486">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-5.442408561706543" y="-158.45465087890625" z="0.0014286803780123591"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_close_to_standing_5487">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-1.7898222208023071" y="26.866722106933594" z="0.003021087497472763"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_close_to_standing_5488">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-17.658323287963867" y="26.921419143676758" z="0.0030326079577207565"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_close_to_standing_5489">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="9.347654342651367" y="22.801828384399414" z="0.0030341718811541796"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_close_to_hero_5490">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-2.9419429302215576" y="-143.96629333496094" z="0.0014286803780123591"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_close_to_hero_5491">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-17.34095573425293" y="-144.8187713623047" z="0.0014286803780123591"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_close_to_standing_5492">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-4.810454368591309" y="38.32715606689453" z="0.003017692593857646"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_w_transform_5493">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-43.38318634033203" y="-99.6846923828125" z="0.5"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_w_transform_5494">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="97.78509521484375" y="-26.876697540283203" z="0.5"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_w_transform_5495">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-79.32693481445312" y="14.789239883422852" z="0.5"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
</Actions>
</Init>
<Story name="MyStory">
<Act name="Behavior">
<ManeuverGroup maximumExecutionCount="1" name="ManeuverSequence">
<Actors selectTriggeringEntities="false">
<EntityRef entityRef="adversary"/>
</Actors>
<Maneuver name="LaneChangeSimpleManeuver">
<Event name="AdversaryAccelerates" priority="overwrite">
<Action name="AdversaryAccelerates">
<PrivateAction>
<LongitudinalAction>
<SpeedAction>
<SpeedActionDynamics dynamicsShape="step" value="50" dynamicsDimension="distance"/>
<SpeedActionTarget>
<AbsoluteTargetSpeed value="5.0"/>
</SpeedActionTarget>
</SpeedAction>
</LongitudinalAction>
</PrivateAction>
</Action>
<StartTrigger>
<ConditionGroup>
<Condition name="StartCondition" delay="0" conditionEdge="rising">
<ByEntityCondition>
<TriggeringEntities triggeringEntitiesRule="any">
<EntityRef entityRef="hero"/>
</TriggeringEntities>
<EntityCondition>
<RelativeDistanceCondition entityRef="adversary" relativeDistanceType="cartesianDistance" value="40.0" freespace="false" rule="lessThan"/>
</EntityCondition>
</ByEntityCondition>
</Condition>
</ConditionGroup>
</StartTrigger>
</Event>
<Event name="AdversaryChangesLane" priority="overwrite">
<Action name="AdversaryChangesLane">
<PrivateAction>
<LateralAction>
<LaneChangeAction>
<LaneChangeActionDynamics dynamicsShape="linear" value="25" dynamicsDimension="distance"/>
<LaneChangeTarget>
<RelativeTargetLane entityRef="adversary" value="-1"/>
</LaneChangeTarget>
</LaneChangeAction>
</LateralAction>
</PrivateAction>
</Action>
<StartTrigger>
<ConditionGroup>
<Condition name="AfterAdversaryAccelerates" delay="0" conditionEdge="rising">
<ByValueCondition>
<StoryboardElementStateCondition storyboardElementType="action" storyboardElementRef="AdversaryAccelerates" state="completeState"/>
</ByValueCondition>
</Condition>
</ConditionGroup>
</StartTrigger>
</Event>
</Maneuver>
</ManeuverGroup>
<StartTrigger>
<ConditionGroup>
<Condition name="OverallStartCondition" delay="0" conditionEdge="rising">
<ByEntityCondition>
<TriggeringEntities triggeringEntitiesRule="any">
<EntityRef entityRef="hero"/>
</TriggeringEntities>
<EntityCondition>
<TraveledDistanceCondition value="1.0"/>
</EntityCondition>
</ByEntityCondition>
</Condition>
<Condition name="StartTime" delay="0" conditionEdge="rising">
<ByValueCondition>
<SimulationTimeCondition value="0" rule="equalTo"/>
</ByValueCondition>
</Condition>
</ConditionGroup>
</StartTrigger>
<StopTrigger>
<ConditionGroup>
<Condition name="EndCondition" delay="0" conditionEdge="rising">
<ByEntityCondition>
<TriggeringEntities triggeringEntitiesRule="any">
<EntityRef entityRef="hero"/>
</TriggeringEntities>
<EntityCondition>
<TraveledDistanceCondition value="200.0"/>
</EntityCondition>
</ByEntityCondition>
</Condition>
</ConditionGroup>
</StopTrigger>
</Act>
</Story>
<StopTrigger>
<ConditionGroup>
<Condition name="criteria_RunningStopTest" delay="0" conditionEdge="rising">
<ByValueCondition>
<ParameterCondition parameterRef="" value="" rule="lessThan"/>
</ByValueCondition>
</Condition>
<Condition name="criteria_RunningRedLightTest" delay="0" conditionEdge="rising">
<ByValueCondition>
<ParameterCondition parameterRef="" value="" rule="lessThan"/>
</ByValueCondition>
</Condition>
<Condition name="criteria_WrongLaneTest" delay="0" conditionEdge="rising">
<ByValueCondition>
<ParameterCondition parameterRef="" value="" rule="lessThan"/>
</ByValueCondition>
</Condition>
<Condition name="criteria_OnSidewalkTest" delay="0" conditionEdge="rising">
<ByValueCondition>
<ParameterCondition parameterRef="" value="" rule="lessThan"/>
</ByValueCondition>
</Condition>
<Condition name="criteria_KeepLaneTest" delay="0" conditionEdge="rising">
<ByValueCondition>
<ParameterCondition parameterRef="" value="" rule="lessThan"/>
</ByValueCondition>
</Condition>
<Condition name="criteria_CollisionTest" delay="0" conditionEdge="rising">
<ByValueCondition>
<ParameterCondition parameterRef="" value="" rule="lessThan"/>
</ByValueCondition>
</Condition>
<Condition name="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>
</Entities>
<Storyboard>
<Init>
<Actions>
<GlobalAction>
<EnvironmentAction>
<Environment name="Environment1">
<TimeOfDay animation="false" dateTime="2019-06-25T12:00:00"/>
<Weather cloudState="free">
<Sun intensity="0.85" azimuth="0" elevation="1.31"/>
<Fog visualRange="100000.0"/>
<Precipitation precipitationType="dry" intensity="0.0"/>
</Weather>
<RoadCondition frictionScaleFactor="1.0"/>
</Environment>
</EnvironmentAction>
</GlobalAction>
<Private entityRef="hero">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-9.4" y="-152.8" z="0.5" h="1.57079632679"/>
</Position>
</TeleportAction>
</PrivateAction>
<PrivateAction>
<ControllerAction>
<AssignControllerAction>
<Controller name="HeroAgent">
<Properties>
<Property name="module" value="external_control"/>
</Properties>
</Controller>
</AssignControllerAction>
<OverrideControllerValueAction>
<Throttle value="0" active="false"/>
<Brake value="0" active="false"/>
<Clutch value="0" active="false"/>
<ParkingBrake value="0" active="false"/>
<SteeringWheel value="0" active="false"/>
<Gear number="0" active="false"/>
</OverrideControllerValueAction>
</ControllerAction>
</PrivateAction>
</Private>
<Private entityRef="adversary">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-9.4" y="-71.0" z="0.5" h="1.57079632679"/>
</Position>
</TeleportAction>
</PrivateAction>
</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_19560">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
</Entities>
<Storyboard>
<Init>
<Actions>
<GlobalAction>
<EnvironmentAction>
<Environment name="Environment1">
<TimeOfDay animation="false" dateTime="2019-06-25T12:00:00"/>
<Weather cloudState="free">
<Sun intensity="0.85" azimuth="0" elevation="1.31"/>
<Fog visualRange="100000.0"/>
<Precipitation precipitationType="dry" intensity="0.0"/>
</Weather>
<RoadCondition frictionScaleFactor="1.0"/>
</Environment>
</EnvironmentAction>
</GlobalAction>
<Private entityRef="hero">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-9.4" y="-152.8" z="0.5" h="1.57079632679"/>
</Position>
</TeleportAction>
</PrivateAction>
<PrivateAction>
<ControllerAction>
<AssignControllerAction>
<Controller name="HeroAgent">
<Properties>
<Property name="module" value="external_control"/>
</Properties>
</Controller>
</AssignControllerAction>
<OverrideControllerValueAction>
<Throttle value="0" active="false"/>
<Brake value="0" active="false"/>
<Clutch value="0" active="false"/>
<ParkingBrake value="0" active="false"/>
<SteeringWheel value="0" active="false"/>
<Gear number="0" active="false"/>
</OverrideControllerValueAction>
</ControllerAction>
</PrivateAction>
</Private>
<Private entityRef="adversary">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-9.4" y="-71.0" z="0.5" h="1.57079632679"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="standing">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-8.2" y="29.2" z="0.5" h="1.57079632679"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_close_to_standing_19560">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-2.460761785507202" y="24.96970558166504" z="0.0030631255358457565"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
</Actions>
</Init>
<Story name="MyStory">
<Act name="Behavior">
<ManeuverGroup maximumExecutionCount="1" name="ManeuverSequence">
<Actors selectTriggeringEntities="false">
<EntityRef entityRef="adversary"/>
</Actors>
<Maneuver name="LaneChangeSimpleManeuver">
<Event name="AdversaryAccelerates" priority="overwrite">
<Action name="AdversaryAccelerates">
<PrivateAction>
<LongitudinalAction>
<SpeedAction>
<SpeedActionDynamics dynamicsShape="step" value="50" dynamicsDimension="distance"/>
<SpeedActionTarget>
<AbsoluteTargetSpeed value="5.0"/>
</SpeedActionTarget>
</SpeedAction>
</LongitudinalAction>
</PrivateAction>
</Action>
<StartTrigger>
<ConditionGroup>
<Condition name="StartCondition" delay="0" conditionEdge="rising">
<ByEntityCondition>
<TriggeringEntities triggeringEntitiesRule="any">
<EntityRef entityRef="hero"/>
</TriggeringEntities>
<EntityCondition>
<RelativeDistanceCondition entityRef="adversary" relativeDistanceType="cartesianDistance" value="40.0" freespace="false" rule="lessThan"/>
</EntityCondition>
</ByEntityCondition>
</Condition>
</ConditionGroup>
</StartTrigger>
</Event>
<Event name="AdversaryChangesLane" priority="overwrite">
<Action name="AdversaryChangesLane">
<PrivateAction>
<LateralAction>
<LaneChangeAction>
<LaneChangeActionDynamics dynamicsShape="linear" value="25" dynamicsDimension="distance"/>
<LaneChangeTarget>
<RelativeTargetLane entityRef="adversary" value="-1"/>
</LaneChangeTarget>
</LaneChangeAction>
</LateralAction>
</PrivateAction>
</Action>
<StartTrigger>
<ConditionGroup>
<Condition name="AfterAdversaryAccelerates" delay="0" conditionEdge="rising">
<ByValueCondition>
<StoryboardElementStateCondition storyboardElementType="action" storyboardElementRef="AdversaryAccelerates" state="completeState"/>
</ByValueCondition>
</Condition>
</ConditionGroup>
</StartTrigger>
</Event>
</Maneuver>
</ManeuverGroup>
<StartTrigger>
<ConditionGroup>
<Condition name="OverallStartCondition" delay="0" conditionEdge="rising">
<ByEntityCondition>
<TriggeringEntities triggeringEntitiesRule="any">
<EntityRef entityRef="hero"/>
</TriggeringEntities>
<EntityCondition>
<TraveledDistanceCondition value="1.0"/>
</EntityCondition>
</ByEntityCondition>
</Condition>
<Condition name="StartTime" delay="0" conditionEdge="rising">
<ByValueCondition>
<SimulationTimeCondition value="0" rule="equalTo"/>
</ByValueCondition>
</Condition>
</ConditionGroup>
</StartTrigger>
<StopTrigger>
<ConditionGroup>
<Condition name="EndCondition" delay="0" conditionEdge="rising">
<ByEntityCondition>
<TriggeringEntities triggeringEntitiesRule="any">
<EntityRef entityRef="hero"/>
</TriggeringEntities>
<EntityCondition>
<TraveledDistanceCondition value="200.0"/>
</EntityCondition>
</ByEntityCondition>
</Condition>
</ConditionGroup>
</StopTrigger>
</Act>
</Story>
<StopTrigger>
<ConditionGroup>
<Condition name="criteria_RunningStopTest" delay="0" conditionEdge="rising">
<ByValueCondition>
<ParameterCondition parameterRef="" value="" rule="lessThan"/>
</ByValueCondition>
</Condition>
<Condition name="criteria_RunningRedLightTest" delay="0" conditionEdge="rising">
<ByValueCondition>
<ParameterCondition parameterRef="" value="" rule="lessThan"/>
</ByValueCondition>
</Condition>
<Condition name="criteria_WrongLaneTest" delay="0" conditionEdge="rising">
<ByValueCondition>
<ParameterCondition parameterRef="" value="" rule="lessThan"/>
</ByValueCondition>
</Condition>
<Condition name="criteria_OnSidewalkTest" delay="0" conditionEdge="rising">
<ByValueCondition>
<ParameterCondition parameterRef="" value="" rule="lessThan"/>
</ByValueCondition>
</Condition>
<Condition name="criteria_KeepLaneTest" delay="0" conditionEdge="rising">
<ByValueCondition>
<ParameterCondition parameterRef="" value="" rule="lessThan"/>
</ByValueCondition>
</Condition>
<Condition name="criteria_CollisionTest" delay="0" conditionEdge="rising">
<ByValueCondition>
<ParameterCondition parameterRef="" value="" rule="lessThan"/>
</ByValueCondition>
</Condition>
<Condition name="criteria_DrivenDistanceTest" delay="0" conditionEdge="rising">
<ByValueCondition>
<ParameterCondition parameterRef="distance_success" value="100" rule="lessThan"/>
</ByValueCondition>
</Condition>
</ConditionGroup>
</StopTrigger>
</Storyboard>
</OpenSCENARIO>
``` |
i would like to lead you to remove pedestrian actor named pedestrian_w_transform_17690?
```
<?xml version="1.0" ?>
<OpenSCENARIO>
<FileHeader revMajor="1" revMinor="0" date="2020-03-24T12:00:00" description="CARLA:LaneChangeSimple" author=""/>
<ParameterDeclarations/>
<CatalogLocations/>
<RoadNetwork>
<LogicFile filepath="Town04"/>
<SceneGraphFile filepath=""/>
</RoadNetwork>
<Entities>
<ScenarioObject name="hero">
<Vehicle name="vehicle.tesla.model3" vehicleCategory="car">
<ParameterDeclarations/>
<Performance maxSpeed="69.444" maxAcceleration="200" maxDeceleration="10.0"/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2.1" length="4.5" height="1.8"/>
</BoundingBox>
<Axles>
<FrontAxle maxSteering="0.5" wheelDiameter="0.6" trackWidth="1.8" positionX="3.1" positionZ="0.3"/>
<RearAxle maxSteering="0.0" wheelDiameter="0.6" trackWidth="1.8" positionX="0.0" positionZ="0.3"/>
</Axles>
<Properties>
<Property name="type" value="ego_vehicle"/>
</Properties>
</Vehicle>
</ScenarioObject>
<ScenarioObject name="adversary">
<Vehicle name="vehicle.lincoln.mkz_2017" vehicleCategory="car">
<ParameterDeclarations/>
<Performance maxSpeed="69.444" maxAcceleration="200" maxDeceleration="10.0"/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2.1" length="4.5" height="1.8"/>
</BoundingBox>
<Axles>
<FrontAxle maxSteering="0.5" wheelDiameter="0.6" trackWidth="1.8" positionX="3.1" positionZ="0.3"/>
<RearAxle maxSteering="0.0" wheelDiameter="0.6" trackWidth="1.8" positionX="0.0" positionZ="0.3"/>
</Axles>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Vehicle>
</ScenarioObject>
<ScenarioObject name="standing">
<Vehicle name="vehicle.volkswagen.t2" vehicleCategory="car">
<ParameterDeclarations/>
<Performance maxSpeed="69.444" maxAcceleration="200" maxDeceleration="10.0"/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2.1" length="4.5" height="1.8"/>
</BoundingBox>
<Axles>
<FrontAxle maxSteering="0.5" wheelDiameter="0.6" trackWidth="1.8" positionX="3.1" positionZ="0.3"/>
<RearAxle maxSteering="0.0" wheelDiameter="0.6" trackWidth="1.8" positionX="0.0" positionZ="0.3"/>
</Axles>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Vehicle>
</ScenarioObject>
<ScenarioObject name="pedestrian_close_to_standing_17686">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_w_transform_17687">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_close_to_adversary_17689">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_w_transform_17690">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_close_to_adversary_17691">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_close_to_standing_17692">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_w_transform_17693">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_close_to_hero_17694">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_close_to_standing_17695">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_w_transform_17696">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_w_transform_17697">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_w_transform_17698">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_close_to_hero_17699">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_w_transform_17700">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_w_transform_17701">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_close_to_adversary_17702">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_w_transform_17703">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_w_transform_17704">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_w_transform_17705">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_close_to_adversary_17706">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_w_transform_17707">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_close_to_hero_17708">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_w_transform_17709">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_close_to_adversary_17710">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
</Entities>
<Storyboard>
<Init>
<Actions>
<GlobalAction>
<EnvironmentAction>
<Environment name="Environment1">
<TimeOfDay animation="false" dateTime="2019-06-25T12:00:00"/>
<Weather cloudState="free">
<Sun intensity="0.85" azimuth="0" elevation="1.31"/>
<Fog visualRange="100000.0"/>
<Precipitation precipitationType="dry" intensity="0.0"/>
</Weather>
<RoadCondition frictionScaleFactor="1.0"/>
</Environment>
</EnvironmentAction>
</GlobalAction>
<Private entityRef="hero">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-9.4" y="-152.8" z="0.5" h="1.57079632679"/>
</Position>
</TeleportAction>
</PrivateAction>
<PrivateAction>
<ControllerAction>
<AssignControllerAction>
<Controller name="HeroAgent">
<Properties>
<Property name="module" value="external_control"/>
</Properties>
</Controller>
</AssignControllerAction>
<OverrideControllerValueAction>
<Throttle value="0" active="false"/>
<Brake value="0" active="false"/>
<Clutch value="0" active="false"/>
<ParkingBrake value="0" active="false"/>
<SteeringWheel value="0" active="false"/>
<Gear number="0" active="false"/>
</OverrideControllerValueAction>
</ControllerAction>
</PrivateAction>
</Private>
<Private entityRef="adversary">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-9.4" y="-71.0" z="0.5" h="1.57079632679"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="standing">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-8.2" y="29.2" z="0.5" h="1.57079632679"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_close_to_standing_17686">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-10.870774269104004" y="27.987638473510742" z="0.003023033030331135"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_w_transform_17687">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="13.512097358703613" y="-15.37880802154541" z="0.5"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_close_to_adversary_17689">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-12.737380981445312" y="-64.9415512084961" z="0.03377769514918327"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_w_transform_17690">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="56.036136627197266" y="-32.298927307128906" z="0.5"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_close_to_adversary_17691">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-14.083255767822266" y="-69.08158874511719" z="0.03377212584018707"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_close_to_standing_17692">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-9.316518783569336" y="29.485191345214844" z="0.003075027372688055"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_w_transform_17693">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-18.132356643676758" y="60.01486587524414" z="0.5"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_close_to_hero_17694">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-12.138871192932129" y="-144.57142639160156" z="0.0014286803780123591"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_close_to_standing_17695">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-16.22544288635254" y="36.33972930908203" z="0.0030906677711755037"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_w_transform_17696">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="27.07962417602539" y="-57.02163314819336" z="0.5"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_w_transform_17697">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-7.419345855712891" y="94.84222412109375" z="0.5"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_w_transform_17698">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="63.932952880859375" y="-3.856981039047241" z="0.5"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_close_to_hero_17699">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-6.10480260848999" y="-144.098388671875" z="0.0014286803780123591"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_w_transform_17700">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="90.9004135131836" y="94.30950927734375" z="0.5"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_w_transform_17701">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="13.428543090820312" y="-42.359031677246094" z="0.5"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_close_to_adversary_17702">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-10.025989532470703" y="-71.200439453125" z="0.03383868932723999"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_w_transform_17703">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-82.91725158691406" y="-97.17774963378906" z="0.5"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_w_transform_17704">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="50.53241729736328" y="-33.156593322753906" z="0.5"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_w_transform_17705">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-58.002777099609375" y="-74.51910400390625" z="0.5"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_close_to_adversary_17706">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-11.604331970214844" y="-72.1033935546875" z="0.033800963312387466"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_w_transform_17707">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="12.437353134155273" y="19.96849250793457" z="0.5"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_close_to_hero_17708">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-2.369306802749634" y="-149.4993133544922" z="0.0014286803780123591"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_w_transform_17709">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="44.59357833862305" y="-44.72063446044922" z="0.5"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_close_to_adversary_17710">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-7.380173683166504" y="-69.58943176269531" z="0.03378646820783615"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
</Actions>
</Init>
<Story name="MyStory">
<Act name="Behavior">
<ManeuverGroup maximumExecutionCount="1" name="ManeuverSequence">
<Actors selectTriggeringEntities="false">
<EntityRef entityRef="adversary"/>
</Actors>
<Maneuver name="LaneChangeSimpleManeuver">
<Event name="AdversaryAccelerates" priority="overwrite">
<Action name="AdversaryAccelerates">
<PrivateAction>
<LongitudinalAction>
<SpeedAction>
<SpeedActionDynamics dynamicsShape="step" value="50" dynamicsDimension="distance"/>
<SpeedActionTarget>
<AbsoluteTargetSpeed value="5.0"/>
</SpeedActionTarget>
</SpeedAction>
</LongitudinalAction>
</PrivateAction>
</Action>
<StartTrigger>
<ConditionGroup>
<Condition name="StartCondition" delay="0" conditionEdge="rising">
<ByEntityCondition>
<TriggeringEntities triggeringEntitiesRule="any">
<EntityRef entityRef="hero"/>
</TriggeringEntities>
<EntityCondition>
<RelativeDistanceCondition entityRef="adversary" relativeDistanceType="cartesianDistance" value="40.0" freespace="false" rule="lessThan"/>
</EntityCondition>
</ByEntityCondition>
</Condition>
</ConditionGroup>
</StartTrigger>
</Event>
<Event name="AdversaryChangesLane" priority="overwrite">
<Action name="AdversaryChangesLane">
<PrivateAction>
<LateralAction>
<LaneChangeAction>
<LaneChangeActionDynamics dynamicsShape="linear" value="25" dynamicsDimension="distance"/>
<LaneChangeTarget>
<RelativeTargetLane entityRef="adversary" value="-1"/>
</LaneChangeTarget>
</LaneChangeAction>
</LateralAction>
</PrivateAction>
</Action>
<StartTrigger>
<ConditionGroup>
<Condition name="AfterAdversaryAccelerates" delay="0" conditionEdge="rising">
<ByValueCondition>
<StoryboardElementStateCondition storyboardElementType="action" storyboardElementRef="AdversaryAccelerates" state="completeState"/>
</ByValueCondition>
</Condition>
</ConditionGroup>
</StartTrigger>
</Event>
</Maneuver>
</ManeuverGroup>
<StartTrigger>
<ConditionGroup>
<Condition name="OverallStartCondition" delay="0" conditionEdge="rising">
<ByEntityCondition>
<TriggeringEntities triggeringEntitiesRule="any">
<EntityRef entityRef="hero"/>
</TriggeringEntities>
<EntityCondition>
<TraveledDistanceCondition value="1.0"/>
</EntityCondition>
</ByEntityCondition>
</Condition>
<Condition name="StartTime" delay="0" conditionEdge="rising">
<ByValueCondition>
<SimulationTimeCondition value="0" rule="equalTo"/>
</ByValueCondition>
</Condition>
</ConditionGroup>
</StartTrigger>
<StopTrigger>
<ConditionGroup>
<Condition name="EndCondition" delay="0" conditionEdge="rising">
<ByEntityCondition>
<TriggeringEntities triggeringEntitiesRule="any">
<EntityRef entityRef="hero"/>
</TriggeringEntities>
<EntityCondition>
<TraveledDistanceCondition value="200.0"/>
</EntityCondition>
</ByEntityCondition>
</Condition>
</ConditionGroup>
</StopTrigger>
</Act>
</Story>
<StopTrigger>
<ConditionGroup>
<Condition name="criteria_RunningStopTest" delay="0" conditionEdge="rising">
<ByValueCondition>
<ParameterCondition parameterRef="" value="" rule="lessThan"/>
</ByValueCondition>
</Condition>
<Condition name="criteria_RunningRedLightTest" delay="0" conditionEdge="rising">
<ByValueCondition>
<ParameterCondition parameterRef="" value="" rule="lessThan"/>
</ByValueCondition>
</Condition>
<Condition name="criteria_WrongLaneTest" delay="0" conditionEdge="rising">
<ByValueCondition>
<ParameterCondition parameterRef="" value="" rule="lessThan"/>
</ByValueCondition>
</Condition>
<Condition name="criteria_OnSidewalkTest" delay="0" conditionEdge="rising">
<ByValueCondition>
<ParameterCondition parameterRef="" value="" rule="lessThan"/>
</ByValueCondition>
</Condition>
<Condition name="criteria_KeepLaneTest" delay="0" conditionEdge="rising">
<ByValueCondition>
<ParameterCondition parameterRef="" value="" rule="lessThan"/>
</ByValueCondition>
</Condition>
<Condition name="criteria_CollisionTest" delay="0" conditionEdge="rising">
<ByValueCondition>
<ParameterCondition parameterRef="" value="" rule="lessThan"/>
</ByValueCondition>
</Condition>
<Condition name="criteria_DrivenDistanceTest" delay="0" conditionEdge="rising">
<ByValueCondition>
<ParameterCondition parameterRef="distance_success" value="100" rule="lessThan"/>
</ByValueCondition>
</Condition>
</ConditionGroup>
</StopTrigger>
</Storyboard>
</OpenSCENARIO>
``` | Here is the result:
```
<?xml version="1.0" ?>
<OpenSCENARIO>
<FileHeader revMajor="1" revMinor="0" date="2020-03-24T12:00:00" description="CARLA:LaneChangeSimple" author=""/>
<ParameterDeclarations/>
<CatalogLocations/>
<RoadNetwork>
<LogicFile filepath="Town04"/>
<SceneGraphFile filepath=""/>
</RoadNetwork>
<Entities>
<ScenarioObject name="hero">
<Vehicle name="vehicle.tesla.model3" vehicleCategory="car">
<ParameterDeclarations/>
<Performance maxSpeed="69.444" maxAcceleration="200" maxDeceleration="10.0"/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2.1" length="4.5" height="1.8"/>
</BoundingBox>
<Axles>
<FrontAxle maxSteering="0.5" wheelDiameter="0.6" trackWidth="1.8" positionX="3.1" positionZ="0.3"/>
<RearAxle maxSteering="0.0" wheelDiameter="0.6" trackWidth="1.8" positionX="0.0" positionZ="0.3"/>
</Axles>
<Properties>
<Property name="type" value="ego_vehicle"/>
</Properties>
</Vehicle>
</ScenarioObject>
<ScenarioObject name="adversary">
<Vehicle name="vehicle.lincoln.mkz_2017" vehicleCategory="car">
<ParameterDeclarations/>
<Performance maxSpeed="69.444" maxAcceleration="200" maxDeceleration="10.0"/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2.1" length="4.5" height="1.8"/>
</BoundingBox>
<Axles>
<FrontAxle maxSteering="0.5" wheelDiameter="0.6" trackWidth="1.8" positionX="3.1" positionZ="0.3"/>
<RearAxle maxSteering="0.0" wheelDiameter="0.6" trackWidth="1.8" positionX="0.0" positionZ="0.3"/>
</Axles>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Vehicle>
</ScenarioObject>
<ScenarioObject name="standing">
<Vehicle name="vehicle.volkswagen.t2" vehicleCategory="car">
<ParameterDeclarations/>
<Performance maxSpeed="69.444" maxAcceleration="200" maxDeceleration="10.0"/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2.1" length="4.5" height="1.8"/>
</BoundingBox>
<Axles>
<FrontAxle maxSteering="0.5" wheelDiameter="0.6" trackWidth="1.8" positionX="3.1" positionZ="0.3"/>
<RearAxle maxSteering="0.0" wheelDiameter="0.6" trackWidth="1.8" positionX="0.0" positionZ="0.3"/>
</Axles>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Vehicle>
</ScenarioObject>
<ScenarioObject name="pedestrian_close_to_standing_17686">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_w_transform_17687">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_close_to_adversary_17689">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_close_to_adversary_17691">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_close_to_standing_17692">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_w_transform_17693">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_close_to_hero_17694">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_close_to_standing_17695">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_w_transform_17696">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_w_transform_17697">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_w_transform_17698">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_close_to_hero_17699">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_w_transform_17700">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_w_transform_17701">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_close_to_adversary_17702">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_w_transform_17703">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_w_transform_17704">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_w_transform_17705">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_close_to_adversary_17706">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_w_transform_17707">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_close_to_hero_17708">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_w_transform_17709">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_close_to_adversary_17710">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
</Entities>
<Storyboard>
<Init>
<Actions>
<GlobalAction>
<EnvironmentAction>
<Environment name="Environment1">
<TimeOfDay animation="false" dateTime="2019-06-25T12:00:00"/>
<Weather cloudState="free">
<Sun intensity="0.85" azimuth="0" elevation="1.31"/>
<Fog visualRange="100000.0"/>
<Precipitation precipitationType="dry" intensity="0.0"/>
</Weather>
<RoadCondition frictionScaleFactor="1.0"/>
</Environment>
</EnvironmentAction>
</GlobalAction>
<Private entityRef="hero">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-9.4" y="-152.8" z="0.5" h="1.57079632679"/>
</Position>
</TeleportAction>
</PrivateAction>
<PrivateAction>
<ControllerAction>
<AssignControllerAction>
<Controller name="HeroAgent">
<Properties>
<Property name="module" value="external_control"/>
</Properties>
</Controller>
</AssignControllerAction>
<OverrideControllerValueAction>
<Throttle value="0" active="false"/>
<Brake value="0" active="false"/>
<Clutch value="0" active="false"/>
<ParkingBrake value="0" active="false"/>
<SteeringWheel value="0" active="false"/>
<Gear number="0" active="false"/>
</OverrideControllerValueAction>
</ControllerAction>
</PrivateAction>
</Private>
<Private entityRef="adversary">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-9.4" y="-71.0" z="0.5" h="1.57079632679"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="standing">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-8.2" y="29.2" z="0.5" h="1.57079632679"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_close_to_standing_17686">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-10.870774269104004" y="27.987638473510742" z="0.003023033030331135"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_w_transform_17687">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="13.512097358703613" y="-15.37880802154541" z="0.5"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_close_to_adversary_17689">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-12.737380981445312" y="-64.9415512084961" z="0.03377769514918327"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_close_to_adversary_17691">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-14.083255767822266" y="-69.08158874511719" z="0.03377212584018707"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_close_to_standing_17692">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-9.316518783569336" y="29.485191345214844" z="0.003075027372688055"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_w_transform_17693">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-18.132356643676758" y="60.01486587524414" z="0.5"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_close_to_hero_17694">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-12.138871192932129" y="-144.57142639160156" z="0.0014286803780123591"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_close_to_standing_17695">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-16.22544288635254" y="36.33972930908203" z="0.0030906677711755037"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_w_transform_17696">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="27.07962417602539" y="-57.02163314819336" z="0.5"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_w_transform_17697">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-7.419345855712891" y="94.84222412109375" z="0.5"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_w_transform_17698">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="63.932952880859375" y="-3.856981039047241" z="0.5"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_close_to_hero_17699">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-6.10480260848999" y="-144.098388671875" z="0.0014286803780123591"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_w_transform_17700">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="90.9004135131836" y="94.30950927734375" z="0.5"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_w_transform_17701">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="13.428543090820312" y="-42.359031677246094" z="0.5"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_close_to_adversary_17702">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-10.025989532470703" y="-71.200439453125" z="0.03383868932723999"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_w_transform_17703">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-82.91725158691406" y="-97.17774963378906" z="0.5"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_w_transform_17704">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="50.53241729736328" y="-33.156593322753906" z="0.5"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_w_transform_17705">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-58.002777099609375" y="-74.51910400390625" z="0.5"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_close_to_adversary_17706">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-11.604331970214844" y="-72.1033935546875" z="0.033800963312387466"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_w_transform_17707">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="12.437353134155273" y="19.96849250793457" z="0.5"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_close_to_hero_17708">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-2.369306802749634" y="-149.4993133544922" z="0.0014286803780123591"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_w_transform_17709">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="44.59357833862305" y="-44.72063446044922" z="0.5"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_close_to_adversary_17710">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-7.380173683166504" y="-69.58943176269531" z="0.03378646820783615"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
</Actions>
</Init>
<Story name="MyStory">
<Act name="Behavior">
<ManeuverGroup maximumExecutionCount="1" name="ManeuverSequence">
<Actors selectTriggeringEntities="false">
<EntityRef entityRef="adversary"/>
</Actors>
<Maneuver name="LaneChangeSimpleManeuver">
<Event name="AdversaryAccelerates" priority="overwrite">
<Action name="AdversaryAccelerates">
<PrivateAction>
<LongitudinalAction>
<SpeedAction>
<SpeedActionDynamics dynamicsShape="step" value="50" dynamicsDimension="distance"/>
<SpeedActionTarget>
<AbsoluteTargetSpeed value="5.0"/>
</SpeedActionTarget>
</SpeedAction>
</LongitudinalAction>
</PrivateAction>
</Action>
<StartTrigger>
<ConditionGroup>
<Condition name="StartCondition" delay="0" conditionEdge="rising">
<ByEntityCondition>
<TriggeringEntities triggeringEntitiesRule="any">
<EntityRef entityRef="hero"/>
</TriggeringEntities>
<EntityCondition>
<RelativeDistanceCondition entityRef="adversary" relativeDistanceType="cartesianDistance" value="40.0" freespace="false" rule="lessThan"/>
</EntityCondition>
</ByEntityCondition>
</Condition>
</ConditionGroup>
</StartTrigger>
</Event>
<Event name="AdversaryChangesLane" priority="overwrite">
<Action name="AdversaryChangesLane">
<PrivateAction>
<LateralAction>
<LaneChangeAction>
<LaneChangeActionDynamics dynamicsShape="linear" value="25" dynamicsDimension="distance"/>
<LaneChangeTarget>
<RelativeTargetLane entityRef="adversary" value="-1"/>
</LaneChangeTarget>
</LaneChangeAction>
</LateralAction>
</PrivateAction>
</Action>
<StartTrigger>
<ConditionGroup>
<Condition name="AfterAdversaryAccelerates" delay="0" conditionEdge="rising">
<ByValueCondition>
<StoryboardElementStateCondition storyboardElementType="action" storyboardElementRef="AdversaryAccelerates" state="completeState"/>
</ByValueCondition>
</Condition>
</ConditionGroup>
</StartTrigger>
</Event>
</Maneuver>
</ManeuverGroup>
<StartTrigger>
<ConditionGroup>
<Condition name="OverallStartCondition" delay="0" conditionEdge="rising">
<ByEntityCondition>
<TriggeringEntities triggeringEntitiesRule="any">
<EntityRef entityRef="hero"/>
</TriggeringEntities>
<EntityCondition>
<TraveledDistanceCondition value="1.0"/>
</EntityCondition>
</ByEntityCondition>
</Condition>
<Condition name="StartTime" delay="0" conditionEdge="rising">
<ByValueCondition>
<SimulationTimeCondition value="0" rule="equalTo"/>
</ByValueCondition>
</Condition>
</ConditionGroup>
</StartTrigger>
<StopTrigger>
<ConditionGroup>
<Condition name="EndCondition" delay="0" conditionEdge="rising">
<ByEntityCondition>
<TriggeringEntities triggeringEntitiesRule="any">
<EntityRef entityRef="hero"/>
</TriggeringEntities>
<EntityCondition>
<TraveledDistanceCondition value="200.0"/>
</EntityCondition>
</ByEntityCondition>
</Condition>
</ConditionGroup>
</StopTrigger>
</Act>
</Story>
<StopTrigger>
<ConditionGroup>
<Condition name="criteria_RunningStopTest" delay="0" conditionEdge="rising">
<ByValueCondition>
<ParameterCondition parameterRef="" value="" rule="lessThan"/>
</ByValueCondition>
</Condition>
<Condition name="criteria_RunningRedLightTest" delay="0" conditionEdge="rising">
<ByValueCondition>
<ParameterCondition parameterRef="" value="" rule="lessThan"/>
</ByValueCondition>
</Condition>
<Condition name="criteria_WrongLaneTest" delay="0" conditionEdge="rising">
<ByValueCondition>
<ParameterCondition parameterRef="" value="" rule="lessThan"/>
</ByValueCondition>
</Condition>
<Condition name="criteria_OnSidewalkTest" delay="0" conditionEdge="rising">
<ByValueCondition>
<ParameterCondition parameterRef="" value="" rule="lessThan"/>
</ByValueCondition>
</Condition>
<Condition name="criteria_KeepLaneTest" delay="0" conditionEdge="rising">
<ByValueCondition>
<ParameterCondition parameterRef="" value="" rule="lessThan"/>
</ByValueCondition>
</Condition>
<Condition name="criteria_CollisionTest" delay="0" conditionEdge="rising">
<ByValueCondition>
<ParameterCondition parameterRef="" value="" rule="lessThan"/>
</ByValueCondition>
</Condition>
<Condition name="criteria_DrivenDistanceTest" delay="0" conditionEdge="rising">
<ByValueCondition>
<ParameterCondition parameterRef="distance_success" value="100" rule="lessThan"/>
</ByValueCondition>
</Condition>
</ConditionGroup>
</StopTrigger>
</Storyboard>
</OpenSCENARIO>
``` |
i would like to instruct you to add pedestrian close to standing?
```
<?xml version="1.0" ?>
<OpenSCENARIO>
<FileHeader revMajor="1" revMinor="0" date="2020-03-24T12:00:00" description="CARLA:LaneChangeSimple" author=""/>
<ParameterDeclarations/>
<CatalogLocations/>
<RoadNetwork>
<LogicFile filepath="Town04"/>
<SceneGraphFile filepath=""/>
</RoadNetwork>
<Entities>
<ScenarioObject name="hero">
<Vehicle name="vehicle.tesla.model3" vehicleCategory="car">
<ParameterDeclarations/>
<Performance maxSpeed="69.444" maxAcceleration="200" maxDeceleration="10.0"/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2.1" length="4.5" height="1.8"/>
</BoundingBox>
<Axles>
<FrontAxle maxSteering="0.5" wheelDiameter="0.6" trackWidth="1.8" positionX="3.1" positionZ="0.3"/>
<RearAxle maxSteering="0.0" wheelDiameter="0.6" trackWidth="1.8" positionX="0.0" positionZ="0.3"/>
</Axles>
<Properties>
<Property name="type" value="ego_vehicle"/>
</Properties>
</Vehicle>
</ScenarioObject>
<ScenarioObject name="adversary">
<Vehicle name="vehicle.lincoln.mkz_2017" vehicleCategory="car">
<ParameterDeclarations/>
<Performance maxSpeed="69.444" maxAcceleration="200" maxDeceleration="10.0"/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2.1" length="4.5" height="1.8"/>
</BoundingBox>
<Axles>
<FrontAxle maxSteering="0.5" wheelDiameter="0.6" trackWidth="1.8" positionX="3.1" positionZ="0.3"/>
<RearAxle maxSteering="0.0" wheelDiameter="0.6" trackWidth="1.8" positionX="0.0" positionZ="0.3"/>
</Axles>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Vehicle>
</ScenarioObject>
<ScenarioObject name="standing">
<Vehicle name="vehicle.volkswagen.t2" vehicleCategory="car">
<ParameterDeclarations/>
<Performance maxSpeed="69.444" maxAcceleration="200" maxDeceleration="10.0"/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2.1" length="4.5" height="1.8"/>
</BoundingBox>
<Axles>
<FrontAxle maxSteering="0.5" wheelDiameter="0.6" trackWidth="1.8" positionX="3.1" positionZ="0.3"/>
<RearAxle maxSteering="0.0" wheelDiameter="0.6" trackWidth="1.8" positionX="0.0" positionZ="0.3"/>
</Axles>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Vehicle>
</ScenarioObject>
<ScenarioObject name="pedestrian_close_to_hero_9388">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_close_to_hero_9389">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_close_to_standing_9390">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_w_transform_9391">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_close_to_adversary_9393">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_close_to_adversary_9394">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_w_transform_9395">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_w_transform_9396">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_w_transform_9397">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_w_transform_9398">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_w_transform_9399">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_w_transform_9400">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_w_transform_9401">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
</Entities>
<Storyboard>
<Init>
<Actions>
<GlobalAction>
<EnvironmentAction>
<Environment name="Environment1">
<TimeOfDay animation="false" dateTime="2019-06-25T12:00:00"/>
<Weather cloudState="free">
<Sun intensity="0.85" azimuth="0" elevation="1.31"/>
<Fog visualRange="100000.0"/>
<Precipitation precipitationType="dry" intensity="0.0"/>
</Weather>
<RoadCondition frictionScaleFactor="1.0"/>
</Environment>
</EnvironmentAction>
</GlobalAction>
<Private entityRef="hero">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-9.4" y="-152.8" z="0.5" h="1.57079632679"/>
</Position>
</TeleportAction>
</PrivateAction>
<PrivateAction>
<ControllerAction>
<AssignControllerAction>
<Controller name="HeroAgent">
<Properties>
<Property name="module" value="external_control"/>
</Properties>
</Controller>
</AssignControllerAction>
<OverrideControllerValueAction>
<Throttle value="0" active="false"/>
<Brake value="0" active="false"/>
<Clutch value="0" active="false"/>
<ParkingBrake value="0" active="false"/>
<SteeringWheel value="0" active="false"/>
<Gear number="0" active="false"/>
</OverrideControllerValueAction>
</ControllerAction>
</PrivateAction>
</Private>
<Private entityRef="adversary">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-9.4" y="-71.0" z="0.5" h="1.57079632679"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="standing">
<PrivateAction>
<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_9388">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-9.635048866271973" y="-156.34767150878906" z="0.0014286803780123591"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_close_to_hero_9389">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-9.7499418258667" y="-161.07444763183594" z="0.0014286803780123591"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_close_to_standing_9390">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-12.342135429382324" y="20.27177619934082" z="0.0030897902324795723"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_w_transform_9391">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="95.85330963134766" y="-6.305225372314453" z="0.5"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_close_to_adversary_9393">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-18.033803939819336" y="-62.68086242675781" z="0.03380370885133743"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_close_to_adversary_9394">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-17.4736328125" y="-77.61512756347656" z="0.033764876425266266"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_w_transform_9395">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-72.31096649169922" y="54.50473403930664" z="0.5"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_w_transform_9396">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="15.36878490447998" y="-2.2334189414978027" z="0.5"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_w_transform_9397">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="91.98499298095703" y="-89.66284942626953" z="0.5"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_w_transform_9398">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="69.35973358154297" y="-26.572927474975586" z="0.5"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_w_transform_9399">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-12.364773750305176" y="-98.06893920898438" z="0.5"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_w_transform_9400">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-44.33924102783203" y="68.96612548828125" z="0.5"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_w_transform_9401">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-4.792116641998291" y="25.035783767700195" z="0.5"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
</Actions>
</Init>
<Story name="MyStory">
<Act name="Behavior">
<ManeuverGroup maximumExecutionCount="1" name="ManeuverSequence">
<Actors selectTriggeringEntities="false">
<EntityRef entityRef="adversary"/>
</Actors>
<Maneuver name="LaneChangeSimpleManeuver">
<Event name="AdversaryAccelerates" priority="overwrite">
<Action name="AdversaryAccelerates">
<PrivateAction>
<LongitudinalAction>
<SpeedAction>
<SpeedActionDynamics dynamicsShape="step" value="50" dynamicsDimension="distance"/>
<SpeedActionTarget>
<AbsoluteTargetSpeed value="5.0"/>
</SpeedActionTarget>
</SpeedAction>
</LongitudinalAction>
</PrivateAction>
</Action>
<StartTrigger>
<ConditionGroup>
<Condition name="StartCondition" delay="0" conditionEdge="rising">
<ByEntityCondition>
<TriggeringEntities triggeringEntitiesRule="any">
<EntityRef entityRef="hero"/>
</TriggeringEntities>
<EntityCondition>
<RelativeDistanceCondition entityRef="adversary" relativeDistanceType="cartesianDistance" value="40.0" freespace="false" rule="lessThan"/>
</EntityCondition>
</ByEntityCondition>
</Condition>
</ConditionGroup>
</StartTrigger>
</Event>
<Event name="AdversaryChangesLane" priority="overwrite">
<Action name="AdversaryChangesLane">
<PrivateAction>
<LateralAction>
<LaneChangeAction>
<LaneChangeActionDynamics dynamicsShape="linear" value="25" dynamicsDimension="distance"/>
<LaneChangeTarget>
<RelativeTargetLane entityRef="adversary" value="-1"/>
</LaneChangeTarget>
</LaneChangeAction>
</LateralAction>
</PrivateAction>
</Action>
<StartTrigger>
<ConditionGroup>
<Condition name="AfterAdversaryAccelerates" delay="0" conditionEdge="rising">
<ByValueCondition>
<StoryboardElementStateCondition storyboardElementType="action" storyboardElementRef="AdversaryAccelerates" state="completeState"/>
</ByValueCondition>
</Condition>
</ConditionGroup>
</StartTrigger>
</Event>
</Maneuver>
</ManeuverGroup>
<StartTrigger>
<ConditionGroup>
<Condition name="OverallStartCondition" delay="0" conditionEdge="rising">
<ByEntityCondition>
<TriggeringEntities triggeringEntitiesRule="any">
<EntityRef entityRef="hero"/>
</TriggeringEntities>
<EntityCondition>
<TraveledDistanceCondition value="1.0"/>
</EntityCondition>
</ByEntityCondition>
</Condition>
<Condition name="StartTime" delay="0" conditionEdge="rising">
<ByValueCondition>
<SimulationTimeCondition value="0" rule="equalTo"/>
</ByValueCondition>
</Condition>
</ConditionGroup>
</StartTrigger>
<StopTrigger>
<ConditionGroup>
<Condition name="EndCondition" delay="0" conditionEdge="rising">
<ByEntityCondition>
<TriggeringEntities triggeringEntitiesRule="any">
<EntityRef entityRef="hero"/>
</TriggeringEntities>
<EntityCondition>
<TraveledDistanceCondition value="200.0"/>
</EntityCondition>
</ByEntityCondition>
</Condition>
</ConditionGroup>
</StopTrigger>
</Act>
</Story>
<StopTrigger>
<ConditionGroup>
<Condition name="criteria_RunningStopTest" delay="0" conditionEdge="rising">
<ByValueCondition>
<ParameterCondition parameterRef="" value="" rule="lessThan"/>
</ByValueCondition>
</Condition>
<Condition name="criteria_RunningRedLightTest" delay="0" conditionEdge="rising">
<ByValueCondition>
<ParameterCondition parameterRef="" value="" rule="lessThan"/>
</ByValueCondition>
</Condition>
<Condition name="criteria_WrongLaneTest" delay="0" conditionEdge="rising">
<ByValueCondition>
<ParameterCondition parameterRef="" value="" rule="lessThan"/>
</ByValueCondition>
</Condition>
<Condition name="criteria_OnSidewalkTest" delay="0" conditionEdge="rising">
<ByValueCondition>
<ParameterCondition parameterRef="" value="" rule="lessThan"/>
</ByValueCondition>
</Condition>
<Condition name="criteria_KeepLaneTest" delay="0" conditionEdge="rising">
<ByValueCondition>
<ParameterCondition parameterRef="" value="" rule="lessThan"/>
</ByValueCondition>
</Condition>
<Condition name="criteria_CollisionTest" delay="0" conditionEdge="rising">
<ByValueCondition>
<ParameterCondition parameterRef="" value="" rule="lessThan"/>
</ByValueCondition>
</Condition>
<Condition name="criteria_DrivenDistanceTest" delay="0" conditionEdge="rising">
<ByValueCondition>
<ParameterCondition parameterRef="distance_success" value="100" rule="lessThan"/>
</ByValueCondition>
</Condition>
</ConditionGroup>
</StopTrigger>
</Storyboard>
</OpenSCENARIO>
``` | Here is the result:
```
<?xml version="1.0" ?>
<OpenSCENARIO>
<FileHeader revMajor="1" revMinor="0" date="2020-03-24T12:00:00" description="CARLA:LaneChangeSimple" author=""/>
<ParameterDeclarations/>
<CatalogLocations/>
<RoadNetwork>
<LogicFile filepath="Town04"/>
<SceneGraphFile filepath=""/>
</RoadNetwork>
<Entities>
<ScenarioObject name="hero">
<Vehicle name="vehicle.tesla.model3" vehicleCategory="car">
<ParameterDeclarations/>
<Performance maxSpeed="69.444" maxAcceleration="200" maxDeceleration="10.0"/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2.1" length="4.5" height="1.8"/>
</BoundingBox>
<Axles>
<FrontAxle maxSteering="0.5" wheelDiameter="0.6" trackWidth="1.8" positionX="3.1" positionZ="0.3"/>
<RearAxle maxSteering="0.0" wheelDiameter="0.6" trackWidth="1.8" positionX="0.0" positionZ="0.3"/>
</Axles>
<Properties>
<Property name="type" value="ego_vehicle"/>
</Properties>
</Vehicle>
</ScenarioObject>
<ScenarioObject name="adversary">
<Vehicle name="vehicle.lincoln.mkz_2017" vehicleCategory="car">
<ParameterDeclarations/>
<Performance maxSpeed="69.444" maxAcceleration="200" maxDeceleration="10.0"/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2.1" length="4.5" height="1.8"/>
</BoundingBox>
<Axles>
<FrontAxle maxSteering="0.5" wheelDiameter="0.6" trackWidth="1.8" positionX="3.1" positionZ="0.3"/>
<RearAxle maxSteering="0.0" wheelDiameter="0.6" trackWidth="1.8" positionX="0.0" positionZ="0.3"/>
</Axles>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Vehicle>
</ScenarioObject>
<ScenarioObject name="standing">
<Vehicle name="vehicle.volkswagen.t2" vehicleCategory="car">
<ParameterDeclarations/>
<Performance maxSpeed="69.444" maxAcceleration="200" maxDeceleration="10.0"/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2.1" length="4.5" height="1.8"/>
</BoundingBox>
<Axles>
<FrontAxle maxSteering="0.5" wheelDiameter="0.6" trackWidth="1.8" positionX="3.1" positionZ="0.3"/>
<RearAxle maxSteering="0.0" wheelDiameter="0.6" 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_9388">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_close_to_hero_9389">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_close_to_standing_9390">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_w_transform_9391">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_close_to_adversary_9393">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_close_to_adversary_9394">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_w_transform_9395">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_w_transform_9396">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_w_transform_9397">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_w_transform_9398">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_w_transform_9399">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_w_transform_9400">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_w_transform_9401">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_close_to_standing_9402">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
</Entities>
<Storyboard>
<Init>
<Actions>
<GlobalAction>
<EnvironmentAction>
<Environment name="Environment1">
<TimeOfDay animation="false" dateTime="2019-06-25T12:00:00"/>
<Weather cloudState="free">
<Sun intensity="0.85" azimuth="0" elevation="1.31"/>
<Fog visualRange="100000.0"/>
<Precipitation precipitationType="dry" intensity="0.0"/>
</Weather>
<RoadCondition frictionScaleFactor="1.0"/>
</Environment>
</EnvironmentAction>
</GlobalAction>
<Private entityRef="hero">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-9.4" y="-152.8" z="0.5" h="1.57079632679"/>
</Position>
</TeleportAction>
</PrivateAction>
<PrivateAction>
<ControllerAction>
<AssignControllerAction>
<Controller name="HeroAgent">
<Properties>
<Property name="module" value="external_control"/>
</Properties>
</Controller>
</AssignControllerAction>
<OverrideControllerValueAction>
<Throttle value="0" active="false"/>
<Brake value="0" active="false"/>
<Clutch value="0" active="false"/>
<ParkingBrake value="0" active="false"/>
<SteeringWheel value="0" active="false"/>
<Gear number="0" active="false"/>
</OverrideControllerValueAction>
</ControllerAction>
</PrivateAction>
</Private>
<Private entityRef="adversary">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-9.4" y="-71.0" z="0.5" h="1.57079632679"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="standing">
<PrivateAction>
<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_9388">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-9.635048866271973" y="-156.34767150878906" z="0.0014286803780123591"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_close_to_hero_9389">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-9.7499418258667" y="-161.07444763183594" z="0.0014286803780123591"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_close_to_standing_9390">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-12.342135429382324" y="20.27177619934082" z="0.0030897902324795723"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_w_transform_9391">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="95.85330963134766" y="-6.305225372314453" z="0.5"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_close_to_adversary_9393">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-18.033803939819336" y="-62.68086242675781" z="0.03380370885133743"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_close_to_adversary_9394">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-17.4736328125" y="-77.61512756347656" z="0.033764876425266266"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_w_transform_9395">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-72.31096649169922" y="54.50473403930664" z="0.5"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_w_transform_9396">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="15.36878490447998" y="-2.2334189414978027" z="0.5"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_w_transform_9397">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="91.98499298095703" y="-89.66284942626953" z="0.5"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_w_transform_9398">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="69.35973358154297" y="-26.572927474975586" z="0.5"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_w_transform_9399">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-12.364773750305176" y="-98.06893920898438" z="0.5"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_w_transform_9400">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-44.33924102783203" y="68.96612548828125" z="0.5"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_w_transform_9401">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-4.792116641998291" y="25.035783767700195" z="0.5"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_close_to_standing_9402">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="1.3212430477142334" y="24.85567283630371" z="0.003110236953943968"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
</Actions>
</Init>
<Story name="MyStory">
<Act name="Behavior">
<ManeuverGroup maximumExecutionCount="1" name="ManeuverSequence">
<Actors selectTriggeringEntities="false">
<EntityRef entityRef="adversary"/>
</Actors>
<Maneuver name="LaneChangeSimpleManeuver">
<Event name="AdversaryAccelerates" priority="overwrite">
<Action name="AdversaryAccelerates">
<PrivateAction>
<LongitudinalAction>
<SpeedAction>
<SpeedActionDynamics dynamicsShape="step" value="50" dynamicsDimension="distance"/>
<SpeedActionTarget>
<AbsoluteTargetSpeed value="5.0"/>
</SpeedActionTarget>
</SpeedAction>
</LongitudinalAction>
</PrivateAction>
</Action>
<StartTrigger>
<ConditionGroup>
<Condition name="StartCondition" delay="0" conditionEdge="rising">
<ByEntityCondition>
<TriggeringEntities triggeringEntitiesRule="any">
<EntityRef entityRef="hero"/>
</TriggeringEntities>
<EntityCondition>
<RelativeDistanceCondition entityRef="adversary" relativeDistanceType="cartesianDistance" value="40.0" freespace="false" rule="lessThan"/>
</EntityCondition>
</ByEntityCondition>
</Condition>
</ConditionGroup>
</StartTrigger>
</Event>
<Event name="AdversaryChangesLane" priority="overwrite">
<Action name="AdversaryChangesLane">
<PrivateAction>
<LateralAction>
<LaneChangeAction>
<LaneChangeActionDynamics dynamicsShape="linear" value="25" dynamicsDimension="distance"/>
<LaneChangeTarget>
<RelativeTargetLane entityRef="adversary" value="-1"/>
</LaneChangeTarget>
</LaneChangeAction>
</LateralAction>
</PrivateAction>
</Action>
<StartTrigger>
<ConditionGroup>
<Condition name="AfterAdversaryAccelerates" delay="0" conditionEdge="rising">
<ByValueCondition>
<StoryboardElementStateCondition storyboardElementType="action" storyboardElementRef="AdversaryAccelerates" state="completeState"/>
</ByValueCondition>
</Condition>
</ConditionGroup>
</StartTrigger>
</Event>
</Maneuver>
</ManeuverGroup>
<StartTrigger>
<ConditionGroup>
<Condition name="OverallStartCondition" delay="0" conditionEdge="rising">
<ByEntityCondition>
<TriggeringEntities triggeringEntitiesRule="any">
<EntityRef entityRef="hero"/>
</TriggeringEntities>
<EntityCondition>
<TraveledDistanceCondition value="1.0"/>
</EntityCondition>
</ByEntityCondition>
</Condition>
<Condition name="StartTime" delay="0" conditionEdge="rising">
<ByValueCondition>
<SimulationTimeCondition value="0" rule="equalTo"/>
</ByValueCondition>
</Condition>
</ConditionGroup>
</StartTrigger>
<StopTrigger>
<ConditionGroup>
<Condition name="EndCondition" delay="0" conditionEdge="rising">
<ByEntityCondition>
<TriggeringEntities triggeringEntitiesRule="any">
<EntityRef entityRef="hero"/>
</TriggeringEntities>
<EntityCondition>
<TraveledDistanceCondition value="200.0"/>
</EntityCondition>
</ByEntityCondition>
</Condition>
</ConditionGroup>
</StopTrigger>
</Act>
</Story>
<StopTrigger>
<ConditionGroup>
<Condition name="criteria_RunningStopTest" delay="0" conditionEdge="rising">
<ByValueCondition>
<ParameterCondition parameterRef="" value="" rule="lessThan"/>
</ByValueCondition>
</Condition>
<Condition name="criteria_RunningRedLightTest" delay="0" conditionEdge="rising">
<ByValueCondition>
<ParameterCondition parameterRef="" value="" rule="lessThan"/>
</ByValueCondition>
</Condition>
<Condition name="criteria_WrongLaneTest" delay="0" conditionEdge="rising">
<ByValueCondition>
<ParameterCondition parameterRef="" value="" rule="lessThan"/>
</ByValueCondition>
</Condition>
<Condition name="criteria_OnSidewalkTest" delay="0" conditionEdge="rising">
<ByValueCondition>
<ParameterCondition parameterRef="" value="" rule="lessThan"/>
</ByValueCondition>
</Condition>
<Condition name="criteria_KeepLaneTest" delay="0" conditionEdge="rising">
<ByValueCondition>
<ParameterCondition parameterRef="" value="" rule="lessThan"/>
</ByValueCondition>
</Condition>
<Condition name="criteria_CollisionTest" delay="0" conditionEdge="rising">
<ByValueCondition>
<ParameterCondition parameterRef="" value="" rule="lessThan"/>
</ByValueCondition>
</Condition>
<Condition name="criteria_DrivenDistanceTest" delay="0" conditionEdge="rising">
<ByValueCondition>
<ParameterCondition parameterRef="distance_success" value="100" rule="lessThan"/>
</ByValueCondition>
</Condition>
</ConditionGroup>
</StopTrigger>
</Storyboard>
</OpenSCENARIO>
``` |
could you remove pedestrian actor named pedestrian_w_transform_8427?
```
<?xml version="1.0" ?>
<OpenSCENARIO>
<FileHeader revMajor="1" revMinor="0" date="2020-03-24T12:00:00" description="CARLA:LaneChangeSimple" author=""/>
<ParameterDeclarations/>
<CatalogLocations/>
<RoadNetwork>
<LogicFile filepath="Town04"/>
<SceneGraphFile filepath=""/>
</RoadNetwork>
<Entities>
<ScenarioObject name="hero">
<Vehicle name="vehicle.tesla.model3" vehicleCategory="car">
<ParameterDeclarations/>
<Performance maxSpeed="69.444" maxAcceleration="200" maxDeceleration="10.0"/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2.1" length="4.5" height="1.8"/>
</BoundingBox>
<Axles>
<FrontAxle maxSteering="0.5" wheelDiameter="0.6" trackWidth="1.8" positionX="3.1" positionZ="0.3"/>
<RearAxle maxSteering="0.0" wheelDiameter="0.6" trackWidth="1.8" positionX="0.0" positionZ="0.3"/>
</Axles>
<Properties>
<Property name="type" value="ego_vehicle"/>
</Properties>
</Vehicle>
</ScenarioObject>
<ScenarioObject name="adversary">
<Vehicle name="vehicle.lincoln.mkz_2017" vehicleCategory="car">
<ParameterDeclarations/>
<Performance maxSpeed="69.444" maxAcceleration="200" maxDeceleration="10.0"/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2.1" length="4.5" height="1.8"/>
</BoundingBox>
<Axles>
<FrontAxle maxSteering="0.5" wheelDiameter="0.6" trackWidth="1.8" positionX="3.1" positionZ="0.3"/>
<RearAxle maxSteering="0.0" wheelDiameter="0.6" trackWidth="1.8" positionX="0.0" positionZ="0.3"/>
</Axles>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Vehicle>
</ScenarioObject>
<ScenarioObject name="standing">
<Vehicle name="vehicle.volkswagen.t2" vehicleCategory="car">
<ParameterDeclarations/>
<Performance maxSpeed="69.444" maxAcceleration="200" maxDeceleration="10.0"/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2.1" length="4.5" height="1.8"/>
</BoundingBox>
<Axles>
<FrontAxle maxSteering="0.5" wheelDiameter="0.6" trackWidth="1.8" positionX="3.1" positionZ="0.3"/>
<RearAxle maxSteering="0.0" wheelDiameter="0.6" trackWidth="1.8" positionX="0.0" positionZ="0.3"/>
</Axles>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Vehicle>
</ScenarioObject>
<ScenarioObject name="pedestrian_close_to_standing_8425">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_w_transform_8427">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_w_transform_8428">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_w_transform_8429">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_close_to_standing_8430">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_w_transform_8431">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_w_transform_8432">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_w_transform_8433">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_w_transform_8435">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
</Entities>
<Storyboard>
<Init>
<Actions>
<GlobalAction>
<EnvironmentAction>
<Environment name="Environment1">
<TimeOfDay animation="false" dateTime="2019-06-25T12:00:00"/>
<Weather cloudState="free">
<Sun intensity="0.85" azimuth="0" elevation="1.31"/>
<Fog visualRange="100000.0"/>
<Precipitation precipitationType="dry" intensity="0.0"/>
</Weather>
<RoadCondition frictionScaleFactor="1.0"/>
</Environment>
</EnvironmentAction>
</GlobalAction>
<Private entityRef="hero">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-9.4" y="-152.8" z="0.5" h="1.57079632679"/>
</Position>
</TeleportAction>
</PrivateAction>
<PrivateAction>
<ControllerAction>
<AssignControllerAction>
<Controller name="HeroAgent">
<Properties>
<Property name="module" value="external_control"/>
</Properties>
</Controller>
</AssignControllerAction>
<OverrideControllerValueAction>
<Throttle value="0" active="false"/>
<Brake value="0" active="false"/>
<Clutch value="0" active="false"/>
<ParkingBrake value="0" active="false"/>
<SteeringWheel value="0" active="false"/>
<Gear number="0" active="false"/>
</OverrideControllerValueAction>
</ControllerAction>
</PrivateAction>
</Private>
<Private entityRef="adversary">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-9.4" y="-71.0" z="0.5" h="1.57079632679"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="standing">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-8.2" y="29.2" z="0.5" h="1.57079632679"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_close_to_standing_8425">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-4.595790863037109" y="30.32195472717285" z="0.0030308531131595373"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_w_transform_8427">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="9.380293846130371" y="26.48225212097168" z="0.5"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_w_transform_8428">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-11.918423652648926" y="-0.8748636245727539" z="0.5"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_w_transform_8429">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-73.30068969726562" y="43.299861907958984" z="0.5"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_close_to_standing_8430">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-7.976245403289795" y="22.510629653930664" z="0.0030819319654256105"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_w_transform_8431">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="95.04120635986328" y="-45.972679138183594" z="0.5"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_w_transform_8432">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="78.52086639404297" y="71.7947006225586" z="0.5"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_w_transform_8433">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="62.90945053100586" y="91.12396240234375" z="0.5"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_w_transform_8435">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-4.4055070877075195" y="76.54426574707031" z="0.5"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
</Actions>
</Init>
<Story name="MyStory">
<Act name="Behavior">
<ManeuverGroup maximumExecutionCount="1" name="ManeuverSequence">
<Actors selectTriggeringEntities="false">
<EntityRef entityRef="adversary"/>
</Actors>
<Maneuver name="LaneChangeSimpleManeuver">
<Event name="AdversaryAccelerates" priority="overwrite">
<Action name="AdversaryAccelerates">
<PrivateAction>
<LongitudinalAction>
<SpeedAction>
<SpeedActionDynamics dynamicsShape="step" value="50" dynamicsDimension="distance"/>
<SpeedActionTarget>
<AbsoluteTargetSpeed value="5.0"/>
</SpeedActionTarget>
</SpeedAction>
</LongitudinalAction>
</PrivateAction>
</Action>
<StartTrigger>
<ConditionGroup>
<Condition name="StartCondition" delay="0" conditionEdge="rising">
<ByEntityCondition>
<TriggeringEntities triggeringEntitiesRule="any">
<EntityRef entityRef="hero"/>
</TriggeringEntities>
<EntityCondition>
<RelativeDistanceCondition entityRef="adversary" relativeDistanceType="cartesianDistance" value="40.0" freespace="false" rule="lessThan"/>
</EntityCondition>
</ByEntityCondition>
</Condition>
</ConditionGroup>
</StartTrigger>
</Event>
<Event name="AdversaryChangesLane" priority="overwrite">
<Action name="AdversaryChangesLane">
<PrivateAction>
<LateralAction>
<LaneChangeAction>
<LaneChangeActionDynamics dynamicsShape="linear" value="25" dynamicsDimension="distance"/>
<LaneChangeTarget>
<RelativeTargetLane entityRef="adversary" value="-1"/>
</LaneChangeTarget>
</LaneChangeAction>
</LateralAction>
</PrivateAction>
</Action>
<StartTrigger>
<ConditionGroup>
<Condition name="AfterAdversaryAccelerates" delay="0" conditionEdge="rising">
<ByValueCondition>
<StoryboardElementStateCondition storyboardElementType="action" storyboardElementRef="AdversaryAccelerates" state="completeState"/>
</ByValueCondition>
</Condition>
</ConditionGroup>
</StartTrigger>
</Event>
</Maneuver>
</ManeuverGroup>
<StartTrigger>
<ConditionGroup>
<Condition name="OverallStartCondition" delay="0" conditionEdge="rising">
<ByEntityCondition>
<TriggeringEntities triggeringEntitiesRule="any">
<EntityRef entityRef="hero"/>
</TriggeringEntities>
<EntityCondition>
<TraveledDistanceCondition value="1.0"/>
</EntityCondition>
</ByEntityCondition>
</Condition>
<Condition name="StartTime" delay="0" conditionEdge="rising">
<ByValueCondition>
<SimulationTimeCondition value="0" rule="equalTo"/>
</ByValueCondition>
</Condition>
</ConditionGroup>
</StartTrigger>
<StopTrigger>
<ConditionGroup>
<Condition name="EndCondition" delay="0" conditionEdge="rising">
<ByEntityCondition>
<TriggeringEntities triggeringEntitiesRule="any">
<EntityRef entityRef="hero"/>
</TriggeringEntities>
<EntityCondition>
<TraveledDistanceCondition value="200.0"/>
</EntityCondition>
</ByEntityCondition>
</Condition>
</ConditionGroup>
</StopTrigger>
</Act>
</Story>
<StopTrigger>
<ConditionGroup>
<Condition name="criteria_RunningStopTest" delay="0" conditionEdge="rising">
<ByValueCondition>
<ParameterCondition parameterRef="" value="" rule="lessThan"/>
</ByValueCondition>
</Condition>
<Condition name="criteria_RunningRedLightTest" delay="0" conditionEdge="rising">
<ByValueCondition>
<ParameterCondition parameterRef="" value="" rule="lessThan"/>
</ByValueCondition>
</Condition>
<Condition name="criteria_WrongLaneTest" delay="0" conditionEdge="rising">
<ByValueCondition>
<ParameterCondition parameterRef="" value="" rule="lessThan"/>
</ByValueCondition>
</Condition>
<Condition name="criteria_OnSidewalkTest" delay="0" conditionEdge="rising">
<ByValueCondition>
<ParameterCondition parameterRef="" value="" rule="lessThan"/>
</ByValueCondition>
</Condition>
<Condition name="criteria_KeepLaneTest" delay="0" conditionEdge="rising">
<ByValueCondition>
<ParameterCondition parameterRef="" value="" rule="lessThan"/>
</ByValueCondition>
</Condition>
<Condition name="criteria_CollisionTest" delay="0" conditionEdge="rising">
<ByValueCondition>
<ParameterCondition parameterRef="" value="" rule="lessThan"/>
</ByValueCondition>
</Condition>
<Condition name="criteria_DrivenDistanceTest" delay="0" conditionEdge="rising">
<ByValueCondition>
<ParameterCondition parameterRef="distance_success" value="100" rule="lessThan"/>
</ByValueCondition>
</Condition>
</ConditionGroup>
</StopTrigger>
</Storyboard>
</OpenSCENARIO>
``` | Here is the result:
```
<?xml version="1.0" ?>
<OpenSCENARIO>
<FileHeader revMajor="1" revMinor="0" date="2020-03-24T12:00:00" description="CARLA:LaneChangeSimple" author=""/>
<ParameterDeclarations/>
<CatalogLocations/>
<RoadNetwork>
<LogicFile filepath="Town04"/>
<SceneGraphFile filepath=""/>
</RoadNetwork>
<Entities>
<ScenarioObject name="hero">
<Vehicle name="vehicle.tesla.model3" vehicleCategory="car">
<ParameterDeclarations/>
<Performance maxSpeed="69.444" maxAcceleration="200" maxDeceleration="10.0"/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2.1" length="4.5" height="1.8"/>
</BoundingBox>
<Axles>
<FrontAxle maxSteering="0.5" wheelDiameter="0.6" trackWidth="1.8" positionX="3.1" positionZ="0.3"/>
<RearAxle maxSteering="0.0" wheelDiameter="0.6" trackWidth="1.8" positionX="0.0" positionZ="0.3"/>
</Axles>
<Properties>
<Property name="type" value="ego_vehicle"/>
</Properties>
</Vehicle>
</ScenarioObject>
<ScenarioObject name="adversary">
<Vehicle name="vehicle.lincoln.mkz_2017" vehicleCategory="car">
<ParameterDeclarations/>
<Performance maxSpeed="69.444" maxAcceleration="200" maxDeceleration="10.0"/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2.1" length="4.5" height="1.8"/>
</BoundingBox>
<Axles>
<FrontAxle maxSteering="0.5" wheelDiameter="0.6" trackWidth="1.8" positionX="3.1" positionZ="0.3"/>
<RearAxle maxSteering="0.0" wheelDiameter="0.6" trackWidth="1.8" positionX="0.0" positionZ="0.3"/>
</Axles>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Vehicle>
</ScenarioObject>
<ScenarioObject name="standing">
<Vehicle name="vehicle.volkswagen.t2" vehicleCategory="car">
<ParameterDeclarations/>
<Performance maxSpeed="69.444" maxAcceleration="200" maxDeceleration="10.0"/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2.1" length="4.5" height="1.8"/>
</BoundingBox>
<Axles>
<FrontAxle maxSteering="0.5" wheelDiameter="0.6" trackWidth="1.8" positionX="3.1" positionZ="0.3"/>
<RearAxle maxSteering="0.0" wheelDiameter="0.6" trackWidth="1.8" positionX="0.0" positionZ="0.3"/>
</Axles>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Vehicle>
</ScenarioObject>
<ScenarioObject name="pedestrian_close_to_standing_8425">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_w_transform_8428">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_w_transform_8429">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_close_to_standing_8430">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_w_transform_8431">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_w_transform_8432">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_w_transform_8433">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_w_transform_8435">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
</Entities>
<Storyboard>
<Init>
<Actions>
<GlobalAction>
<EnvironmentAction>
<Environment name="Environment1">
<TimeOfDay animation="false" dateTime="2019-06-25T12:00:00"/>
<Weather cloudState="free">
<Sun intensity="0.85" azimuth="0" elevation="1.31"/>
<Fog visualRange="100000.0"/>
<Precipitation precipitationType="dry" intensity="0.0"/>
</Weather>
<RoadCondition frictionScaleFactor="1.0"/>
</Environment>
</EnvironmentAction>
</GlobalAction>
<Private entityRef="hero">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-9.4" y="-152.8" z="0.5" h="1.57079632679"/>
</Position>
</TeleportAction>
</PrivateAction>
<PrivateAction>
<ControllerAction>
<AssignControllerAction>
<Controller name="HeroAgent">
<Properties>
<Property name="module" value="external_control"/>
</Properties>
</Controller>
</AssignControllerAction>
<OverrideControllerValueAction>
<Throttle value="0" active="false"/>
<Brake value="0" active="false"/>
<Clutch value="0" active="false"/>
<ParkingBrake value="0" active="false"/>
<SteeringWheel value="0" active="false"/>
<Gear number="0" active="false"/>
</OverrideControllerValueAction>
</ControllerAction>
</PrivateAction>
</Private>
<Private entityRef="adversary">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-9.4" y="-71.0" z="0.5" h="1.57079632679"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="standing">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-8.2" y="29.2" z="0.5" h="1.57079632679"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_close_to_standing_8425">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-4.595790863037109" y="30.32195472717285" z="0.0030308531131595373"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_w_transform_8428">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-11.918423652648926" y="-0.8748636245727539" z="0.5"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_w_transform_8429">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-73.30068969726562" y="43.299861907958984" z="0.5"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_close_to_standing_8430">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-7.976245403289795" y="22.510629653930664" z="0.0030819319654256105"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_w_transform_8431">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="95.04120635986328" y="-45.972679138183594" z="0.5"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_w_transform_8432">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="78.52086639404297" y="71.7947006225586" z="0.5"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_w_transform_8433">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="62.90945053100586" y="91.12396240234375" z="0.5"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_w_transform_8435">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-4.4055070877075195" y="76.54426574707031" z="0.5"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
</Actions>
</Init>
<Story name="MyStory">
<Act name="Behavior">
<ManeuverGroup maximumExecutionCount="1" name="ManeuverSequence">
<Actors selectTriggeringEntities="false">
<EntityRef entityRef="adversary"/>
</Actors>
<Maneuver name="LaneChangeSimpleManeuver">
<Event name="AdversaryAccelerates" priority="overwrite">
<Action name="AdversaryAccelerates">
<PrivateAction>
<LongitudinalAction>
<SpeedAction>
<SpeedActionDynamics dynamicsShape="step" value="50" dynamicsDimension="distance"/>
<SpeedActionTarget>
<AbsoluteTargetSpeed value="5.0"/>
</SpeedActionTarget>
</SpeedAction>
</LongitudinalAction>
</PrivateAction>
</Action>
<StartTrigger>
<ConditionGroup>
<Condition name="StartCondition" delay="0" conditionEdge="rising">
<ByEntityCondition>
<TriggeringEntities triggeringEntitiesRule="any">
<EntityRef entityRef="hero"/>
</TriggeringEntities>
<EntityCondition>
<RelativeDistanceCondition entityRef="adversary" relativeDistanceType="cartesianDistance" value="40.0" freespace="false" rule="lessThan"/>
</EntityCondition>
</ByEntityCondition>
</Condition>
</ConditionGroup>
</StartTrigger>
</Event>
<Event name="AdversaryChangesLane" priority="overwrite">
<Action name="AdversaryChangesLane">
<PrivateAction>
<LateralAction>
<LaneChangeAction>
<LaneChangeActionDynamics dynamicsShape="linear" value="25" dynamicsDimension="distance"/>
<LaneChangeTarget>
<RelativeTargetLane entityRef="adversary" value="-1"/>
</LaneChangeTarget>
</LaneChangeAction>
</LateralAction>
</PrivateAction>
</Action>
<StartTrigger>
<ConditionGroup>
<Condition name="AfterAdversaryAccelerates" delay="0" conditionEdge="rising">
<ByValueCondition>
<StoryboardElementStateCondition storyboardElementType="action" storyboardElementRef="AdversaryAccelerates" state="completeState"/>
</ByValueCondition>
</Condition>
</ConditionGroup>
</StartTrigger>
</Event>
</Maneuver>
</ManeuverGroup>
<StartTrigger>
<ConditionGroup>
<Condition name="OverallStartCondition" delay="0" conditionEdge="rising">
<ByEntityCondition>
<TriggeringEntities triggeringEntitiesRule="any">
<EntityRef entityRef="hero"/>
</TriggeringEntities>
<EntityCondition>
<TraveledDistanceCondition value="1.0"/>
</EntityCondition>
</ByEntityCondition>
</Condition>
<Condition name="StartTime" delay="0" conditionEdge="rising">
<ByValueCondition>
<SimulationTimeCondition value="0" rule="equalTo"/>
</ByValueCondition>
</Condition>
</ConditionGroup>
</StartTrigger>
<StopTrigger>
<ConditionGroup>
<Condition name="EndCondition" delay="0" conditionEdge="rising">
<ByEntityCondition>
<TriggeringEntities triggeringEntitiesRule="any">
<EntityRef entityRef="hero"/>
</TriggeringEntities>
<EntityCondition>
<TraveledDistanceCondition value="200.0"/>
</EntityCondition>
</ByEntityCondition>
</Condition>
</ConditionGroup>
</StopTrigger>
</Act>
</Story>
<StopTrigger>
<ConditionGroup>
<Condition name="criteria_RunningStopTest" delay="0" conditionEdge="rising">
<ByValueCondition>
<ParameterCondition parameterRef="" value="" rule="lessThan"/>
</ByValueCondition>
</Condition>
<Condition name="criteria_RunningRedLightTest" delay="0" conditionEdge="rising">
<ByValueCondition>
<ParameterCondition parameterRef="" value="" rule="lessThan"/>
</ByValueCondition>
</Condition>
<Condition name="criteria_WrongLaneTest" delay="0" conditionEdge="rising">
<ByValueCondition>
<ParameterCondition parameterRef="" value="" rule="lessThan"/>
</ByValueCondition>
</Condition>
<Condition name="criteria_OnSidewalkTest" delay="0" conditionEdge="rising">
<ByValueCondition>
<ParameterCondition parameterRef="" value="" rule="lessThan"/>
</ByValueCondition>
</Condition>
<Condition name="criteria_KeepLaneTest" delay="0" conditionEdge="rising">
<ByValueCondition>
<ParameterCondition parameterRef="" value="" rule="lessThan"/>
</ByValueCondition>
</Condition>
<Condition name="criteria_CollisionTest" delay="0" conditionEdge="rising">
<ByValueCondition>
<ParameterCondition parameterRef="" value="" rule="lessThan"/>
</ByValueCondition>
</Condition>
<Condition name="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 (78.69, 33.53, 0.5)?
```
<?xml version="1.0" ?>
<OpenSCENARIO>
<FileHeader revMajor="1" revMinor="0" date="2020-03-24T12:00:00" description="CARLA:LaneChangeSimple" author=""/>
<ParameterDeclarations/>
<CatalogLocations/>
<RoadNetwork>
<LogicFile filepath="Town04"/>
<SceneGraphFile filepath=""/>
</RoadNetwork>
<Entities>
<ScenarioObject name="hero">
<Vehicle name="vehicle.tesla.model3" vehicleCategory="car">
<ParameterDeclarations/>
<Performance maxSpeed="69.444" maxAcceleration="200" maxDeceleration="10.0"/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2.1" length="4.5" height="1.8"/>
</BoundingBox>
<Axles>
<FrontAxle maxSteering="0.5" wheelDiameter="0.6" trackWidth="1.8" positionX="3.1" positionZ="0.3"/>
<RearAxle maxSteering="0.0" wheelDiameter="0.6" trackWidth="1.8" positionX="0.0" positionZ="0.3"/>
</Axles>
<Properties>
<Property name="type" value="ego_vehicle"/>
</Properties>
</Vehicle>
</ScenarioObject>
<ScenarioObject name="adversary">
<Vehicle name="vehicle.lincoln.mkz_2017" vehicleCategory="car">
<ParameterDeclarations/>
<Performance maxSpeed="69.444" maxAcceleration="200" maxDeceleration="10.0"/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2.1" length="4.5" height="1.8"/>
</BoundingBox>
<Axles>
<FrontAxle maxSteering="0.5" wheelDiameter="0.6" trackWidth="1.8" positionX="3.1" positionZ="0.3"/>
<RearAxle maxSteering="0.0" wheelDiameter="0.6" trackWidth="1.8" positionX="0.0" positionZ="0.3"/>
</Axles>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Vehicle>
</ScenarioObject>
<ScenarioObject name="standing">
<Vehicle name="vehicle.volkswagen.t2" vehicleCategory="car">
<ParameterDeclarations/>
<Performance maxSpeed="69.444" maxAcceleration="200" maxDeceleration="10.0"/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2.1" length="4.5" height="1.8"/>
</BoundingBox>
<Axles>
<FrontAxle maxSteering="0.5" wheelDiameter="0.6" trackWidth="1.8" positionX="3.1" positionZ="0.3"/>
<RearAxle maxSteering="0.0" wheelDiameter="0.6" trackWidth="1.8" positionX="0.0" positionZ="0.3"/>
</Axles>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Vehicle>
</ScenarioObject>
<ScenarioObject name="pedestrian_close_to_standing_22221">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_close_to_standing_22222">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
</Entities>
<Storyboard>
<Init>
<Actions>
<GlobalAction>
<EnvironmentAction>
<Environment name="Environment1">
<TimeOfDay animation="false" dateTime="2019-06-25T12:00:00"/>
<Weather cloudState="free">
<Sun intensity="0.85" azimuth="0" elevation="1.31"/>
<Fog visualRange="100000.0"/>
<Precipitation precipitationType="dry" intensity="0.0"/>
</Weather>
<RoadCondition frictionScaleFactor="1.0"/>
</Environment>
</EnvironmentAction>
</GlobalAction>
<Private entityRef="hero">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-9.4" y="-152.8" z="0.5" h="1.57079632679"/>
</Position>
</TeleportAction>
</PrivateAction>
<PrivateAction>
<ControllerAction>
<AssignControllerAction>
<Controller name="HeroAgent">
<Properties>
<Property name="module" value="external_control"/>
</Properties>
</Controller>
</AssignControllerAction>
<OverrideControllerValueAction>
<Throttle value="0" active="false"/>
<Brake value="0" active="false"/>
<Clutch value="0" active="false"/>
<ParkingBrake value="0" active="false"/>
<SteeringWheel value="0" active="false"/>
<Gear number="0" active="false"/>
</OverrideControllerValueAction>
</ControllerAction>
</PrivateAction>
</Private>
<Private entityRef="adversary">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-9.4" y="-71.0" z="0.5" h="1.57079632679"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="standing">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-8.2" y="29.2" z="0.5" h="1.57079632679"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_close_to_standing_22221">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-10.72120475769043" y="24.413652420043945" z="0.003049239981919527"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_close_to_standing_22222">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="5.783363342285156" y="36.8591194152832" z="0.003055000212043524"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
</Actions>
</Init>
<Story name="MyStory">
<Act name="Behavior">
<ManeuverGroup maximumExecutionCount="1" name="ManeuverSequence">
<Actors selectTriggeringEntities="false">
<EntityRef entityRef="adversary"/>
</Actors>
<Maneuver name="LaneChangeSimpleManeuver">
<Event name="AdversaryAccelerates" priority="overwrite">
<Action name="AdversaryAccelerates">
<PrivateAction>
<LongitudinalAction>
<SpeedAction>
<SpeedActionDynamics dynamicsShape="step" value="50" dynamicsDimension="distance"/>
<SpeedActionTarget>
<AbsoluteTargetSpeed value="5.0"/>
</SpeedActionTarget>
</SpeedAction>
</LongitudinalAction>
</PrivateAction>
</Action>
<StartTrigger>
<ConditionGroup>
<Condition name="StartCondition" delay="0" conditionEdge="rising">
<ByEntityCondition>
<TriggeringEntities triggeringEntitiesRule="any">
<EntityRef entityRef="hero"/>
</TriggeringEntities>
<EntityCondition>
<RelativeDistanceCondition entityRef="adversary" relativeDistanceType="cartesianDistance" value="40.0" freespace="false" rule="lessThan"/>
</EntityCondition>
</ByEntityCondition>
</Condition>
</ConditionGroup>
</StartTrigger>
</Event>
<Event name="AdversaryChangesLane" priority="overwrite">
<Action name="AdversaryChangesLane">
<PrivateAction>
<LateralAction>
<LaneChangeAction>
<LaneChangeActionDynamics dynamicsShape="linear" value="25" dynamicsDimension="distance"/>
<LaneChangeTarget>
<RelativeTargetLane entityRef="adversary" value="-1"/>
</LaneChangeTarget>
</LaneChangeAction>
</LateralAction>
</PrivateAction>
</Action>
<StartTrigger>
<ConditionGroup>
<Condition name="AfterAdversaryAccelerates" delay="0" conditionEdge="rising">
<ByValueCondition>
<StoryboardElementStateCondition storyboardElementType="action" storyboardElementRef="AdversaryAccelerates" state="completeState"/>
</ByValueCondition>
</Condition>
</ConditionGroup>
</StartTrigger>
</Event>
</Maneuver>
</ManeuverGroup>
<StartTrigger>
<ConditionGroup>
<Condition name="OverallStartCondition" delay="0" conditionEdge="rising">
<ByEntityCondition>
<TriggeringEntities triggeringEntitiesRule="any">
<EntityRef entityRef="hero"/>
</TriggeringEntities>
<EntityCondition>
<TraveledDistanceCondition value="1.0"/>
</EntityCondition>
</ByEntityCondition>
</Condition>
<Condition name="StartTime" delay="0" conditionEdge="rising">
<ByValueCondition>
<SimulationTimeCondition value="0" rule="equalTo"/>
</ByValueCondition>
</Condition>
</ConditionGroup>
</StartTrigger>
<StopTrigger>
<ConditionGroup>
<Condition name="EndCondition" delay="0" conditionEdge="rising">
<ByEntityCondition>
<TriggeringEntities triggeringEntitiesRule="any">
<EntityRef entityRef="hero"/>
</TriggeringEntities>
<EntityCondition>
<TraveledDistanceCondition value="200.0"/>
</EntityCondition>
</ByEntityCondition>
</Condition>
</ConditionGroup>
</StopTrigger>
</Act>
</Story>
<StopTrigger>
<ConditionGroup>
<Condition name="criteria_RunningStopTest" delay="0" conditionEdge="rising">
<ByValueCondition>
<ParameterCondition parameterRef="" value="" rule="lessThan"/>
</ByValueCondition>
</Condition>
<Condition name="criteria_RunningRedLightTest" delay="0" conditionEdge="rising">
<ByValueCondition>
<ParameterCondition parameterRef="" value="" rule="lessThan"/>
</ByValueCondition>
</Condition>
<Condition name="criteria_WrongLaneTest" delay="0" conditionEdge="rising">
<ByValueCondition>
<ParameterCondition parameterRef="" value="" rule="lessThan"/>
</ByValueCondition>
</Condition>
<Condition name="criteria_OnSidewalkTest" delay="0" conditionEdge="rising">
<ByValueCondition>
<ParameterCondition parameterRef="" value="" rule="lessThan"/>
</ByValueCondition>
</Condition>
<Condition name="criteria_KeepLaneTest" delay="0" conditionEdge="rising">
<ByValueCondition>
<ParameterCondition parameterRef="" value="" rule="lessThan"/>
</ByValueCondition>
</Condition>
<Condition name="criteria_CollisionTest" delay="0" conditionEdge="rising">
<ByValueCondition>
<ParameterCondition parameterRef="" value="" rule="lessThan"/>
</ByValueCondition>
</Condition>
<Condition name="criteria_DrivenDistanceTest" delay="0" conditionEdge="rising">
<ByValueCondition>
<ParameterCondition parameterRef="distance_success" value="100" rule="lessThan"/>
</ByValueCondition>
</Condition>
</ConditionGroup>
</StopTrigger>
</Storyboard>
</OpenSCENARIO>
``` | Here is the result:
```
<?xml version="1.0" ?>
<OpenSCENARIO>
<FileHeader revMajor="1" revMinor="0" date="2020-03-24T12:00:00" description="CARLA:LaneChangeSimple" author=""/>
<ParameterDeclarations/>
<CatalogLocations/>
<RoadNetwork>
<LogicFile filepath="Town04"/>
<SceneGraphFile filepath=""/>
</RoadNetwork>
<Entities>
<ScenarioObject name="hero">
<Vehicle name="vehicle.tesla.model3" vehicleCategory="car">
<ParameterDeclarations/>
<Performance maxSpeed="69.444" maxAcceleration="200" maxDeceleration="10.0"/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2.1" length="4.5" height="1.8"/>
</BoundingBox>
<Axles>
<FrontAxle maxSteering="0.5" wheelDiameter="0.6" trackWidth="1.8" positionX="3.1" positionZ="0.3"/>
<RearAxle maxSteering="0.0" wheelDiameter="0.6" trackWidth="1.8" positionX="0.0" positionZ="0.3"/>
</Axles>
<Properties>
<Property name="type" value="ego_vehicle"/>
</Properties>
</Vehicle>
</ScenarioObject>
<ScenarioObject name="adversary">
<Vehicle name="vehicle.lincoln.mkz_2017" vehicleCategory="car">
<ParameterDeclarations/>
<Performance maxSpeed="69.444" maxAcceleration="200" maxDeceleration="10.0"/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2.1" length="4.5" height="1.8"/>
</BoundingBox>
<Axles>
<FrontAxle maxSteering="0.5" wheelDiameter="0.6" trackWidth="1.8" positionX="3.1" positionZ="0.3"/>
<RearAxle maxSteering="0.0" wheelDiameter="0.6" trackWidth="1.8" positionX="0.0" positionZ="0.3"/>
</Axles>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Vehicle>
</ScenarioObject>
<ScenarioObject name="standing">
<Vehicle name="vehicle.volkswagen.t2" vehicleCategory="car">
<ParameterDeclarations/>
<Performance maxSpeed="69.444" maxAcceleration="200" maxDeceleration="10.0"/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2.1" length="4.5" height="1.8"/>
</BoundingBox>
<Axles>
<FrontAxle maxSteering="0.5" wheelDiameter="0.6" trackWidth="1.8" positionX="3.1" positionZ="0.3"/>
<RearAxle maxSteering="0.0" wheelDiameter="0.6" trackWidth="1.8" positionX="0.0" positionZ="0.3"/>
</Axles>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Vehicle>
</ScenarioObject>
<ScenarioObject name="pedestrian_close_to_standing_22221">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_close_to_standing_22222">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_w_transform_22223">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
</Entities>
<Storyboard>
<Init>
<Actions>
<GlobalAction>
<EnvironmentAction>
<Environment name="Environment1">
<TimeOfDay animation="false" dateTime="2019-06-25T12:00:00"/>
<Weather cloudState="free">
<Sun intensity="0.85" azimuth="0" elevation="1.31"/>
<Fog visualRange="100000.0"/>
<Precipitation precipitationType="dry" intensity="0.0"/>
</Weather>
<RoadCondition frictionScaleFactor="1.0"/>
</Environment>
</EnvironmentAction>
</GlobalAction>
<Private entityRef="hero">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-9.4" y="-152.8" z="0.5" h="1.57079632679"/>
</Position>
</TeleportAction>
</PrivateAction>
<PrivateAction>
<ControllerAction>
<AssignControllerAction>
<Controller name="HeroAgent">
<Properties>
<Property name="module" value="external_control"/>
</Properties>
</Controller>
</AssignControllerAction>
<OverrideControllerValueAction>
<Throttle value="0" active="false"/>
<Brake value="0" active="false"/>
<Clutch value="0" active="false"/>
<ParkingBrake value="0" active="false"/>
<SteeringWheel value="0" active="false"/>
<Gear number="0" active="false"/>
</OverrideControllerValueAction>
</ControllerAction>
</PrivateAction>
</Private>
<Private entityRef="adversary">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-9.4" y="-71.0" z="0.5" h="1.57079632679"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="standing">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-8.2" y="29.2" z="0.5" h="1.57079632679"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_close_to_standing_22221">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-10.72120475769043" y="24.413652420043945" z="0.003049239981919527"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_close_to_standing_22222">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="5.783363342285156" y="36.8591194152832" z="0.003055000212043524"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_w_transform_22223">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="78.68737030029297" y="33.529029846191406" z="0.5"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
</Actions>
</Init>
<Story name="MyStory">
<Act name="Behavior">
<ManeuverGroup maximumExecutionCount="1" name="ManeuverSequence">
<Actors selectTriggeringEntities="false">
<EntityRef entityRef="adversary"/>
</Actors>
<Maneuver name="LaneChangeSimpleManeuver">
<Event name="AdversaryAccelerates" priority="overwrite">
<Action name="AdversaryAccelerates">
<PrivateAction>
<LongitudinalAction>
<SpeedAction>
<SpeedActionDynamics dynamicsShape="step" value="50" dynamicsDimension="distance"/>
<SpeedActionTarget>
<AbsoluteTargetSpeed value="5.0"/>
</SpeedActionTarget>
</SpeedAction>
</LongitudinalAction>
</PrivateAction>
</Action>
<StartTrigger>
<ConditionGroup>
<Condition name="StartCondition" delay="0" conditionEdge="rising">
<ByEntityCondition>
<TriggeringEntities triggeringEntitiesRule="any">
<EntityRef entityRef="hero"/>
</TriggeringEntities>
<EntityCondition>
<RelativeDistanceCondition entityRef="adversary" relativeDistanceType="cartesianDistance" value="40.0" freespace="false" rule="lessThan"/>
</EntityCondition>
</ByEntityCondition>
</Condition>
</ConditionGroup>
</StartTrigger>
</Event>
<Event name="AdversaryChangesLane" priority="overwrite">
<Action name="AdversaryChangesLane">
<PrivateAction>
<LateralAction>
<LaneChangeAction>
<LaneChangeActionDynamics dynamicsShape="linear" value="25" dynamicsDimension="distance"/>
<LaneChangeTarget>
<RelativeTargetLane entityRef="adversary" value="-1"/>
</LaneChangeTarget>
</LaneChangeAction>
</LateralAction>
</PrivateAction>
</Action>
<StartTrigger>
<ConditionGroup>
<Condition name="AfterAdversaryAccelerates" delay="0" conditionEdge="rising">
<ByValueCondition>
<StoryboardElementStateCondition storyboardElementType="action" storyboardElementRef="AdversaryAccelerates" state="completeState"/>
</ByValueCondition>
</Condition>
</ConditionGroup>
</StartTrigger>
</Event>
</Maneuver>
</ManeuverGroup>
<StartTrigger>
<ConditionGroup>
<Condition name="OverallStartCondition" delay="0" conditionEdge="rising">
<ByEntityCondition>
<TriggeringEntities triggeringEntitiesRule="any">
<EntityRef entityRef="hero"/>
</TriggeringEntities>
<EntityCondition>
<TraveledDistanceCondition value="1.0"/>
</EntityCondition>
</ByEntityCondition>
</Condition>
<Condition name="StartTime" delay="0" conditionEdge="rising">
<ByValueCondition>
<SimulationTimeCondition value="0" rule="equalTo"/>
</ByValueCondition>
</Condition>
</ConditionGroup>
</StartTrigger>
<StopTrigger>
<ConditionGroup>
<Condition name="EndCondition" delay="0" conditionEdge="rising">
<ByEntityCondition>
<TriggeringEntities triggeringEntitiesRule="any">
<EntityRef entityRef="hero"/>
</TriggeringEntities>
<EntityCondition>
<TraveledDistanceCondition value="200.0"/>
</EntityCondition>
</ByEntityCondition>
</Condition>
</ConditionGroup>
</StopTrigger>
</Act>
</Story>
<StopTrigger>
<ConditionGroup>
<Condition name="criteria_RunningStopTest" delay="0" conditionEdge="rising">
<ByValueCondition>
<ParameterCondition parameterRef="" value="" rule="lessThan"/>
</ByValueCondition>
</Condition>
<Condition name="criteria_RunningRedLightTest" delay="0" conditionEdge="rising">
<ByValueCondition>
<ParameterCondition parameterRef="" value="" rule="lessThan"/>
</ByValueCondition>
</Condition>
<Condition name="criteria_WrongLaneTest" delay="0" conditionEdge="rising">
<ByValueCondition>
<ParameterCondition parameterRef="" value="" rule="lessThan"/>
</ByValueCondition>
</Condition>
<Condition name="criteria_OnSidewalkTest" delay="0" conditionEdge="rising">
<ByValueCondition>
<ParameterCondition parameterRef="" value="" rule="lessThan"/>
</ByValueCondition>
</Condition>
<Condition name="criteria_KeepLaneTest" delay="0" conditionEdge="rising">
<ByValueCondition>
<ParameterCondition parameterRef="" value="" rule="lessThan"/>
</ByValueCondition>
</Condition>
<Condition name="criteria_CollisionTest" delay="0" conditionEdge="rising">
<ByValueCondition>
<ParameterCondition parameterRef="" value="" rule="lessThan"/>
</ByValueCondition>
</Condition>
<Condition name="criteria_DrivenDistanceTest" delay="0" conditionEdge="rising">
<ByValueCondition>
<ParameterCondition parameterRef="distance_success" value="100" rule="lessThan"/>
</ByValueCondition>
</Condition>
</ConditionGroup>
</StopTrigger>
</Storyboard>
</OpenSCENARIO>
``` |
can you add pedestrian close to hero?
```
<?xml version="1.0" ?>
<OpenSCENARIO>
<FileHeader revMajor="1" revMinor="0" date="2020-03-24T12:00:00" description="CARLA:LaneChangeSimple" author=""/>
<ParameterDeclarations/>
<CatalogLocations/>
<RoadNetwork>
<LogicFile filepath="Town04"/>
<SceneGraphFile filepath=""/>
</RoadNetwork>
<Entities>
<ScenarioObject name="hero">
<Vehicle name="vehicle.tesla.model3" vehicleCategory="car">
<ParameterDeclarations/>
<Performance maxSpeed="69.444" maxAcceleration="200" maxDeceleration="10.0"/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2.1" length="4.5" height="1.8"/>
</BoundingBox>
<Axles>
<FrontAxle maxSteering="0.5" wheelDiameter="0.6" trackWidth="1.8" positionX="3.1" positionZ="0.3"/>
<RearAxle maxSteering="0.0" wheelDiameter="0.6" trackWidth="1.8" positionX="0.0" positionZ="0.3"/>
</Axles>
<Properties>
<Property name="type" value="ego_vehicle"/>
</Properties>
</Vehicle>
</ScenarioObject>
<ScenarioObject name="adversary">
<Vehicle name="vehicle.lincoln.mkz_2017" vehicleCategory="car">
<ParameterDeclarations/>
<Performance maxSpeed="69.444" maxAcceleration="200" maxDeceleration="10.0"/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2.1" length="4.5" height="1.8"/>
</BoundingBox>
<Axles>
<FrontAxle maxSteering="0.5" wheelDiameter="0.6" trackWidth="1.8" positionX="3.1" positionZ="0.3"/>
<RearAxle maxSteering="0.0" wheelDiameter="0.6" trackWidth="1.8" positionX="0.0" positionZ="0.3"/>
</Axles>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Vehicle>
</ScenarioObject>
<ScenarioObject name="standing">
<Vehicle name="vehicle.volkswagen.t2" vehicleCategory="car">
<ParameterDeclarations/>
<Performance maxSpeed="69.444" maxAcceleration="200" maxDeceleration="10.0"/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2.1" length="4.5" height="1.8"/>
</BoundingBox>
<Axles>
<FrontAxle maxSteering="0.5" wheelDiameter="0.6" trackWidth="1.8" positionX="3.1" positionZ="0.3"/>
<RearAxle maxSteering="0.0" wheelDiameter="0.6" trackWidth="1.8" positionX="0.0" positionZ="0.3"/>
</Axles>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Vehicle>
</ScenarioObject>
<ScenarioObject name="pedestrian_close_to_adversary_506">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_w_transform_507">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_close_to_hero_509">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
</Entities>
<Storyboard>
<Init>
<Actions>
<GlobalAction>
<EnvironmentAction>
<Environment name="Environment1">
<TimeOfDay animation="false" dateTime="2019-06-25T12:00:00"/>
<Weather cloudState="free">
<Sun intensity="0.85" azimuth="0" elevation="1.31"/>
<Fog visualRange="100000.0"/>
<Precipitation precipitationType="dry" intensity="0.0"/>
</Weather>
<RoadCondition frictionScaleFactor="1.0"/>
</Environment>
</EnvironmentAction>
</GlobalAction>
<Private entityRef="hero">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-9.4" y="-152.8" z="0.5" h="1.57079632679"/>
</Position>
</TeleportAction>
</PrivateAction>
<PrivateAction>
<ControllerAction>
<AssignControllerAction>
<Controller name="HeroAgent">
<Properties>
<Property name="module" value="external_control"/>
</Properties>
</Controller>
</AssignControllerAction>
<OverrideControllerValueAction>
<Throttle value="0" active="false"/>
<Brake value="0" active="false"/>
<Clutch value="0" active="false"/>
<ParkingBrake value="0" active="false"/>
<SteeringWheel value="0" active="false"/>
<Gear number="0" active="false"/>
</OverrideControllerValueAction>
</ControllerAction>
</PrivateAction>
</Private>
<Private entityRef="adversary">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-9.4" y="-71.0" z="0.5" h="1.57079632679"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="standing">
<PrivateAction>
<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_506">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="1.8800498247146606" y="-56.01607894897461" z="0.03379005193710327"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_w_transform_507">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-15.436115264892578" y="-26.565555572509766" z="0.5"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_close_to_hero_509">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-5.829349994659424" y="-160.1025848388672" z="0.0014286803780123591"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
</Actions>
</Init>
<Story name="MyStory">
<Act name="Behavior">
<ManeuverGroup maximumExecutionCount="1" name="ManeuverSequence">
<Actors selectTriggeringEntities="false">
<EntityRef entityRef="adversary"/>
</Actors>
<Maneuver name="LaneChangeSimpleManeuver">
<Event name="AdversaryAccelerates" priority="overwrite">
<Action name="AdversaryAccelerates">
<PrivateAction>
<LongitudinalAction>
<SpeedAction>
<SpeedActionDynamics dynamicsShape="step" value="50" dynamicsDimension="distance"/>
<SpeedActionTarget>
<AbsoluteTargetSpeed value="5.0"/>
</SpeedActionTarget>
</SpeedAction>
</LongitudinalAction>
</PrivateAction>
</Action>
<StartTrigger>
<ConditionGroup>
<Condition name="StartCondition" delay="0" conditionEdge="rising">
<ByEntityCondition>
<TriggeringEntities triggeringEntitiesRule="any">
<EntityRef entityRef="hero"/>
</TriggeringEntities>
<EntityCondition>
<RelativeDistanceCondition entityRef="adversary" relativeDistanceType="cartesianDistance" value="40.0" freespace="false" rule="lessThan"/>
</EntityCondition>
</ByEntityCondition>
</Condition>
</ConditionGroup>
</StartTrigger>
</Event>
<Event name="AdversaryChangesLane" priority="overwrite">
<Action name="AdversaryChangesLane">
<PrivateAction>
<LateralAction>
<LaneChangeAction>
<LaneChangeActionDynamics dynamicsShape="linear" value="25" dynamicsDimension="distance"/>
<LaneChangeTarget>
<RelativeTargetLane entityRef="adversary" value="-1"/>
</LaneChangeTarget>
</LaneChangeAction>
</LateralAction>
</PrivateAction>
</Action>
<StartTrigger>
<ConditionGroup>
<Condition name="AfterAdversaryAccelerates" delay="0" conditionEdge="rising">
<ByValueCondition>
<StoryboardElementStateCondition storyboardElementType="action" storyboardElementRef="AdversaryAccelerates" state="completeState"/>
</ByValueCondition>
</Condition>
</ConditionGroup>
</StartTrigger>
</Event>
</Maneuver>
</ManeuverGroup>
<StartTrigger>
<ConditionGroup>
<Condition name="OverallStartCondition" delay="0" conditionEdge="rising">
<ByEntityCondition>
<TriggeringEntities triggeringEntitiesRule="any">
<EntityRef entityRef="hero"/>
</TriggeringEntities>
<EntityCondition>
<TraveledDistanceCondition value="1.0"/>
</EntityCondition>
</ByEntityCondition>
</Condition>
<Condition name="StartTime" delay="0" conditionEdge="rising">
<ByValueCondition>
<SimulationTimeCondition value="0" rule="equalTo"/>
</ByValueCondition>
</Condition>
</ConditionGroup>
</StartTrigger>
<StopTrigger>
<ConditionGroup>
<Condition name="EndCondition" delay="0" conditionEdge="rising">
<ByEntityCondition>
<TriggeringEntities triggeringEntitiesRule="any">
<EntityRef entityRef="hero"/>
</TriggeringEntities>
<EntityCondition>
<TraveledDistanceCondition value="200.0"/>
</EntityCondition>
</ByEntityCondition>
</Condition>
</ConditionGroup>
</StopTrigger>
</Act>
</Story>
<StopTrigger>
<ConditionGroup>
<Condition name="criteria_RunningStopTest" delay="0" conditionEdge="rising">
<ByValueCondition>
<ParameterCondition parameterRef="" value="" rule="lessThan"/>
</ByValueCondition>
</Condition>
<Condition name="criteria_RunningRedLightTest" delay="0" conditionEdge="rising">
<ByValueCondition>
<ParameterCondition parameterRef="" value="" rule="lessThan"/>
</ByValueCondition>
</Condition>
<Condition name="criteria_WrongLaneTest" delay="0" conditionEdge="rising">
<ByValueCondition>
<ParameterCondition parameterRef="" value="" rule="lessThan"/>
</ByValueCondition>
</Condition>
<Condition name="criteria_OnSidewalkTest" delay="0" conditionEdge="rising">
<ByValueCondition>
<ParameterCondition parameterRef="" value="" rule="lessThan"/>
</ByValueCondition>
</Condition>
<Condition name="criteria_KeepLaneTest" delay="0" conditionEdge="rising">
<ByValueCondition>
<ParameterCondition parameterRef="" value="" rule="lessThan"/>
</ByValueCondition>
</Condition>
<Condition name="criteria_CollisionTest" delay="0" conditionEdge="rising">
<ByValueCondition>
<ParameterCondition parameterRef="" value="" rule="lessThan"/>
</ByValueCondition>
</Condition>
<Condition name="criteria_DrivenDistanceTest" delay="0" conditionEdge="rising">
<ByValueCondition>
<ParameterCondition parameterRef="distance_success" value="100" rule="lessThan"/>
</ByValueCondition>
</Condition>
</ConditionGroup>
</StopTrigger>
</Storyboard>
</OpenSCENARIO>
``` | Here is the result:
```
<?xml version="1.0" ?>
<OpenSCENARIO>
<FileHeader revMajor="1" revMinor="0" date="2020-03-24T12:00:00" description="CARLA:LaneChangeSimple" author=""/>
<ParameterDeclarations/>
<CatalogLocations/>
<RoadNetwork>
<LogicFile filepath="Town04"/>
<SceneGraphFile filepath=""/>
</RoadNetwork>
<Entities>
<ScenarioObject name="hero">
<Vehicle name="vehicle.tesla.model3" vehicleCategory="car">
<ParameterDeclarations/>
<Performance maxSpeed="69.444" maxAcceleration="200" maxDeceleration="10.0"/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2.1" length="4.5" height="1.8"/>
</BoundingBox>
<Axles>
<FrontAxle maxSteering="0.5" wheelDiameter="0.6" trackWidth="1.8" positionX="3.1" positionZ="0.3"/>
<RearAxle maxSteering="0.0" wheelDiameter="0.6" trackWidth="1.8" positionX="0.0" positionZ="0.3"/>
</Axles>
<Properties>
<Property name="type" value="ego_vehicle"/>
</Properties>
</Vehicle>
</ScenarioObject>
<ScenarioObject name="adversary">
<Vehicle name="vehicle.lincoln.mkz_2017" vehicleCategory="car">
<ParameterDeclarations/>
<Performance maxSpeed="69.444" maxAcceleration="200" maxDeceleration="10.0"/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2.1" length="4.5" height="1.8"/>
</BoundingBox>
<Axles>
<FrontAxle maxSteering="0.5" wheelDiameter="0.6" trackWidth="1.8" positionX="3.1" positionZ="0.3"/>
<RearAxle maxSteering="0.0" wheelDiameter="0.6" trackWidth="1.8" positionX="0.0" positionZ="0.3"/>
</Axles>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Vehicle>
</ScenarioObject>
<ScenarioObject name="standing">
<Vehicle name="vehicle.volkswagen.t2" vehicleCategory="car">
<ParameterDeclarations/>
<Performance maxSpeed="69.444" maxAcceleration="200" maxDeceleration="10.0"/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2.1" length="4.5" height="1.8"/>
</BoundingBox>
<Axles>
<FrontAxle maxSteering="0.5" wheelDiameter="0.6" trackWidth="1.8" positionX="3.1" positionZ="0.3"/>
<RearAxle maxSteering="0.0" wheelDiameter="0.6" 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_506">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_w_transform_507">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_close_to_hero_509">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_close_to_hero_510">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
</Entities>
<Storyboard>
<Init>
<Actions>
<GlobalAction>
<EnvironmentAction>
<Environment name="Environment1">
<TimeOfDay animation="false" dateTime="2019-06-25T12:00:00"/>
<Weather cloudState="free">
<Sun intensity="0.85" azimuth="0" elevation="1.31"/>
<Fog visualRange="100000.0"/>
<Precipitation precipitationType="dry" intensity="0.0"/>
</Weather>
<RoadCondition frictionScaleFactor="1.0"/>
</Environment>
</EnvironmentAction>
</GlobalAction>
<Private entityRef="hero">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-9.4" y="-152.8" z="0.5" h="1.57079632679"/>
</Position>
</TeleportAction>
</PrivateAction>
<PrivateAction>
<ControllerAction>
<AssignControllerAction>
<Controller name="HeroAgent">
<Properties>
<Property name="module" value="external_control"/>
</Properties>
</Controller>
</AssignControllerAction>
<OverrideControllerValueAction>
<Throttle value="0" active="false"/>
<Brake value="0" active="false"/>
<Clutch value="0" active="false"/>
<ParkingBrake value="0" active="false"/>
<SteeringWheel value="0" active="false"/>
<Gear number="0" active="false"/>
</OverrideControllerValueAction>
</ControllerAction>
</PrivateAction>
</Private>
<Private entityRef="adversary">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-9.4" y="-71.0" z="0.5" h="1.57079632679"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="standing">
<PrivateAction>
<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_506">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="1.8800498247146606" y="-56.01607894897461" z="0.03379005193710327"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_w_transform_507">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-15.436115264892578" y="-26.565555572509766" z="0.5"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_close_to_hero_509">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-5.829349994659424" y="-160.1025848388672" z="0.0014286803780123591"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_close_to_hero_510">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-16.484699249267578" y="-156.02633666992188" z="0.0014286803780123591"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
</Actions>
</Init>
<Story name="MyStory">
<Act name="Behavior">
<ManeuverGroup maximumExecutionCount="1" name="ManeuverSequence">
<Actors selectTriggeringEntities="false">
<EntityRef entityRef="adversary"/>
</Actors>
<Maneuver name="LaneChangeSimpleManeuver">
<Event name="AdversaryAccelerates" priority="overwrite">
<Action name="AdversaryAccelerates">
<PrivateAction>
<LongitudinalAction>
<SpeedAction>
<SpeedActionDynamics dynamicsShape="step" value="50" dynamicsDimension="distance"/>
<SpeedActionTarget>
<AbsoluteTargetSpeed value="5.0"/>
</SpeedActionTarget>
</SpeedAction>
</LongitudinalAction>
</PrivateAction>
</Action>
<StartTrigger>
<ConditionGroup>
<Condition name="StartCondition" delay="0" conditionEdge="rising">
<ByEntityCondition>
<TriggeringEntities triggeringEntitiesRule="any">
<EntityRef entityRef="hero"/>
</TriggeringEntities>
<EntityCondition>
<RelativeDistanceCondition entityRef="adversary" relativeDistanceType="cartesianDistance" value="40.0" freespace="false" rule="lessThan"/>
</EntityCondition>
</ByEntityCondition>
</Condition>
</ConditionGroup>
</StartTrigger>
</Event>
<Event name="AdversaryChangesLane" priority="overwrite">
<Action name="AdversaryChangesLane">
<PrivateAction>
<LateralAction>
<LaneChangeAction>
<LaneChangeActionDynamics dynamicsShape="linear" value="25" dynamicsDimension="distance"/>
<LaneChangeTarget>
<RelativeTargetLane entityRef="adversary" value="-1"/>
</LaneChangeTarget>
</LaneChangeAction>
</LateralAction>
</PrivateAction>
</Action>
<StartTrigger>
<ConditionGroup>
<Condition name="AfterAdversaryAccelerates" delay="0" conditionEdge="rising">
<ByValueCondition>
<StoryboardElementStateCondition storyboardElementType="action" storyboardElementRef="AdversaryAccelerates" state="completeState"/>
</ByValueCondition>
</Condition>
</ConditionGroup>
</StartTrigger>
</Event>
</Maneuver>
</ManeuverGroup>
<StartTrigger>
<ConditionGroup>
<Condition name="OverallStartCondition" delay="0" conditionEdge="rising">
<ByEntityCondition>
<TriggeringEntities triggeringEntitiesRule="any">
<EntityRef entityRef="hero"/>
</TriggeringEntities>
<EntityCondition>
<TraveledDistanceCondition value="1.0"/>
</EntityCondition>
</ByEntityCondition>
</Condition>
<Condition name="StartTime" delay="0" conditionEdge="rising">
<ByValueCondition>
<SimulationTimeCondition value="0" rule="equalTo"/>
</ByValueCondition>
</Condition>
</ConditionGroup>
</StartTrigger>
<StopTrigger>
<ConditionGroup>
<Condition name="EndCondition" delay="0" conditionEdge="rising">
<ByEntityCondition>
<TriggeringEntities triggeringEntitiesRule="any">
<EntityRef entityRef="hero"/>
</TriggeringEntities>
<EntityCondition>
<TraveledDistanceCondition value="200.0"/>
</EntityCondition>
</ByEntityCondition>
</Condition>
</ConditionGroup>
</StopTrigger>
</Act>
</Story>
<StopTrigger>
<ConditionGroup>
<Condition name="criteria_RunningStopTest" delay="0" conditionEdge="rising">
<ByValueCondition>
<ParameterCondition parameterRef="" value="" rule="lessThan"/>
</ByValueCondition>
</Condition>
<Condition name="criteria_RunningRedLightTest" delay="0" conditionEdge="rising">
<ByValueCondition>
<ParameterCondition parameterRef="" value="" rule="lessThan"/>
</ByValueCondition>
</Condition>
<Condition name="criteria_WrongLaneTest" delay="0" conditionEdge="rising">
<ByValueCondition>
<ParameterCondition parameterRef="" value="" rule="lessThan"/>
</ByValueCondition>
</Condition>
<Condition name="criteria_OnSidewalkTest" delay="0" conditionEdge="rising">
<ByValueCondition>
<ParameterCondition parameterRef="" value="" rule="lessThan"/>
</ByValueCondition>
</Condition>
<Condition name="criteria_KeepLaneTest" delay="0" conditionEdge="rising">
<ByValueCondition>
<ParameterCondition parameterRef="" value="" rule="lessThan"/>
</ByValueCondition>
</Condition>
<Condition name="criteria_CollisionTest" delay="0" conditionEdge="rising">
<ByValueCondition>
<ParameterCondition parameterRef="" value="" rule="lessThan"/>
</ByValueCondition>
</Condition>
<Condition name="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 (49.09, 53.98, 0.5)?
```
<?xml version="1.0" ?>
<OpenSCENARIO>
<FileHeader revMajor="1" revMinor="0" date="2020-03-24T12:00:00" description="CARLA:LaneChangeSimple" author=""/>
<ParameterDeclarations/>
<CatalogLocations/>
<RoadNetwork>
<LogicFile filepath="Town04"/>
<SceneGraphFile filepath=""/>
</RoadNetwork>
<Entities>
<ScenarioObject name="hero">
<Vehicle name="vehicle.tesla.model3" vehicleCategory="car">
<ParameterDeclarations/>
<Performance maxSpeed="69.444" maxAcceleration="200" maxDeceleration="10.0"/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2.1" length="4.5" height="1.8"/>
</BoundingBox>
<Axles>
<FrontAxle maxSteering="0.5" wheelDiameter="0.6" trackWidth="1.8" positionX="3.1" positionZ="0.3"/>
<RearAxle maxSteering="0.0" wheelDiameter="0.6" trackWidth="1.8" positionX="0.0" positionZ="0.3"/>
</Axles>
<Properties>
<Property name="type" value="ego_vehicle"/>
</Properties>
</Vehicle>
</ScenarioObject>
<ScenarioObject name="adversary">
<Vehicle name="vehicle.lincoln.mkz_2017" vehicleCategory="car">
<ParameterDeclarations/>
<Performance maxSpeed="69.444" maxAcceleration="200" maxDeceleration="10.0"/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2.1" length="4.5" height="1.8"/>
</BoundingBox>
<Axles>
<FrontAxle maxSteering="0.5" wheelDiameter="0.6" trackWidth="1.8" positionX="3.1" positionZ="0.3"/>
<RearAxle maxSteering="0.0" wheelDiameter="0.6" trackWidth="1.8" positionX="0.0" positionZ="0.3"/>
</Axles>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Vehicle>
</ScenarioObject>
<ScenarioObject name="standing">
<Vehicle name="vehicle.volkswagen.t2" vehicleCategory="car">
<ParameterDeclarations/>
<Performance maxSpeed="69.444" maxAcceleration="200" maxDeceleration="10.0"/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2.1" length="4.5" height="1.8"/>
</BoundingBox>
<Axles>
<FrontAxle maxSteering="0.5" wheelDiameter="0.6" trackWidth="1.8" positionX="3.1" positionZ="0.3"/>
<RearAxle maxSteering="0.0" wheelDiameter="0.6" trackWidth="1.8" positionX="0.0" positionZ="0.3"/>
</Axles>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Vehicle>
</ScenarioObject>
<ScenarioObject name="pedestrian_close_to_standing_6632">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_w_transform_6633">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_close_to_hero_6634">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_w_transform_6635">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_w_transform_6636">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_close_to_standing_6637">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_w_transform_6639">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_close_to_adversary_6640">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_close_to_adversary_6641">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_close_to_standing_6642">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_w_transform_6643">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_w_transform_6644">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_w_transform_6645">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_w_transform_6646">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_close_to_standing_6647">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_w_transform_6648">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_w_transform_6649">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_w_transform_6650">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
</Entities>
<Storyboard>
<Init>
<Actions>
<GlobalAction>
<EnvironmentAction>
<Environment name="Environment1">
<TimeOfDay animation="false" dateTime="2019-06-25T12:00:00"/>
<Weather cloudState="free">
<Sun intensity="0.85" azimuth="0" elevation="1.31"/>
<Fog visualRange="100000.0"/>
<Precipitation precipitationType="dry" intensity="0.0"/>
</Weather>
<RoadCondition frictionScaleFactor="1.0"/>
</Environment>
</EnvironmentAction>
</GlobalAction>
<Private entityRef="hero">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-9.4" y="-152.8" z="0.5" h="1.57079632679"/>
</Position>
</TeleportAction>
</PrivateAction>
<PrivateAction>
<ControllerAction>
<AssignControllerAction>
<Controller name="HeroAgent">
<Properties>
<Property name="module" value="external_control"/>
</Properties>
</Controller>
</AssignControllerAction>
<OverrideControllerValueAction>
<Throttle value="0" active="false"/>
<Brake value="0" active="false"/>
<Clutch value="0" active="false"/>
<ParkingBrake value="0" active="false"/>
<SteeringWheel value="0" active="false"/>
<Gear number="0" active="false"/>
</OverrideControllerValueAction>
</ControllerAction>
</PrivateAction>
</Private>
<Private entityRef="adversary">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-9.4" y="-71.0" z="0.5" h="1.57079632679"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="standing">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-8.2" y="29.2" z="0.5" h="1.57079632679"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_close_to_standing_6632">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-7.969404220581055" y="25.947851181030273" z="0.003022765973582864"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_w_transform_6633">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="69.27613067626953" y="93.51509094238281" z="0.5"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_close_to_hero_6634">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-3.4932141304016113" y="-144.62442016601562" z="0.0014286803780123591"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_w_transform_6635">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="73.61292266845703" y="19.014787673950195" z="0.5"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_w_transform_6636">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-30.148883819580078" y="-12.820682525634766" z="0.5"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_close_to_standing_6637">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-4.598690032958984" y="42.801753997802734" z="0.003017005743458867"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_w_transform_6639">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-98.74795532226562" y="-39.50527572631836" z="0.5"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_close_to_adversary_6640">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-11.350875854492188" y="-64.94891357421875" z="0.03377380222082138"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_close_to_adversary_6641">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-18.33918571472168" y="-61.8371696472168" z="0.03379066288471222"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_close_to_standing_6642">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-16.178470611572266" y="27.41838264465332" z="0.0030744553077965975"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_w_transform_6643">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="60.24997329711914" y="27.124042510986328" z="0.5"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_w_transform_6644">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-81.79295349121094" y="-71.30950927734375" z="0.5"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_w_transform_6645">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-6.521171569824219" y="66.59102630615234" z="0.5"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_w_transform_6646">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="68.70637512207031" y="94.32281494140625" z="0.5"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_close_to_standing_6647">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-2.7560856342315674" y="32.26089859008789" z="0.0030559920705854893"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_w_transform_6648">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="17.590822219848633" y="11.882591247558594" z="0.5"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_w_transform_6649">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="76.77174377441406" y="-3.843596935272217" z="0.5"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_w_transform_6650">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="13.326963424682617" y="56.79472732543945" z="0.5"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
</Actions>
</Init>
<Story name="MyStory">
<Act name="Behavior">
<ManeuverGroup maximumExecutionCount="1" name="ManeuverSequence">
<Actors selectTriggeringEntities="false">
<EntityRef entityRef="adversary"/>
</Actors>
<Maneuver name="LaneChangeSimpleManeuver">
<Event name="AdversaryAccelerates" priority="overwrite">
<Action name="AdversaryAccelerates">
<PrivateAction>
<LongitudinalAction>
<SpeedAction>
<SpeedActionDynamics dynamicsShape="step" value="50" dynamicsDimension="distance"/>
<SpeedActionTarget>
<AbsoluteTargetSpeed value="5.0"/>
</SpeedActionTarget>
</SpeedAction>
</LongitudinalAction>
</PrivateAction>
</Action>
<StartTrigger>
<ConditionGroup>
<Condition name="StartCondition" delay="0" conditionEdge="rising">
<ByEntityCondition>
<TriggeringEntities triggeringEntitiesRule="any">
<EntityRef entityRef="hero"/>
</TriggeringEntities>
<EntityCondition>
<RelativeDistanceCondition entityRef="adversary" relativeDistanceType="cartesianDistance" value="40.0" freespace="false" rule="lessThan"/>
</EntityCondition>
</ByEntityCondition>
</Condition>
</ConditionGroup>
</StartTrigger>
</Event>
<Event name="AdversaryChangesLane" priority="overwrite">
<Action name="AdversaryChangesLane">
<PrivateAction>
<LateralAction>
<LaneChangeAction>
<LaneChangeActionDynamics dynamicsShape="linear" value="25" dynamicsDimension="distance"/>
<LaneChangeTarget>
<RelativeTargetLane entityRef="adversary" value="-1"/>
</LaneChangeTarget>
</LaneChangeAction>
</LateralAction>
</PrivateAction>
</Action>
<StartTrigger>
<ConditionGroup>
<Condition name="AfterAdversaryAccelerates" delay="0" conditionEdge="rising">
<ByValueCondition>
<StoryboardElementStateCondition storyboardElementType="action" storyboardElementRef="AdversaryAccelerates" state="completeState"/>
</ByValueCondition>
</Condition>
</ConditionGroup>
</StartTrigger>
</Event>
</Maneuver>
</ManeuverGroup>
<StartTrigger>
<ConditionGroup>
<Condition name="OverallStartCondition" delay="0" conditionEdge="rising">
<ByEntityCondition>
<TriggeringEntities triggeringEntitiesRule="any">
<EntityRef entityRef="hero"/>
</TriggeringEntities>
<EntityCondition>
<TraveledDistanceCondition value="1.0"/>
</EntityCondition>
</ByEntityCondition>
</Condition>
<Condition name="StartTime" delay="0" conditionEdge="rising">
<ByValueCondition>
<SimulationTimeCondition value="0" rule="equalTo"/>
</ByValueCondition>
</Condition>
</ConditionGroup>
</StartTrigger>
<StopTrigger>
<ConditionGroup>
<Condition name="EndCondition" delay="0" conditionEdge="rising">
<ByEntityCondition>
<TriggeringEntities triggeringEntitiesRule="any">
<EntityRef entityRef="hero"/>
</TriggeringEntities>
<EntityCondition>
<TraveledDistanceCondition value="200.0"/>
</EntityCondition>
</ByEntityCondition>
</Condition>
</ConditionGroup>
</StopTrigger>
</Act>
</Story>
<StopTrigger>
<ConditionGroup>
<Condition name="criteria_RunningStopTest" delay="0" conditionEdge="rising">
<ByValueCondition>
<ParameterCondition parameterRef="" value="" rule="lessThan"/>
</ByValueCondition>
</Condition>
<Condition name="criteria_RunningRedLightTest" delay="0" conditionEdge="rising">
<ByValueCondition>
<ParameterCondition parameterRef="" value="" rule="lessThan"/>
</ByValueCondition>
</Condition>
<Condition name="criteria_WrongLaneTest" delay="0" conditionEdge="rising">
<ByValueCondition>
<ParameterCondition parameterRef="" value="" rule="lessThan"/>
</ByValueCondition>
</Condition>
<Condition name="criteria_OnSidewalkTest" delay="0" conditionEdge="rising">
<ByValueCondition>
<ParameterCondition parameterRef="" value="" rule="lessThan"/>
</ByValueCondition>
</Condition>
<Condition name="criteria_KeepLaneTest" delay="0" conditionEdge="rising">
<ByValueCondition>
<ParameterCondition parameterRef="" value="" rule="lessThan"/>
</ByValueCondition>
</Condition>
<Condition name="criteria_CollisionTest" delay="0" conditionEdge="rising">
<ByValueCondition>
<ParameterCondition parameterRef="" value="" rule="lessThan"/>
</ByValueCondition>
</Condition>
<Condition name="criteria_DrivenDistanceTest" delay="0" conditionEdge="rising">
<ByValueCondition>
<ParameterCondition parameterRef="distance_success" value="100" rule="lessThan"/>
</ByValueCondition>
</Condition>
</ConditionGroup>
</StopTrigger>
</Storyboard>
</OpenSCENARIO>
``` | Here is the result:
```
<?xml version="1.0" ?>
<OpenSCENARIO>
<FileHeader revMajor="1" revMinor="0" date="2020-03-24T12:00:00" description="CARLA:LaneChangeSimple" author=""/>
<ParameterDeclarations/>
<CatalogLocations/>
<RoadNetwork>
<LogicFile filepath="Town04"/>
<SceneGraphFile filepath=""/>
</RoadNetwork>
<Entities>
<ScenarioObject name="hero">
<Vehicle name="vehicle.tesla.model3" vehicleCategory="car">
<ParameterDeclarations/>
<Performance maxSpeed="69.444" maxAcceleration="200" maxDeceleration="10.0"/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2.1" length="4.5" height="1.8"/>
</BoundingBox>
<Axles>
<FrontAxle maxSteering="0.5" wheelDiameter="0.6" trackWidth="1.8" positionX="3.1" positionZ="0.3"/>
<RearAxle maxSteering="0.0" wheelDiameter="0.6" trackWidth="1.8" positionX="0.0" positionZ="0.3"/>
</Axles>
<Properties>
<Property name="type" value="ego_vehicle"/>
</Properties>
</Vehicle>
</ScenarioObject>
<ScenarioObject name="adversary">
<Vehicle name="vehicle.lincoln.mkz_2017" vehicleCategory="car">
<ParameterDeclarations/>
<Performance maxSpeed="69.444" maxAcceleration="200" maxDeceleration="10.0"/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2.1" length="4.5" height="1.8"/>
</BoundingBox>
<Axles>
<FrontAxle maxSteering="0.5" wheelDiameter="0.6" trackWidth="1.8" positionX="3.1" positionZ="0.3"/>
<RearAxle maxSteering="0.0" wheelDiameter="0.6" trackWidth="1.8" positionX="0.0" positionZ="0.3"/>
</Axles>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Vehicle>
</ScenarioObject>
<ScenarioObject name="standing">
<Vehicle name="vehicle.volkswagen.t2" vehicleCategory="car">
<ParameterDeclarations/>
<Performance maxSpeed="69.444" maxAcceleration="200" maxDeceleration="10.0"/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2.1" length="4.5" height="1.8"/>
</BoundingBox>
<Axles>
<FrontAxle maxSteering="0.5" wheelDiameter="0.6" trackWidth="1.8" positionX="3.1" positionZ="0.3"/>
<RearAxle maxSteering="0.0" wheelDiameter="0.6" trackWidth="1.8" positionX="0.0" positionZ="0.3"/>
</Axles>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Vehicle>
</ScenarioObject>
<ScenarioObject name="pedestrian_close_to_standing_6632">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_w_transform_6633">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_close_to_hero_6634">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_w_transform_6635">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_w_transform_6636">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_close_to_standing_6637">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_w_transform_6639">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_close_to_adversary_6640">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_close_to_adversary_6641">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_close_to_standing_6642">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_w_transform_6643">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_w_transform_6644">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_w_transform_6645">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_w_transform_6646">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_close_to_standing_6647">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_w_transform_6648">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_w_transform_6649">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_w_transform_6650">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_w_transform_6651">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
</Entities>
<Storyboard>
<Init>
<Actions>
<GlobalAction>
<EnvironmentAction>
<Environment name="Environment1">
<TimeOfDay animation="false" dateTime="2019-06-25T12:00:00"/>
<Weather cloudState="free">
<Sun intensity="0.85" azimuth="0" elevation="1.31"/>
<Fog visualRange="100000.0"/>
<Precipitation precipitationType="dry" intensity="0.0"/>
</Weather>
<RoadCondition frictionScaleFactor="1.0"/>
</Environment>
</EnvironmentAction>
</GlobalAction>
<Private entityRef="hero">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-9.4" y="-152.8" z="0.5" h="1.57079632679"/>
</Position>
</TeleportAction>
</PrivateAction>
<PrivateAction>
<ControllerAction>
<AssignControllerAction>
<Controller name="HeroAgent">
<Properties>
<Property name="module" value="external_control"/>
</Properties>
</Controller>
</AssignControllerAction>
<OverrideControllerValueAction>
<Throttle value="0" active="false"/>
<Brake value="0" active="false"/>
<Clutch value="0" active="false"/>
<ParkingBrake value="0" active="false"/>
<SteeringWheel value="0" active="false"/>
<Gear number="0" active="false"/>
</OverrideControllerValueAction>
</ControllerAction>
</PrivateAction>
</Private>
<Private entityRef="adversary">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-9.4" y="-71.0" z="0.5" h="1.57079632679"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="standing">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-8.2" y="29.2" z="0.5" h="1.57079632679"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_close_to_standing_6632">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-7.969404220581055" y="25.947851181030273" z="0.003022765973582864"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_w_transform_6633">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="69.27613067626953" y="93.51509094238281" z="0.5"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_close_to_hero_6634">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-3.4932141304016113" y="-144.62442016601562" z="0.0014286803780123591"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_w_transform_6635">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="73.61292266845703" y="19.014787673950195" z="0.5"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_w_transform_6636">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-30.148883819580078" y="-12.820682525634766" z="0.5"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_close_to_standing_6637">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-4.598690032958984" y="42.801753997802734" z="0.003017005743458867"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_w_transform_6639">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-98.74795532226562" y="-39.50527572631836" z="0.5"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_close_to_adversary_6640">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-11.350875854492188" y="-64.94891357421875" z="0.03377380222082138"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_close_to_adversary_6641">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-18.33918571472168" y="-61.8371696472168" z="0.03379066288471222"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_close_to_standing_6642">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-16.178470611572266" y="27.41838264465332" z="0.0030744553077965975"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_w_transform_6643">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="60.24997329711914" y="27.124042510986328" z="0.5"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_w_transform_6644">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-81.79295349121094" y="-71.30950927734375" z="0.5"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_w_transform_6645">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-6.521171569824219" y="66.59102630615234" z="0.5"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_w_transform_6646">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="68.70637512207031" y="94.32281494140625" z="0.5"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_close_to_standing_6647">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-2.7560856342315674" y="32.26089859008789" z="0.0030559920705854893"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_w_transform_6648">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="17.590822219848633" y="11.882591247558594" z="0.5"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_w_transform_6649">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="76.77174377441406" y="-3.843596935272217" z="0.5"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_w_transform_6650">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="13.326963424682617" y="56.79472732543945" z="0.5"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_w_transform_6651">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="49.094181060791016" y="53.97934341430664" z="0.5"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
</Actions>
</Init>
<Story name="MyStory">
<Act name="Behavior">
<ManeuverGroup maximumExecutionCount="1" name="ManeuverSequence">
<Actors selectTriggeringEntities="false">
<EntityRef entityRef="adversary"/>
</Actors>
<Maneuver name="LaneChangeSimpleManeuver">
<Event name="AdversaryAccelerates" priority="overwrite">
<Action name="AdversaryAccelerates">
<PrivateAction>
<LongitudinalAction>
<SpeedAction>
<SpeedActionDynamics dynamicsShape="step" value="50" dynamicsDimension="distance"/>
<SpeedActionTarget>
<AbsoluteTargetSpeed value="5.0"/>
</SpeedActionTarget>
</SpeedAction>
</LongitudinalAction>
</PrivateAction>
</Action>
<StartTrigger>
<ConditionGroup>
<Condition name="StartCondition" delay="0" conditionEdge="rising">
<ByEntityCondition>
<TriggeringEntities triggeringEntitiesRule="any">
<EntityRef entityRef="hero"/>
</TriggeringEntities>
<EntityCondition>
<RelativeDistanceCondition entityRef="adversary" relativeDistanceType="cartesianDistance" value="40.0" freespace="false" rule="lessThan"/>
</EntityCondition>
</ByEntityCondition>
</Condition>
</ConditionGroup>
</StartTrigger>
</Event>
<Event name="AdversaryChangesLane" priority="overwrite">
<Action name="AdversaryChangesLane">
<PrivateAction>
<LateralAction>
<LaneChangeAction>
<LaneChangeActionDynamics dynamicsShape="linear" value="25" dynamicsDimension="distance"/>
<LaneChangeTarget>
<RelativeTargetLane entityRef="adversary" value="-1"/>
</LaneChangeTarget>
</LaneChangeAction>
</LateralAction>
</PrivateAction>
</Action>
<StartTrigger>
<ConditionGroup>
<Condition name="AfterAdversaryAccelerates" delay="0" conditionEdge="rising">
<ByValueCondition>
<StoryboardElementStateCondition storyboardElementType="action" storyboardElementRef="AdversaryAccelerates" state="completeState"/>
</ByValueCondition>
</Condition>
</ConditionGroup>
</StartTrigger>
</Event>
</Maneuver>
</ManeuverGroup>
<StartTrigger>
<ConditionGroup>
<Condition name="OverallStartCondition" delay="0" conditionEdge="rising">
<ByEntityCondition>
<TriggeringEntities triggeringEntitiesRule="any">
<EntityRef entityRef="hero"/>
</TriggeringEntities>
<EntityCondition>
<TraveledDistanceCondition value="1.0"/>
</EntityCondition>
</ByEntityCondition>
</Condition>
<Condition name="StartTime" delay="0" conditionEdge="rising">
<ByValueCondition>
<SimulationTimeCondition value="0" rule="equalTo"/>
</ByValueCondition>
</Condition>
</ConditionGroup>
</StartTrigger>
<StopTrigger>
<ConditionGroup>
<Condition name="EndCondition" delay="0" conditionEdge="rising">
<ByEntityCondition>
<TriggeringEntities triggeringEntitiesRule="any">
<EntityRef entityRef="hero"/>
</TriggeringEntities>
<EntityCondition>
<TraveledDistanceCondition value="200.0"/>
</EntityCondition>
</ByEntityCondition>
</Condition>
</ConditionGroup>
</StopTrigger>
</Act>
</Story>
<StopTrigger>
<ConditionGroup>
<Condition name="criteria_RunningStopTest" delay="0" conditionEdge="rising">
<ByValueCondition>
<ParameterCondition parameterRef="" value="" rule="lessThan"/>
</ByValueCondition>
</Condition>
<Condition name="criteria_RunningRedLightTest" delay="0" conditionEdge="rising">
<ByValueCondition>
<ParameterCondition parameterRef="" value="" rule="lessThan"/>
</ByValueCondition>
</Condition>
<Condition name="criteria_WrongLaneTest" delay="0" conditionEdge="rising">
<ByValueCondition>
<ParameterCondition parameterRef="" value="" rule="lessThan"/>
</ByValueCondition>
</Condition>
<Condition name="criteria_OnSidewalkTest" delay="0" conditionEdge="rising">
<ByValueCondition>
<ParameterCondition parameterRef="" value="" rule="lessThan"/>
</ByValueCondition>
</Condition>
<Condition name="criteria_KeepLaneTest" delay="0" conditionEdge="rising">
<ByValueCondition>
<ParameterCondition parameterRef="" value="" rule="lessThan"/>
</ByValueCondition>
</Condition>
<Condition name="criteria_CollisionTest" delay="0" conditionEdge="rising">
<ByValueCondition>
<ParameterCondition parameterRef="" value="" rule="lessThan"/>
</ByValueCondition>
</Condition>
<Condition name="criteria_DrivenDistanceTest" delay="0" conditionEdge="rising">
<ByValueCondition>
<ParameterCondition parameterRef="distance_success" value="100" rule="lessThan"/>
</ByValueCondition>
</Condition>
</ConditionGroup>
</StopTrigger>
</Storyboard>
</OpenSCENARIO>
``` |
please add pedestrian at location (44.91, 45.83, 0.5)?
```
<?xml version="1.0" ?>
<OpenSCENARIO>
<FileHeader revMajor="1" revMinor="0" date="2020-03-24T12:00:00" description="CARLA:LaneChangeSimple" author=""/>
<ParameterDeclarations/>
<CatalogLocations/>
<RoadNetwork>
<LogicFile filepath="Town04"/>
<SceneGraphFile filepath=""/>
</RoadNetwork>
<Entities>
<ScenarioObject name="hero">
<Vehicle name="vehicle.tesla.model3" vehicleCategory="car">
<ParameterDeclarations/>
<Performance maxSpeed="69.444" maxAcceleration="200" maxDeceleration="10.0"/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2.1" length="4.5" height="1.8"/>
</BoundingBox>
<Axles>
<FrontAxle maxSteering="0.5" wheelDiameter="0.6" trackWidth="1.8" positionX="3.1" positionZ="0.3"/>
<RearAxle maxSteering="0.0" wheelDiameter="0.6" trackWidth="1.8" positionX="0.0" positionZ="0.3"/>
</Axles>
<Properties>
<Property name="type" value="ego_vehicle"/>
</Properties>
</Vehicle>
</ScenarioObject>
<ScenarioObject name="adversary">
<Vehicle name="vehicle.lincoln.mkz_2017" vehicleCategory="car">
<ParameterDeclarations/>
<Performance maxSpeed="69.444" maxAcceleration="200" maxDeceleration="10.0"/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2.1" length="4.5" height="1.8"/>
</BoundingBox>
<Axles>
<FrontAxle maxSteering="0.5" wheelDiameter="0.6" trackWidth="1.8" positionX="3.1" positionZ="0.3"/>
<RearAxle maxSteering="0.0" wheelDiameter="0.6" trackWidth="1.8" positionX="0.0" positionZ="0.3"/>
</Axles>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Vehicle>
</ScenarioObject>
<ScenarioObject name="standing">
<Vehicle name="vehicle.volkswagen.t2" vehicleCategory="car">
<ParameterDeclarations/>
<Performance maxSpeed="69.444" maxAcceleration="200" maxDeceleration="10.0"/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2.1" length="4.5" height="1.8"/>
</BoundingBox>
<Axles>
<FrontAxle maxSteering="0.5" wheelDiameter="0.6" trackWidth="1.8" positionX="3.1" positionZ="0.3"/>
<RearAxle maxSteering="0.0" wheelDiameter="0.6" trackWidth="1.8" positionX="0.0" positionZ="0.3"/>
</Axles>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Vehicle>
</ScenarioObject>
<ScenarioObject name="pedestrian_close_to_standing_13922">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_close_to_standing_13923">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_w_transform_13924">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_close_to_standing_13925">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_close_to_hero_13926">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_close_to_adversary_13927">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_w_transform_13928">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_w_transform_13929">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_close_to_hero_13930">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_w_transform_13931">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
</Entities>
<Storyboard>
<Init>
<Actions>
<GlobalAction>
<EnvironmentAction>
<Environment name="Environment1">
<TimeOfDay animation="false" dateTime="2019-06-25T12:00:00"/>
<Weather cloudState="free">
<Sun intensity="0.85" azimuth="0" elevation="1.31"/>
<Fog visualRange="100000.0"/>
<Precipitation precipitationType="dry" intensity="0.0"/>
</Weather>
<RoadCondition frictionScaleFactor="1.0"/>
</Environment>
</EnvironmentAction>
</GlobalAction>
<Private entityRef="hero">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-9.4" y="-152.8" z="0.5" h="1.57079632679"/>
</Position>
</TeleportAction>
</PrivateAction>
<PrivateAction>
<ControllerAction>
<AssignControllerAction>
<Controller name="HeroAgent">
<Properties>
<Property name="module" value="external_control"/>
</Properties>
</Controller>
</AssignControllerAction>
<OverrideControllerValueAction>
<Throttle value="0" active="false"/>
<Brake value="0" active="false"/>
<Clutch value="0" active="false"/>
<ParkingBrake value="0" active="false"/>
<SteeringWheel value="0" active="false"/>
<Gear number="0" active="false"/>
</OverrideControllerValueAction>
</ControllerAction>
</PrivateAction>
</Private>
<Private entityRef="adversary">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-9.4" y="-71.0" z="0.5" h="1.57079632679"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="standing">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-8.2" y="29.2" z="0.5" h="1.57079632679"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_close_to_standing_13922">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-5.070389747619629" y="15.806245803833008" z="0.0030619811732321978"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_close_to_standing_13923">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-4.2569427490234375" y="22.337980270385742" z="0.003072547959163785"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_w_transform_13924">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="62.86676788330078" y="29.23318862915039" z="0.5"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_close_to_standing_13925">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-10.786271095275879" y="22.38013458251953" z="0.0030262756627053022"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_close_to_hero_13926">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="8.436240196228027" y="-157.36936950683594" z="0.0014286803780123591"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_close_to_adversary_13927">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-1.404118537902832" y="-73.01374816894531" z="0.03379615768790245"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_w_transform_13928">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-81.13279724121094" y="86.0781478881836" z="0.5"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_w_transform_13929">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="13.389727592468262" y="-88.92147827148438" z="0.5"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_close_to_hero_13930">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-2.0190184116363525" y="-156.45838928222656" z="0.0014286803780123591"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_w_transform_13931">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="86.3565673828125" y="-43.92420196533203" z="0.5"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
</Actions>
</Init>
<Story name="MyStory">
<Act name="Behavior">
<ManeuverGroup maximumExecutionCount="1" name="ManeuverSequence">
<Actors selectTriggeringEntities="false">
<EntityRef entityRef="adversary"/>
</Actors>
<Maneuver name="LaneChangeSimpleManeuver">
<Event name="AdversaryAccelerates" priority="overwrite">
<Action name="AdversaryAccelerates">
<PrivateAction>
<LongitudinalAction>
<SpeedAction>
<SpeedActionDynamics dynamicsShape="step" value="50" dynamicsDimension="distance"/>
<SpeedActionTarget>
<AbsoluteTargetSpeed value="5.0"/>
</SpeedActionTarget>
</SpeedAction>
</LongitudinalAction>
</PrivateAction>
</Action>
<StartTrigger>
<ConditionGroup>
<Condition name="StartCondition" delay="0" conditionEdge="rising">
<ByEntityCondition>
<TriggeringEntities triggeringEntitiesRule="any">
<EntityRef entityRef="hero"/>
</TriggeringEntities>
<EntityCondition>
<RelativeDistanceCondition entityRef="adversary" relativeDistanceType="cartesianDistance" value="40.0" freespace="false" rule="lessThan"/>
</EntityCondition>
</ByEntityCondition>
</Condition>
</ConditionGroup>
</StartTrigger>
</Event>
<Event name="AdversaryChangesLane" priority="overwrite">
<Action name="AdversaryChangesLane">
<PrivateAction>
<LateralAction>
<LaneChangeAction>
<LaneChangeActionDynamics dynamicsShape="linear" value="25" dynamicsDimension="distance"/>
<LaneChangeTarget>
<RelativeTargetLane entityRef="adversary" value="-1"/>
</LaneChangeTarget>
</LaneChangeAction>
</LateralAction>
</PrivateAction>
</Action>
<StartTrigger>
<ConditionGroup>
<Condition name="AfterAdversaryAccelerates" delay="0" conditionEdge="rising">
<ByValueCondition>
<StoryboardElementStateCondition storyboardElementType="action" storyboardElementRef="AdversaryAccelerates" state="completeState"/>
</ByValueCondition>
</Condition>
</ConditionGroup>
</StartTrigger>
</Event>
</Maneuver>
</ManeuverGroup>
<StartTrigger>
<ConditionGroup>
<Condition name="OverallStartCondition" delay="0" conditionEdge="rising">
<ByEntityCondition>
<TriggeringEntities triggeringEntitiesRule="any">
<EntityRef entityRef="hero"/>
</TriggeringEntities>
<EntityCondition>
<TraveledDistanceCondition value="1.0"/>
</EntityCondition>
</ByEntityCondition>
</Condition>
<Condition name="StartTime" delay="0" conditionEdge="rising">
<ByValueCondition>
<SimulationTimeCondition value="0" rule="equalTo"/>
</ByValueCondition>
</Condition>
</ConditionGroup>
</StartTrigger>
<StopTrigger>
<ConditionGroup>
<Condition name="EndCondition" delay="0" conditionEdge="rising">
<ByEntityCondition>
<TriggeringEntities triggeringEntitiesRule="any">
<EntityRef entityRef="hero"/>
</TriggeringEntities>
<EntityCondition>
<TraveledDistanceCondition value="200.0"/>
</EntityCondition>
</ByEntityCondition>
</Condition>
</ConditionGroup>
</StopTrigger>
</Act>
</Story>
<StopTrigger>
<ConditionGroup>
<Condition name="criteria_RunningStopTest" delay="0" conditionEdge="rising">
<ByValueCondition>
<ParameterCondition parameterRef="" value="" rule="lessThan"/>
</ByValueCondition>
</Condition>
<Condition name="criteria_RunningRedLightTest" delay="0" conditionEdge="rising">
<ByValueCondition>
<ParameterCondition parameterRef="" value="" rule="lessThan"/>
</ByValueCondition>
</Condition>
<Condition name="criteria_WrongLaneTest" delay="0" conditionEdge="rising">
<ByValueCondition>
<ParameterCondition parameterRef="" value="" rule="lessThan"/>
</ByValueCondition>
</Condition>
<Condition name="criteria_OnSidewalkTest" delay="0" conditionEdge="rising">
<ByValueCondition>
<ParameterCondition parameterRef="" value="" rule="lessThan"/>
</ByValueCondition>
</Condition>
<Condition name="criteria_KeepLaneTest" delay="0" conditionEdge="rising">
<ByValueCondition>
<ParameterCondition parameterRef="" value="" rule="lessThan"/>
</ByValueCondition>
</Condition>
<Condition name="criteria_CollisionTest" delay="0" conditionEdge="rising">
<ByValueCondition>
<ParameterCondition parameterRef="" value="" rule="lessThan"/>
</ByValueCondition>
</Condition>
<Condition name="criteria_DrivenDistanceTest" delay="0" conditionEdge="rising">
<ByValueCondition>
<ParameterCondition parameterRef="distance_success" value="100" rule="lessThan"/>
</ByValueCondition>
</Condition>
</ConditionGroup>
</StopTrigger>
</Storyboard>
</OpenSCENARIO>
``` | Here is the result:
```
<?xml version="1.0" ?>
<OpenSCENARIO>
<FileHeader revMajor="1" revMinor="0" date="2020-03-24T12:00:00" description="CARLA:LaneChangeSimple" author=""/>
<ParameterDeclarations/>
<CatalogLocations/>
<RoadNetwork>
<LogicFile filepath="Town04"/>
<SceneGraphFile filepath=""/>
</RoadNetwork>
<Entities>
<ScenarioObject name="hero">
<Vehicle name="vehicle.tesla.model3" vehicleCategory="car">
<ParameterDeclarations/>
<Performance maxSpeed="69.444" maxAcceleration="200" maxDeceleration="10.0"/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2.1" length="4.5" height="1.8"/>
</BoundingBox>
<Axles>
<FrontAxle maxSteering="0.5" wheelDiameter="0.6" trackWidth="1.8" positionX="3.1" positionZ="0.3"/>
<RearAxle maxSteering="0.0" wheelDiameter="0.6" trackWidth="1.8" positionX="0.0" positionZ="0.3"/>
</Axles>
<Properties>
<Property name="type" value="ego_vehicle"/>
</Properties>
</Vehicle>
</ScenarioObject>
<ScenarioObject name="adversary">
<Vehicle name="vehicle.lincoln.mkz_2017" vehicleCategory="car">
<ParameterDeclarations/>
<Performance maxSpeed="69.444" maxAcceleration="200" maxDeceleration="10.0"/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2.1" length="4.5" height="1.8"/>
</BoundingBox>
<Axles>
<FrontAxle maxSteering="0.5" wheelDiameter="0.6" trackWidth="1.8" positionX="3.1" positionZ="0.3"/>
<RearAxle maxSteering="0.0" wheelDiameter="0.6" trackWidth="1.8" positionX="0.0" positionZ="0.3"/>
</Axles>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Vehicle>
</ScenarioObject>
<ScenarioObject name="standing">
<Vehicle name="vehicle.volkswagen.t2" vehicleCategory="car">
<ParameterDeclarations/>
<Performance maxSpeed="69.444" maxAcceleration="200" maxDeceleration="10.0"/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2.1" length="4.5" height="1.8"/>
</BoundingBox>
<Axles>
<FrontAxle maxSteering="0.5" wheelDiameter="0.6" trackWidth="1.8" positionX="3.1" positionZ="0.3"/>
<RearAxle maxSteering="0.0" wheelDiameter="0.6" trackWidth="1.8" positionX="0.0" positionZ="0.3"/>
</Axles>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Vehicle>
</ScenarioObject>
<ScenarioObject name="pedestrian_close_to_standing_13922">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_close_to_standing_13923">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_w_transform_13924">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_close_to_standing_13925">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_close_to_hero_13926">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_close_to_adversary_13927">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_w_transform_13928">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_w_transform_13929">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_close_to_hero_13930">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_w_transform_13931">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_w_transform_13932">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
</Entities>
<Storyboard>
<Init>
<Actions>
<GlobalAction>
<EnvironmentAction>
<Environment name="Environment1">
<TimeOfDay animation="false" dateTime="2019-06-25T12:00:00"/>
<Weather cloudState="free">
<Sun intensity="0.85" azimuth="0" elevation="1.31"/>
<Fog visualRange="100000.0"/>
<Precipitation precipitationType="dry" intensity="0.0"/>
</Weather>
<RoadCondition frictionScaleFactor="1.0"/>
</Environment>
</EnvironmentAction>
</GlobalAction>
<Private entityRef="hero">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-9.4" y="-152.8" z="0.5" h="1.57079632679"/>
</Position>
</TeleportAction>
</PrivateAction>
<PrivateAction>
<ControllerAction>
<AssignControllerAction>
<Controller name="HeroAgent">
<Properties>
<Property name="module" value="external_control"/>
</Properties>
</Controller>
</AssignControllerAction>
<OverrideControllerValueAction>
<Throttle value="0" active="false"/>
<Brake value="0" active="false"/>
<Clutch value="0" active="false"/>
<ParkingBrake value="0" active="false"/>
<SteeringWheel value="0" active="false"/>
<Gear number="0" active="false"/>
</OverrideControllerValueAction>
</ControllerAction>
</PrivateAction>
</Private>
<Private entityRef="adversary">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-9.4" y="-71.0" z="0.5" h="1.57079632679"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="standing">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-8.2" y="29.2" z="0.5" h="1.57079632679"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_close_to_standing_13922">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-5.070389747619629" y="15.806245803833008" z="0.0030619811732321978"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_close_to_standing_13923">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-4.2569427490234375" y="22.337980270385742" z="0.003072547959163785"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_w_transform_13924">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="62.86676788330078" y="29.23318862915039" z="0.5"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_close_to_standing_13925">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-10.786271095275879" y="22.38013458251953" z="0.0030262756627053022"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_close_to_hero_13926">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="8.436240196228027" y="-157.36936950683594" z="0.0014286803780123591"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_close_to_adversary_13927">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-1.404118537902832" y="-73.01374816894531" z="0.03379615768790245"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_w_transform_13928">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-81.13279724121094" y="86.0781478881836" z="0.5"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_w_transform_13929">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="13.389727592468262" y="-88.92147827148438" z="0.5"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_close_to_hero_13930">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-2.0190184116363525" y="-156.45838928222656" z="0.0014286803780123591"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_w_transform_13931">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="86.3565673828125" y="-43.92420196533203" z="0.5"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_w_transform_13932">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="44.907291412353516" y="45.833370208740234" z="0.5"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
</Actions>
</Init>
<Story name="MyStory">
<Act name="Behavior">
<ManeuverGroup maximumExecutionCount="1" name="ManeuverSequence">
<Actors selectTriggeringEntities="false">
<EntityRef entityRef="adversary"/>
</Actors>
<Maneuver name="LaneChangeSimpleManeuver">
<Event name="AdversaryAccelerates" priority="overwrite">
<Action name="AdversaryAccelerates">
<PrivateAction>
<LongitudinalAction>
<SpeedAction>
<SpeedActionDynamics dynamicsShape="step" value="50" dynamicsDimension="distance"/>
<SpeedActionTarget>
<AbsoluteTargetSpeed value="5.0"/>
</SpeedActionTarget>
</SpeedAction>
</LongitudinalAction>
</PrivateAction>
</Action>
<StartTrigger>
<ConditionGroup>
<Condition name="StartCondition" delay="0" conditionEdge="rising">
<ByEntityCondition>
<TriggeringEntities triggeringEntitiesRule="any">
<EntityRef entityRef="hero"/>
</TriggeringEntities>
<EntityCondition>
<RelativeDistanceCondition entityRef="adversary" relativeDistanceType="cartesianDistance" value="40.0" freespace="false" rule="lessThan"/>
</EntityCondition>
</ByEntityCondition>
</Condition>
</ConditionGroup>
</StartTrigger>
</Event>
<Event name="AdversaryChangesLane" priority="overwrite">
<Action name="AdversaryChangesLane">
<PrivateAction>
<LateralAction>
<LaneChangeAction>
<LaneChangeActionDynamics dynamicsShape="linear" value="25" dynamicsDimension="distance"/>
<LaneChangeTarget>
<RelativeTargetLane entityRef="adversary" value="-1"/>
</LaneChangeTarget>
</LaneChangeAction>
</LateralAction>
</PrivateAction>
</Action>
<StartTrigger>
<ConditionGroup>
<Condition name="AfterAdversaryAccelerates" delay="0" conditionEdge="rising">
<ByValueCondition>
<StoryboardElementStateCondition storyboardElementType="action" storyboardElementRef="AdversaryAccelerates" state="completeState"/>
</ByValueCondition>
</Condition>
</ConditionGroup>
</StartTrigger>
</Event>
</Maneuver>
</ManeuverGroup>
<StartTrigger>
<ConditionGroup>
<Condition name="OverallStartCondition" delay="0" conditionEdge="rising">
<ByEntityCondition>
<TriggeringEntities triggeringEntitiesRule="any">
<EntityRef entityRef="hero"/>
</TriggeringEntities>
<EntityCondition>
<TraveledDistanceCondition value="1.0"/>
</EntityCondition>
</ByEntityCondition>
</Condition>
<Condition name="StartTime" delay="0" conditionEdge="rising">
<ByValueCondition>
<SimulationTimeCondition value="0" rule="equalTo"/>
</ByValueCondition>
</Condition>
</ConditionGroup>
</StartTrigger>
<StopTrigger>
<ConditionGroup>
<Condition name="EndCondition" delay="0" conditionEdge="rising">
<ByEntityCondition>
<TriggeringEntities triggeringEntitiesRule="any">
<EntityRef entityRef="hero"/>
</TriggeringEntities>
<EntityCondition>
<TraveledDistanceCondition value="200.0"/>
</EntityCondition>
</ByEntityCondition>
</Condition>
</ConditionGroup>
</StopTrigger>
</Act>
</Story>
<StopTrigger>
<ConditionGroup>
<Condition name="criteria_RunningStopTest" delay="0" conditionEdge="rising">
<ByValueCondition>
<ParameterCondition parameterRef="" value="" rule="lessThan"/>
</ByValueCondition>
</Condition>
<Condition name="criteria_RunningRedLightTest" delay="0" conditionEdge="rising">
<ByValueCondition>
<ParameterCondition parameterRef="" value="" rule="lessThan"/>
</ByValueCondition>
</Condition>
<Condition name="criteria_WrongLaneTest" delay="0" conditionEdge="rising">
<ByValueCondition>
<ParameterCondition parameterRef="" value="" rule="lessThan"/>
</ByValueCondition>
</Condition>
<Condition name="criteria_OnSidewalkTest" delay="0" conditionEdge="rising">
<ByValueCondition>
<ParameterCondition parameterRef="" value="" rule="lessThan"/>
</ByValueCondition>
</Condition>
<Condition name="criteria_KeepLaneTest" delay="0" conditionEdge="rising">
<ByValueCondition>
<ParameterCondition parameterRef="" value="" rule="lessThan"/>
</ByValueCondition>
</Condition>
<Condition name="criteria_CollisionTest" delay="0" conditionEdge="rising">
<ByValueCondition>
<ParameterCondition parameterRef="" value="" rule="lessThan"/>
</ByValueCondition>
</Condition>
<Condition name="criteria_DrivenDistanceTest" delay="0" conditionEdge="rising">
<ByValueCondition>
<ParameterCondition parameterRef="distance_success" value="100" rule="lessThan"/>
</ByValueCondition>
</Condition>
</ConditionGroup>
</StopTrigger>
</Storyboard>
</OpenSCENARIO>
``` |
add pedestrian close to adversary?
```
<?xml version="1.0" ?>
<OpenSCENARIO>
<FileHeader revMajor="1" revMinor="0" date="2020-03-24T12:00:00" description="CARLA:LaneChangeSimple" author=""/>
<ParameterDeclarations/>
<CatalogLocations/>
<RoadNetwork>
<LogicFile filepath="Town04"/>
<SceneGraphFile filepath=""/>
</RoadNetwork>
<Entities>
<ScenarioObject name="hero">
<Vehicle name="vehicle.tesla.model3" vehicleCategory="car">
<ParameterDeclarations/>
<Performance maxSpeed="69.444" maxAcceleration="200" maxDeceleration="10.0"/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2.1" length="4.5" height="1.8"/>
</BoundingBox>
<Axles>
<FrontAxle maxSteering="0.5" wheelDiameter="0.6" trackWidth="1.8" positionX="3.1" positionZ="0.3"/>
<RearAxle maxSteering="0.0" wheelDiameter="0.6" trackWidth="1.8" positionX="0.0" positionZ="0.3"/>
</Axles>
<Properties>
<Property name="type" value="ego_vehicle"/>
</Properties>
</Vehicle>
</ScenarioObject>
<ScenarioObject name="adversary">
<Vehicle name="vehicle.lincoln.mkz_2017" vehicleCategory="car">
<ParameterDeclarations/>
<Performance maxSpeed="69.444" maxAcceleration="200" maxDeceleration="10.0"/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2.1" length="4.5" height="1.8"/>
</BoundingBox>
<Axles>
<FrontAxle maxSteering="0.5" wheelDiameter="0.6" trackWidth="1.8" positionX="3.1" positionZ="0.3"/>
<RearAxle maxSteering="0.0" wheelDiameter="0.6" trackWidth="1.8" positionX="0.0" positionZ="0.3"/>
</Axles>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Vehicle>
</ScenarioObject>
<ScenarioObject name="standing">
<Vehicle name="vehicle.volkswagen.t2" vehicleCategory="car">
<ParameterDeclarations/>
<Performance maxSpeed="69.444" maxAcceleration="200" maxDeceleration="10.0"/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2.1" length="4.5" height="1.8"/>
</BoundingBox>
<Axles>
<FrontAxle maxSteering="0.5" wheelDiameter="0.6" trackWidth="1.8" positionX="3.1" positionZ="0.3"/>
<RearAxle maxSteering="0.0" wheelDiameter="0.6" trackWidth="1.8" positionX="0.0" positionZ="0.3"/>
</Axles>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Vehicle>
</ScenarioObject>
<ScenarioObject name="pedestrian_close_to_hero_5296">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_close_to_standing_5297">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_close_to_adversary_5298">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_w_transform_5299">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_close_to_hero_5300">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_w_transform_5301">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_close_to_hero_5302">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_close_to_standing_5303">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_close_to_hero_5304">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
</Entities>
<Storyboard>
<Init>
<Actions>
<GlobalAction>
<EnvironmentAction>
<Environment name="Environment1">
<TimeOfDay animation="false" dateTime="2019-06-25T12:00:00"/>
<Weather cloudState="free">
<Sun intensity="0.85" azimuth="0" elevation="1.31"/>
<Fog visualRange="100000.0"/>
<Precipitation precipitationType="dry" intensity="0.0"/>
</Weather>
<RoadCondition frictionScaleFactor="1.0"/>
</Environment>
</EnvironmentAction>
</GlobalAction>
<Private entityRef="hero">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-9.4" y="-152.8" z="0.5" h="1.57079632679"/>
</Position>
</TeleportAction>
</PrivateAction>
<PrivateAction>
<ControllerAction>
<AssignControllerAction>
<Controller name="HeroAgent">
<Properties>
<Property name="module" value="external_control"/>
</Properties>
</Controller>
</AssignControllerAction>
<OverrideControllerValueAction>
<Throttle value="0" active="false"/>
<Brake value="0" active="false"/>
<Clutch value="0" active="false"/>
<ParkingBrake value="0" active="false"/>
<SteeringWheel value="0" active="false"/>
<Gear number="0" active="false"/>
</OverrideControllerValueAction>
</ControllerAction>
</PrivateAction>
</Private>
<Private entityRef="adversary">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-9.4" y="-71.0" z="0.5" h="1.57079632679"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="standing">
<PrivateAction>
<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_5296">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-1.628769874572754" y="-149.02647399902344" z="0.0014286803780123591"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_close_to_standing_5297">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-5.933564186096191" y="37.858642578125" z="0.0030536651611328125"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_close_to_adversary_5298">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-12.583029747009277" y="-76.046630859375" z="0.033799245953559875"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_w_transform_5299">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="75.80875396728516" y="92.6866226196289" z="0.5"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_close_to_hero_5300">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-17.16276741027832" y="-158.1902313232422" z="0.0014286803780123591"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_w_transform_5301">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-89.48986053466797" y="67.22550201416016" z="0.5"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_close_to_hero_5302">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-7.637406826019287" y="-150.10740661621094" z="0.0014286803780123591"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_close_to_standing_5303">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="0.655483603477478" y="21.777448654174805" z="0.003070259001106024"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_close_to_hero_5304">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-6.508596897125244" y="-160.69863891601562" z="0.0014286803780123591"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
</Actions>
</Init>
<Story name="MyStory">
<Act name="Behavior">
<ManeuverGroup maximumExecutionCount="1" name="ManeuverSequence">
<Actors selectTriggeringEntities="false">
<EntityRef entityRef="adversary"/>
</Actors>
<Maneuver name="LaneChangeSimpleManeuver">
<Event name="AdversaryAccelerates" priority="overwrite">
<Action name="AdversaryAccelerates">
<PrivateAction>
<LongitudinalAction>
<SpeedAction>
<SpeedActionDynamics dynamicsShape="step" value="50" dynamicsDimension="distance"/>
<SpeedActionTarget>
<AbsoluteTargetSpeed value="5.0"/>
</SpeedActionTarget>
</SpeedAction>
</LongitudinalAction>
</PrivateAction>
</Action>
<StartTrigger>
<ConditionGroup>
<Condition name="StartCondition" delay="0" conditionEdge="rising">
<ByEntityCondition>
<TriggeringEntities triggeringEntitiesRule="any">
<EntityRef entityRef="hero"/>
</TriggeringEntities>
<EntityCondition>
<RelativeDistanceCondition entityRef="adversary" relativeDistanceType="cartesianDistance" value="40.0" freespace="false" rule="lessThan"/>
</EntityCondition>
</ByEntityCondition>
</Condition>
</ConditionGroup>
</StartTrigger>
</Event>
<Event name="AdversaryChangesLane" priority="overwrite">
<Action name="AdversaryChangesLane">
<PrivateAction>
<LateralAction>
<LaneChangeAction>
<LaneChangeActionDynamics dynamicsShape="linear" value="25" dynamicsDimension="distance"/>
<LaneChangeTarget>
<RelativeTargetLane entityRef="adversary" value="-1"/>
</LaneChangeTarget>
</LaneChangeAction>
</LateralAction>
</PrivateAction>
</Action>
<StartTrigger>
<ConditionGroup>
<Condition name="AfterAdversaryAccelerates" delay="0" conditionEdge="rising">
<ByValueCondition>
<StoryboardElementStateCondition storyboardElementType="action" storyboardElementRef="AdversaryAccelerates" state="completeState"/>
</ByValueCondition>
</Condition>
</ConditionGroup>
</StartTrigger>
</Event>
</Maneuver>
</ManeuverGroup>
<StartTrigger>
<ConditionGroup>
<Condition name="OverallStartCondition" delay="0" conditionEdge="rising">
<ByEntityCondition>
<TriggeringEntities triggeringEntitiesRule="any">
<EntityRef entityRef="hero"/>
</TriggeringEntities>
<EntityCondition>
<TraveledDistanceCondition value="1.0"/>
</EntityCondition>
</ByEntityCondition>
</Condition>
<Condition name="StartTime" delay="0" conditionEdge="rising">
<ByValueCondition>
<SimulationTimeCondition value="0" rule="equalTo"/>
</ByValueCondition>
</Condition>
</ConditionGroup>
</StartTrigger>
<StopTrigger>
<ConditionGroup>
<Condition name="EndCondition" delay="0" conditionEdge="rising">
<ByEntityCondition>
<TriggeringEntities triggeringEntitiesRule="any">
<EntityRef entityRef="hero"/>
</TriggeringEntities>
<EntityCondition>
<TraveledDistanceCondition value="200.0"/>
</EntityCondition>
</ByEntityCondition>
</Condition>
</ConditionGroup>
</StopTrigger>
</Act>
</Story>
<StopTrigger>
<ConditionGroup>
<Condition name="criteria_RunningStopTest" delay="0" conditionEdge="rising">
<ByValueCondition>
<ParameterCondition parameterRef="" value="" rule="lessThan"/>
</ByValueCondition>
</Condition>
<Condition name="criteria_RunningRedLightTest" delay="0" conditionEdge="rising">
<ByValueCondition>
<ParameterCondition parameterRef="" value="" rule="lessThan"/>
</ByValueCondition>
</Condition>
<Condition name="criteria_WrongLaneTest" delay="0" conditionEdge="rising">
<ByValueCondition>
<ParameterCondition parameterRef="" value="" rule="lessThan"/>
</ByValueCondition>
</Condition>
<Condition name="criteria_OnSidewalkTest" delay="0" conditionEdge="rising">
<ByValueCondition>
<ParameterCondition parameterRef="" value="" rule="lessThan"/>
</ByValueCondition>
</Condition>
<Condition name="criteria_KeepLaneTest" delay="0" conditionEdge="rising">
<ByValueCondition>
<ParameterCondition parameterRef="" value="" rule="lessThan"/>
</ByValueCondition>
</Condition>
<Condition name="criteria_CollisionTest" delay="0" conditionEdge="rising">
<ByValueCondition>
<ParameterCondition parameterRef="" value="" rule="lessThan"/>
</ByValueCondition>
</Condition>
<Condition name="criteria_DrivenDistanceTest" delay="0" conditionEdge="rising">
<ByValueCondition>
<ParameterCondition parameterRef="distance_success" value="100" rule="lessThan"/>
</ByValueCondition>
</Condition>
</ConditionGroup>
</StopTrigger>
</Storyboard>
</OpenSCENARIO>
``` | Here is the result:
```
<?xml version="1.0" ?>
<OpenSCENARIO>
<FileHeader revMajor="1" revMinor="0" date="2020-03-24T12:00:00" description="CARLA:LaneChangeSimple" author=""/>
<ParameterDeclarations/>
<CatalogLocations/>
<RoadNetwork>
<LogicFile filepath="Town04"/>
<SceneGraphFile filepath=""/>
</RoadNetwork>
<Entities>
<ScenarioObject name="hero">
<Vehicle name="vehicle.tesla.model3" vehicleCategory="car">
<ParameterDeclarations/>
<Performance maxSpeed="69.444" maxAcceleration="200" maxDeceleration="10.0"/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2.1" length="4.5" height="1.8"/>
</BoundingBox>
<Axles>
<FrontAxle maxSteering="0.5" wheelDiameter="0.6" trackWidth="1.8" positionX="3.1" positionZ="0.3"/>
<RearAxle maxSteering="0.0" wheelDiameter="0.6" trackWidth="1.8" positionX="0.0" positionZ="0.3"/>
</Axles>
<Properties>
<Property name="type" value="ego_vehicle"/>
</Properties>
</Vehicle>
</ScenarioObject>
<ScenarioObject name="adversary">
<Vehicle name="vehicle.lincoln.mkz_2017" vehicleCategory="car">
<ParameterDeclarations/>
<Performance maxSpeed="69.444" maxAcceleration="200" maxDeceleration="10.0"/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2.1" length="4.5" height="1.8"/>
</BoundingBox>
<Axles>
<FrontAxle maxSteering="0.5" wheelDiameter="0.6" trackWidth="1.8" positionX="3.1" positionZ="0.3"/>
<RearAxle maxSteering="0.0" wheelDiameter="0.6" trackWidth="1.8" positionX="0.0" positionZ="0.3"/>
</Axles>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Vehicle>
</ScenarioObject>
<ScenarioObject name="standing">
<Vehicle name="vehicle.volkswagen.t2" vehicleCategory="car">
<ParameterDeclarations/>
<Performance maxSpeed="69.444" maxAcceleration="200" maxDeceleration="10.0"/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2.1" length="4.5" height="1.8"/>
</BoundingBox>
<Axles>
<FrontAxle maxSteering="0.5" wheelDiameter="0.6" trackWidth="1.8" positionX="3.1" positionZ="0.3"/>
<RearAxle maxSteering="0.0" wheelDiameter="0.6" 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_5296">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_close_to_standing_5297">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_close_to_adversary_5298">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_w_transform_5299">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_close_to_hero_5300">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_w_transform_5301">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_close_to_hero_5302">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_close_to_standing_5303">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_close_to_hero_5304">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_close_to_adversary_5305">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
</Entities>
<Storyboard>
<Init>
<Actions>
<GlobalAction>
<EnvironmentAction>
<Environment name="Environment1">
<TimeOfDay animation="false" dateTime="2019-06-25T12:00:00"/>
<Weather cloudState="free">
<Sun intensity="0.85" azimuth="0" elevation="1.31"/>
<Fog visualRange="100000.0"/>
<Precipitation precipitationType="dry" intensity="0.0"/>
</Weather>
<RoadCondition frictionScaleFactor="1.0"/>
</Environment>
</EnvironmentAction>
</GlobalAction>
<Private entityRef="hero">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-9.4" y="-152.8" z="0.5" h="1.57079632679"/>
</Position>
</TeleportAction>
</PrivateAction>
<PrivateAction>
<ControllerAction>
<AssignControllerAction>
<Controller name="HeroAgent">
<Properties>
<Property name="module" value="external_control"/>
</Properties>
</Controller>
</AssignControllerAction>
<OverrideControllerValueAction>
<Throttle value="0" active="false"/>
<Brake value="0" active="false"/>
<Clutch value="0" active="false"/>
<ParkingBrake value="0" active="false"/>
<SteeringWheel value="0" active="false"/>
<Gear number="0" active="false"/>
</OverrideControllerValueAction>
</ControllerAction>
</PrivateAction>
</Private>
<Private entityRef="adversary">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-9.4" y="-71.0" z="0.5" h="1.57079632679"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="standing">
<PrivateAction>
<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_5296">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-1.628769874572754" y="-149.02647399902344" z="0.0014286803780123591"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_close_to_standing_5297">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-5.933564186096191" y="37.858642578125" z="0.0030536651611328125"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_close_to_adversary_5298">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-12.583029747009277" y="-76.046630859375" z="0.033799245953559875"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_w_transform_5299">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="75.80875396728516" y="92.6866226196289" z="0.5"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_close_to_hero_5300">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-17.16276741027832" y="-158.1902313232422" z="0.0014286803780123591"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_w_transform_5301">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-89.48986053466797" y="67.22550201416016" z="0.5"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_close_to_hero_5302">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-7.637406826019287" y="-150.10740661621094" z="0.0014286803780123591"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_close_to_standing_5303">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="0.655483603477478" y="21.777448654174805" z="0.003070259001106024"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_close_to_hero_5304">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-6.508596897125244" y="-160.69863891601562" z="0.0014286803780123591"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_close_to_adversary_5305">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-8.28770923614502" y="-80.55170440673828" z="0.03386268392205238"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
</Actions>
</Init>
<Story name="MyStory">
<Act name="Behavior">
<ManeuverGroup maximumExecutionCount="1" name="ManeuverSequence">
<Actors selectTriggeringEntities="false">
<EntityRef entityRef="adversary"/>
</Actors>
<Maneuver name="LaneChangeSimpleManeuver">
<Event name="AdversaryAccelerates" priority="overwrite">
<Action name="AdversaryAccelerates">
<PrivateAction>
<LongitudinalAction>
<SpeedAction>
<SpeedActionDynamics dynamicsShape="step" value="50" dynamicsDimension="distance"/>
<SpeedActionTarget>
<AbsoluteTargetSpeed value="5.0"/>
</SpeedActionTarget>
</SpeedAction>
</LongitudinalAction>
</PrivateAction>
</Action>
<StartTrigger>
<ConditionGroup>
<Condition name="StartCondition" delay="0" conditionEdge="rising">
<ByEntityCondition>
<TriggeringEntities triggeringEntitiesRule="any">
<EntityRef entityRef="hero"/>
</TriggeringEntities>
<EntityCondition>
<RelativeDistanceCondition entityRef="adversary" relativeDistanceType="cartesianDistance" value="40.0" freespace="false" rule="lessThan"/>
</EntityCondition>
</ByEntityCondition>
</Condition>
</ConditionGroup>
</StartTrigger>
</Event>
<Event name="AdversaryChangesLane" priority="overwrite">
<Action name="AdversaryChangesLane">
<PrivateAction>
<LateralAction>
<LaneChangeAction>
<LaneChangeActionDynamics dynamicsShape="linear" value="25" dynamicsDimension="distance"/>
<LaneChangeTarget>
<RelativeTargetLane entityRef="adversary" value="-1"/>
</LaneChangeTarget>
</LaneChangeAction>
</LateralAction>
</PrivateAction>
</Action>
<StartTrigger>
<ConditionGroup>
<Condition name="AfterAdversaryAccelerates" delay="0" conditionEdge="rising">
<ByValueCondition>
<StoryboardElementStateCondition storyboardElementType="action" storyboardElementRef="AdversaryAccelerates" state="completeState"/>
</ByValueCondition>
</Condition>
</ConditionGroup>
</StartTrigger>
</Event>
</Maneuver>
</ManeuverGroup>
<StartTrigger>
<ConditionGroup>
<Condition name="OverallStartCondition" delay="0" conditionEdge="rising">
<ByEntityCondition>
<TriggeringEntities triggeringEntitiesRule="any">
<EntityRef entityRef="hero"/>
</TriggeringEntities>
<EntityCondition>
<TraveledDistanceCondition value="1.0"/>
</EntityCondition>
</ByEntityCondition>
</Condition>
<Condition name="StartTime" delay="0" conditionEdge="rising">
<ByValueCondition>
<SimulationTimeCondition value="0" rule="equalTo"/>
</ByValueCondition>
</Condition>
</ConditionGroup>
</StartTrigger>
<StopTrigger>
<ConditionGroup>
<Condition name="EndCondition" delay="0" conditionEdge="rising">
<ByEntityCondition>
<TriggeringEntities triggeringEntitiesRule="any">
<EntityRef entityRef="hero"/>
</TriggeringEntities>
<EntityCondition>
<TraveledDistanceCondition value="200.0"/>
</EntityCondition>
</ByEntityCondition>
</Condition>
</ConditionGroup>
</StopTrigger>
</Act>
</Story>
<StopTrigger>
<ConditionGroup>
<Condition name="criteria_RunningStopTest" delay="0" conditionEdge="rising">
<ByValueCondition>
<ParameterCondition parameterRef="" value="" rule="lessThan"/>
</ByValueCondition>
</Condition>
<Condition name="criteria_RunningRedLightTest" delay="0" conditionEdge="rising">
<ByValueCondition>
<ParameterCondition parameterRef="" value="" rule="lessThan"/>
</ByValueCondition>
</Condition>
<Condition name="criteria_WrongLaneTest" delay="0" conditionEdge="rising">
<ByValueCondition>
<ParameterCondition parameterRef="" value="" rule="lessThan"/>
</ByValueCondition>
</Condition>
<Condition name="criteria_OnSidewalkTest" delay="0" conditionEdge="rising">
<ByValueCondition>
<ParameterCondition parameterRef="" value="" rule="lessThan"/>
</ByValueCondition>
</Condition>
<Condition name="criteria_KeepLaneTest" delay="0" conditionEdge="rising">
<ByValueCondition>
<ParameterCondition parameterRef="" value="" rule="lessThan"/>
</ByValueCondition>
</Condition>
<Condition name="criteria_CollisionTest" delay="0" conditionEdge="rising">
<ByValueCondition>
<ParameterCondition parameterRef="" value="" rule="lessThan"/>
</ByValueCondition>
</Condition>
<Condition name="criteria_DrivenDistanceTest" delay="0" conditionEdge="rising">
<ByValueCondition>
<ParameterCondition parameterRef="distance_success" value="100" rule="lessThan"/>
</ByValueCondition>
</Condition>
</ConditionGroup>
</StopTrigger>
</Storyboard>
</OpenSCENARIO>
``` |
i would like to lead you to remove pedestrian actor named pedestrian_close_to_adversary_14705?
```
<?xml version="1.0" ?>
<OpenSCENARIO>
<FileHeader revMajor="1" revMinor="0" date="2020-03-24T12:00:00" description="CARLA:LaneChangeSimple" author=""/>
<ParameterDeclarations/>
<CatalogLocations/>
<RoadNetwork>
<LogicFile filepath="Town04"/>
<SceneGraphFile filepath=""/>
</RoadNetwork>
<Entities>
<ScenarioObject name="hero">
<Vehicle name="vehicle.tesla.model3" vehicleCategory="car">
<ParameterDeclarations/>
<Performance maxSpeed="69.444" maxAcceleration="200" maxDeceleration="10.0"/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2.1" length="4.5" height="1.8"/>
</BoundingBox>
<Axles>
<FrontAxle maxSteering="0.5" wheelDiameter="0.6" trackWidth="1.8" positionX="3.1" positionZ="0.3"/>
<RearAxle maxSteering="0.0" wheelDiameter="0.6" trackWidth="1.8" positionX="0.0" positionZ="0.3"/>
</Axles>
<Properties>
<Property name="type" value="ego_vehicle"/>
</Properties>
</Vehicle>
</ScenarioObject>
<ScenarioObject name="adversary">
<Vehicle name="vehicle.lincoln.mkz_2017" vehicleCategory="car">
<ParameterDeclarations/>
<Performance maxSpeed="69.444" maxAcceleration="200" maxDeceleration="10.0"/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2.1" length="4.5" height="1.8"/>
</BoundingBox>
<Axles>
<FrontAxle maxSteering="0.5" wheelDiameter="0.6" trackWidth="1.8" positionX="3.1" positionZ="0.3"/>
<RearAxle maxSteering="0.0" wheelDiameter="0.6" trackWidth="1.8" positionX="0.0" positionZ="0.3"/>
</Axles>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Vehicle>
</ScenarioObject>
<ScenarioObject name="standing">
<Vehicle name="vehicle.volkswagen.t2" vehicleCategory="car">
<ParameterDeclarations/>
<Performance maxSpeed="69.444" maxAcceleration="200" maxDeceleration="10.0"/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2.1" length="4.5" height="1.8"/>
</BoundingBox>
<Axles>
<FrontAxle maxSteering="0.5" wheelDiameter="0.6" trackWidth="1.8" positionX="3.1" positionZ="0.3"/>
<RearAxle maxSteering="0.0" wheelDiameter="0.6" trackWidth="1.8" positionX="0.0" positionZ="0.3"/>
</Axles>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Vehicle>
</ScenarioObject>
<ScenarioObject name="pedestrian_close_to_adversary_14687">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_close_to_hero_14688">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_close_to_hero_14689">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_close_to_adversary_14690">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_close_to_standing_14691">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_close_to_adversary_14693">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_close_to_standing_14694">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_close_to_standing_14695">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_close_to_hero_14696">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_w_transform_14697">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_w_transform_14698">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_close_to_hero_14699">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_close_to_adversary_14701">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_close_to_adversary_14702">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_close_to_adversary_14705">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_close_to_hero_14707">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_close_to_adversary_14709">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
</Entities>
<Storyboard>
<Init>
<Actions>
<GlobalAction>
<EnvironmentAction>
<Environment name="Environment1">
<TimeOfDay animation="false" dateTime="2019-06-25T12:00:00"/>
<Weather cloudState="free">
<Sun intensity="0.85" azimuth="0" elevation="1.31"/>
<Fog visualRange="100000.0"/>
<Precipitation precipitationType="dry" intensity="0.0"/>
</Weather>
<RoadCondition frictionScaleFactor="1.0"/>
</Environment>
</EnvironmentAction>
</GlobalAction>
<Private entityRef="hero">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-9.4" y="-152.8" z="0.5" h="1.57079632679"/>
</Position>
</TeleportAction>
</PrivateAction>
<PrivateAction>
<ControllerAction>
<AssignControllerAction>
<Controller name="HeroAgent">
<Properties>
<Property name="module" value="external_control"/>
</Properties>
</Controller>
</AssignControllerAction>
<OverrideControllerValueAction>
<Throttle value="0" active="false"/>
<Brake value="0" active="false"/>
<Clutch value="0" active="false"/>
<ParkingBrake value="0" active="false"/>
<SteeringWheel value="0" active="false"/>
<Gear number="0" active="false"/>
</OverrideControllerValueAction>
</ControllerAction>
</PrivateAction>
</Private>
<Private entityRef="adversary">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-9.4" y="-71.0" z="0.5" h="1.57079632679"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="standing">
<PrivateAction>
<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_14687">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-5.845358371734619" y="-64.7344970703125" z="0.03379005193710327"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_close_to_hero_14688">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-7.173771381378174" y="-161.79415893554688" z="0.0014286803780123591"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_close_to_hero_14689">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="0.3856147527694702" y="-153.3495635986328" z="0.0014286803780123591"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_close_to_adversary_14690">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-3.3662776947021484" y="-77.2765121459961" z="0.03382144868373871"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_close_to_standing_14691">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-5.84803581237793" y="29.44994354248047" z="0.0030221939086914062"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_close_to_adversary_14693">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-20.481412887573242" y="-67.93309020996094" z="0.03380592167377472"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_close_to_standing_14694">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-9.324650764465332" y="24.792917251586914" z="0.0030197142623364925"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_close_to_standing_14695">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-5.568545341491699" y="21.052391052246094" z="0.0030414580833166838"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_close_to_hero_14696">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="1.1263846158981323" y="-150.86094665527344" z="0.0014286803780123591"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_w_transform_14697">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-62.29778289794922" y="18.232032775878906" z="0.5"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_w_transform_14698">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-21.18549919128418" y="35.79582595825195" z="0.5"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_close_to_hero_14699">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-10.258877754211426" y="-160.4365692138672" z="0.0014286803780123591"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_close_to_adversary_14701">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-6.770725727081299" y="-75.981689453125" z="0.03377460315823555"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_close_to_adversary_14702">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-18.56088638305664" y="-74.20869445800781" z="0.033798445016145706"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_close_to_adversary_14705">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-9.571915626525879" y="-67.77494049072266" z="0.03380058333277702"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_close_to_hero_14707">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="9.158811569213867" y="-151.47886657714844" z="0.0014286803780123591"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_close_to_adversary_14709">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="7.899316310882568" y="-74.21687316894531" z="0.03383006900548935"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
</Actions>
</Init>
<Story name="MyStory">
<Act name="Behavior">
<ManeuverGroup maximumExecutionCount="1" name="ManeuverSequence">
<Actors selectTriggeringEntities="false">
<EntityRef entityRef="adversary"/>
</Actors>
<Maneuver name="LaneChangeSimpleManeuver">
<Event name="AdversaryAccelerates" priority="overwrite">
<Action name="AdversaryAccelerates">
<PrivateAction>
<LongitudinalAction>
<SpeedAction>
<SpeedActionDynamics dynamicsShape="step" value="50" dynamicsDimension="distance"/>
<SpeedActionTarget>
<AbsoluteTargetSpeed value="5.0"/>
</SpeedActionTarget>
</SpeedAction>
</LongitudinalAction>
</PrivateAction>
</Action>
<StartTrigger>
<ConditionGroup>
<Condition name="StartCondition" delay="0" conditionEdge="rising">
<ByEntityCondition>
<TriggeringEntities triggeringEntitiesRule="any">
<EntityRef entityRef="hero"/>
</TriggeringEntities>
<EntityCondition>
<RelativeDistanceCondition entityRef="adversary" relativeDistanceType="cartesianDistance" value="40.0" freespace="false" rule="lessThan"/>
</EntityCondition>
</ByEntityCondition>
</Condition>
</ConditionGroup>
</StartTrigger>
</Event>
<Event name="AdversaryChangesLane" priority="overwrite">
<Action name="AdversaryChangesLane">
<PrivateAction>
<LateralAction>
<LaneChangeAction>
<LaneChangeActionDynamics dynamicsShape="linear" value="25" dynamicsDimension="distance"/>
<LaneChangeTarget>
<RelativeTargetLane entityRef="adversary" value="-1"/>
</LaneChangeTarget>
</LaneChangeAction>
</LateralAction>
</PrivateAction>
</Action>
<StartTrigger>
<ConditionGroup>
<Condition name="AfterAdversaryAccelerates" delay="0" conditionEdge="rising">
<ByValueCondition>
<StoryboardElementStateCondition storyboardElementType="action" storyboardElementRef="AdversaryAccelerates" state="completeState"/>
</ByValueCondition>
</Condition>
</ConditionGroup>
</StartTrigger>
</Event>
</Maneuver>
</ManeuverGroup>
<StartTrigger>
<ConditionGroup>
<Condition name="OverallStartCondition" delay="0" conditionEdge="rising">
<ByEntityCondition>
<TriggeringEntities triggeringEntitiesRule="any">
<EntityRef entityRef="hero"/>
</TriggeringEntities>
<EntityCondition>
<TraveledDistanceCondition value="1.0"/>
</EntityCondition>
</ByEntityCondition>
</Condition>
<Condition name="StartTime" delay="0" conditionEdge="rising">
<ByValueCondition>
<SimulationTimeCondition value="0" rule="equalTo"/>
</ByValueCondition>
</Condition>
</ConditionGroup>
</StartTrigger>
<StopTrigger>
<ConditionGroup>
<Condition name="EndCondition" delay="0" conditionEdge="rising">
<ByEntityCondition>
<TriggeringEntities triggeringEntitiesRule="any">
<EntityRef entityRef="hero"/>
</TriggeringEntities>
<EntityCondition>
<TraveledDistanceCondition value="200.0"/>
</EntityCondition>
</ByEntityCondition>
</Condition>
</ConditionGroup>
</StopTrigger>
</Act>
</Story>
<StopTrigger>
<ConditionGroup>
<Condition name="criteria_RunningStopTest" delay="0" conditionEdge="rising">
<ByValueCondition>
<ParameterCondition parameterRef="" value="" rule="lessThan"/>
</ByValueCondition>
</Condition>
<Condition name="criteria_RunningRedLightTest" delay="0" conditionEdge="rising">
<ByValueCondition>
<ParameterCondition parameterRef="" value="" rule="lessThan"/>
</ByValueCondition>
</Condition>
<Condition name="criteria_WrongLaneTest" delay="0" conditionEdge="rising">
<ByValueCondition>
<ParameterCondition parameterRef="" value="" rule="lessThan"/>
</ByValueCondition>
</Condition>
<Condition name="criteria_OnSidewalkTest" delay="0" conditionEdge="rising">
<ByValueCondition>
<ParameterCondition parameterRef="" value="" rule="lessThan"/>
</ByValueCondition>
</Condition>
<Condition name="criteria_KeepLaneTest" delay="0" conditionEdge="rising">
<ByValueCondition>
<ParameterCondition parameterRef="" value="" rule="lessThan"/>
</ByValueCondition>
</Condition>
<Condition name="criteria_CollisionTest" delay="0" conditionEdge="rising">
<ByValueCondition>
<ParameterCondition parameterRef="" value="" rule="lessThan"/>
</ByValueCondition>
</Condition>
<Condition name="criteria_DrivenDistanceTest" delay="0" conditionEdge="rising">
<ByValueCondition>
<ParameterCondition parameterRef="distance_success" value="100" rule="lessThan"/>
</ByValueCondition>
</Condition>
</ConditionGroup>
</StopTrigger>
</Storyboard>
</OpenSCENARIO>
``` | Here is the result:
```
<?xml version="1.0" ?>
<OpenSCENARIO>
<FileHeader revMajor="1" revMinor="0" date="2020-03-24T12:00:00" description="CARLA:LaneChangeSimple" author=""/>
<ParameterDeclarations/>
<CatalogLocations/>
<RoadNetwork>
<LogicFile filepath="Town04"/>
<SceneGraphFile filepath=""/>
</RoadNetwork>
<Entities>
<ScenarioObject name="hero">
<Vehicle name="vehicle.tesla.model3" vehicleCategory="car">
<ParameterDeclarations/>
<Performance maxSpeed="69.444" maxAcceleration="200" maxDeceleration="10.0"/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2.1" length="4.5" height="1.8"/>
</BoundingBox>
<Axles>
<FrontAxle maxSteering="0.5" wheelDiameter="0.6" trackWidth="1.8" positionX="3.1" positionZ="0.3"/>
<RearAxle maxSteering="0.0" wheelDiameter="0.6" trackWidth="1.8" positionX="0.0" positionZ="0.3"/>
</Axles>
<Properties>
<Property name="type" value="ego_vehicle"/>
</Properties>
</Vehicle>
</ScenarioObject>
<ScenarioObject name="adversary">
<Vehicle name="vehicle.lincoln.mkz_2017" vehicleCategory="car">
<ParameterDeclarations/>
<Performance maxSpeed="69.444" maxAcceleration="200" maxDeceleration="10.0"/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2.1" length="4.5" height="1.8"/>
</BoundingBox>
<Axles>
<FrontAxle maxSteering="0.5" wheelDiameter="0.6" trackWidth="1.8" positionX="3.1" positionZ="0.3"/>
<RearAxle maxSteering="0.0" wheelDiameter="0.6" trackWidth="1.8" positionX="0.0" positionZ="0.3"/>
</Axles>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Vehicle>
</ScenarioObject>
<ScenarioObject name="standing">
<Vehicle name="vehicle.volkswagen.t2" vehicleCategory="car">
<ParameterDeclarations/>
<Performance maxSpeed="69.444" maxAcceleration="200" maxDeceleration="10.0"/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2.1" length="4.5" height="1.8"/>
</BoundingBox>
<Axles>
<FrontAxle maxSteering="0.5" wheelDiameter="0.6" trackWidth="1.8" positionX="3.1" positionZ="0.3"/>
<RearAxle maxSteering="0.0" wheelDiameter="0.6" 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_14687">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_close_to_hero_14688">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_close_to_hero_14689">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_close_to_adversary_14690">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_close_to_standing_14691">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_close_to_adversary_14693">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_close_to_standing_14694">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_close_to_standing_14695">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_close_to_hero_14696">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_w_transform_14697">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_w_transform_14698">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_close_to_hero_14699">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_close_to_adversary_14701">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_close_to_adversary_14702">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_close_to_hero_14707">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_close_to_adversary_14709">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
</Entities>
<Storyboard>
<Init>
<Actions>
<GlobalAction>
<EnvironmentAction>
<Environment name="Environment1">
<TimeOfDay animation="false" dateTime="2019-06-25T12:00:00"/>
<Weather cloudState="free">
<Sun intensity="0.85" azimuth="0" elevation="1.31"/>
<Fog visualRange="100000.0"/>
<Precipitation precipitationType="dry" intensity="0.0"/>
</Weather>
<RoadCondition frictionScaleFactor="1.0"/>
</Environment>
</EnvironmentAction>
</GlobalAction>
<Private entityRef="hero">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-9.4" y="-152.8" z="0.5" h="1.57079632679"/>
</Position>
</TeleportAction>
</PrivateAction>
<PrivateAction>
<ControllerAction>
<AssignControllerAction>
<Controller name="HeroAgent">
<Properties>
<Property name="module" value="external_control"/>
</Properties>
</Controller>
</AssignControllerAction>
<OverrideControllerValueAction>
<Throttle value="0" active="false"/>
<Brake value="0" active="false"/>
<Clutch value="0" active="false"/>
<ParkingBrake value="0" active="false"/>
<SteeringWheel value="0" active="false"/>
<Gear number="0" active="false"/>
</OverrideControllerValueAction>
</ControllerAction>
</PrivateAction>
</Private>
<Private entityRef="adversary">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-9.4" y="-71.0" z="0.5" h="1.57079632679"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="standing">
<PrivateAction>
<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_14687">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-5.845358371734619" y="-64.7344970703125" z="0.03379005193710327"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_close_to_hero_14688">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-7.173771381378174" y="-161.79415893554688" z="0.0014286803780123591"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_close_to_hero_14689">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="0.3856147527694702" y="-153.3495635986328" z="0.0014286803780123591"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_close_to_adversary_14690">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-3.3662776947021484" y="-77.2765121459961" z="0.03382144868373871"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_close_to_standing_14691">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-5.84803581237793" y="29.44994354248047" z="0.0030221939086914062"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_close_to_adversary_14693">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-20.481412887573242" y="-67.93309020996094" z="0.03380592167377472"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_close_to_standing_14694">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-9.324650764465332" y="24.792917251586914" z="0.0030197142623364925"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_close_to_standing_14695">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-5.568545341491699" y="21.052391052246094" z="0.0030414580833166838"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_close_to_hero_14696">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="1.1263846158981323" y="-150.86094665527344" z="0.0014286803780123591"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_w_transform_14697">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-62.29778289794922" y="18.232032775878906" z="0.5"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_w_transform_14698">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-21.18549919128418" y="35.79582595825195" z="0.5"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_close_to_hero_14699">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-10.258877754211426" y="-160.4365692138672" z="0.0014286803780123591"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_close_to_adversary_14701">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-6.770725727081299" y="-75.981689453125" z="0.03377460315823555"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_close_to_adversary_14702">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-18.56088638305664" y="-74.20869445800781" z="0.033798445016145706"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_close_to_hero_14707">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="9.158811569213867" y="-151.47886657714844" z="0.0014286803780123591"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_close_to_adversary_14709">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="7.899316310882568" y="-74.21687316894531" z="0.03383006900548935"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
</Actions>
</Init>
<Story name="MyStory">
<Act name="Behavior">
<ManeuverGroup maximumExecutionCount="1" name="ManeuverSequence">
<Actors selectTriggeringEntities="false">
<EntityRef entityRef="adversary"/>
</Actors>
<Maneuver name="LaneChangeSimpleManeuver">
<Event name="AdversaryAccelerates" priority="overwrite">
<Action name="AdversaryAccelerates">
<PrivateAction>
<LongitudinalAction>
<SpeedAction>
<SpeedActionDynamics dynamicsShape="step" value="50" dynamicsDimension="distance"/>
<SpeedActionTarget>
<AbsoluteTargetSpeed value="5.0"/>
</SpeedActionTarget>
</SpeedAction>
</LongitudinalAction>
</PrivateAction>
</Action>
<StartTrigger>
<ConditionGroup>
<Condition name="StartCondition" delay="0" conditionEdge="rising">
<ByEntityCondition>
<TriggeringEntities triggeringEntitiesRule="any">
<EntityRef entityRef="hero"/>
</TriggeringEntities>
<EntityCondition>
<RelativeDistanceCondition entityRef="adversary" relativeDistanceType="cartesianDistance" value="40.0" freespace="false" rule="lessThan"/>
</EntityCondition>
</ByEntityCondition>
</Condition>
</ConditionGroup>
</StartTrigger>
</Event>
<Event name="AdversaryChangesLane" priority="overwrite">
<Action name="AdversaryChangesLane">
<PrivateAction>
<LateralAction>
<LaneChangeAction>
<LaneChangeActionDynamics dynamicsShape="linear" value="25" dynamicsDimension="distance"/>
<LaneChangeTarget>
<RelativeTargetLane entityRef="adversary" value="-1"/>
</LaneChangeTarget>
</LaneChangeAction>
</LateralAction>
</PrivateAction>
</Action>
<StartTrigger>
<ConditionGroup>
<Condition name="AfterAdversaryAccelerates" delay="0" conditionEdge="rising">
<ByValueCondition>
<StoryboardElementStateCondition storyboardElementType="action" storyboardElementRef="AdversaryAccelerates" state="completeState"/>
</ByValueCondition>
</Condition>
</ConditionGroup>
</StartTrigger>
</Event>
</Maneuver>
</ManeuverGroup>
<StartTrigger>
<ConditionGroup>
<Condition name="OverallStartCondition" delay="0" conditionEdge="rising">
<ByEntityCondition>
<TriggeringEntities triggeringEntitiesRule="any">
<EntityRef entityRef="hero"/>
</TriggeringEntities>
<EntityCondition>
<TraveledDistanceCondition value="1.0"/>
</EntityCondition>
</ByEntityCondition>
</Condition>
<Condition name="StartTime" delay="0" conditionEdge="rising">
<ByValueCondition>
<SimulationTimeCondition value="0" rule="equalTo"/>
</ByValueCondition>
</Condition>
</ConditionGroup>
</StartTrigger>
<StopTrigger>
<ConditionGroup>
<Condition name="EndCondition" delay="0" conditionEdge="rising">
<ByEntityCondition>
<TriggeringEntities triggeringEntitiesRule="any">
<EntityRef entityRef="hero"/>
</TriggeringEntities>
<EntityCondition>
<TraveledDistanceCondition value="200.0"/>
</EntityCondition>
</ByEntityCondition>
</Condition>
</ConditionGroup>
</StopTrigger>
</Act>
</Story>
<StopTrigger>
<ConditionGroup>
<Condition name="criteria_RunningStopTest" delay="0" conditionEdge="rising">
<ByValueCondition>
<ParameterCondition parameterRef="" value="" rule="lessThan"/>
</ByValueCondition>
</Condition>
<Condition name="criteria_RunningRedLightTest" delay="0" conditionEdge="rising">
<ByValueCondition>
<ParameterCondition parameterRef="" value="" rule="lessThan"/>
</ByValueCondition>
</Condition>
<Condition name="criteria_WrongLaneTest" delay="0" conditionEdge="rising">
<ByValueCondition>
<ParameterCondition parameterRef="" value="" rule="lessThan"/>
</ByValueCondition>
</Condition>
<Condition name="criteria_OnSidewalkTest" delay="0" conditionEdge="rising">
<ByValueCondition>
<ParameterCondition parameterRef="" value="" rule="lessThan"/>
</ByValueCondition>
</Condition>
<Condition name="criteria_KeepLaneTest" delay="0" conditionEdge="rising">
<ByValueCondition>
<ParameterCondition parameterRef="" value="" rule="lessThan"/>
</ByValueCondition>
</Condition>
<Condition name="criteria_CollisionTest" delay="0" conditionEdge="rising">
<ByValueCondition>
<ParameterCondition parameterRef="" value="" rule="lessThan"/>
</ByValueCondition>
</Condition>
<Condition name="criteria_DrivenDistanceTest" delay="0" conditionEdge="rising">
<ByValueCondition>
<ParameterCondition parameterRef="distance_success" value="100" rule="lessThan"/>
</ByValueCondition>
</Condition>
</ConditionGroup>
</StopTrigger>
</Storyboard>
</OpenSCENARIO>
``` |
i would like to direct you to add pedestrian at location (-29.34, -20.1, 0.5)?
```
<?xml version="1.0" ?>
<OpenSCENARIO>
<FileHeader revMajor="1" revMinor="0" date="2020-03-24T12:00:00" description="CARLA:LaneChangeSimple" author=""/>
<ParameterDeclarations/>
<CatalogLocations/>
<RoadNetwork>
<LogicFile filepath="Town04"/>
<SceneGraphFile filepath=""/>
</RoadNetwork>
<Entities>
<ScenarioObject name="hero">
<Vehicle name="vehicle.tesla.model3" vehicleCategory="car">
<ParameterDeclarations/>
<Performance maxSpeed="69.444" maxAcceleration="200" maxDeceleration="10.0"/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2.1" length="4.5" height="1.8"/>
</BoundingBox>
<Axles>
<FrontAxle maxSteering="0.5" wheelDiameter="0.6" trackWidth="1.8" positionX="3.1" positionZ="0.3"/>
<RearAxle maxSteering="0.0" wheelDiameter="0.6" trackWidth="1.8" positionX="0.0" positionZ="0.3"/>
</Axles>
<Properties>
<Property name="type" value="ego_vehicle"/>
</Properties>
</Vehicle>
</ScenarioObject>
<ScenarioObject name="adversary">
<Vehicle name="vehicle.lincoln.mkz_2017" vehicleCategory="car">
<ParameterDeclarations/>
<Performance maxSpeed="69.444" maxAcceleration="200" maxDeceleration="10.0"/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2.1" length="4.5" height="1.8"/>
</BoundingBox>
<Axles>
<FrontAxle maxSteering="0.5" wheelDiameter="0.6" trackWidth="1.8" positionX="3.1" positionZ="0.3"/>
<RearAxle maxSteering="0.0" wheelDiameter="0.6" trackWidth="1.8" positionX="0.0" positionZ="0.3"/>
</Axles>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Vehicle>
</ScenarioObject>
<ScenarioObject name="standing">
<Vehicle name="vehicle.volkswagen.t2" vehicleCategory="car">
<ParameterDeclarations/>
<Performance maxSpeed="69.444" maxAcceleration="200" maxDeceleration="10.0"/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2.1" length="4.5" height="1.8"/>
</BoundingBox>
<Axles>
<FrontAxle maxSteering="0.5" wheelDiameter="0.6" trackWidth="1.8" positionX="3.1" positionZ="0.3"/>
<RearAxle maxSteering="0.0" wheelDiameter="0.6" trackWidth="1.8" positionX="0.0" positionZ="0.3"/>
</Axles>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Vehicle>
</ScenarioObject>
<ScenarioObject name="pedestrian_close_to_adversary_7749">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_w_transform_7750">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_close_to_hero_7752">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_close_to_adversary_7753">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_w_transform_7754">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_w_transform_7755">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_close_to_standing_7756">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
</Entities>
<Storyboard>
<Init>
<Actions>
<GlobalAction>
<EnvironmentAction>
<Environment name="Environment1">
<TimeOfDay animation="false" dateTime="2019-06-25T12:00:00"/>
<Weather cloudState="free">
<Sun intensity="0.85" azimuth="0" elevation="1.31"/>
<Fog visualRange="100000.0"/>
<Precipitation precipitationType="dry" intensity="0.0"/>
</Weather>
<RoadCondition frictionScaleFactor="1.0"/>
</Environment>
</EnvironmentAction>
</GlobalAction>
<Private entityRef="hero">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-9.4" y="-152.8" z="0.5" h="1.57079632679"/>
</Position>
</TeleportAction>
</PrivateAction>
<PrivateAction>
<ControllerAction>
<AssignControllerAction>
<Controller name="HeroAgent">
<Properties>
<Property name="module" value="external_control"/>
</Properties>
</Controller>
</AssignControllerAction>
<OverrideControllerValueAction>
<Throttle value="0" active="false"/>
<Brake value="0" active="false"/>
<Clutch value="0" active="false"/>
<ParkingBrake value="0" active="false"/>
<SteeringWheel value="0" active="false"/>
<Gear number="0" active="false"/>
</OverrideControllerValueAction>
</ControllerAction>
</PrivateAction>
</Private>
<Private entityRef="adversary">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-9.4" y="-71.0" z="0.5" h="1.57079632679"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="standing">
<PrivateAction>
<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_7749">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="0.47519651055336" y="-77.9356460571289" z="0.03378868103027344"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_w_transform_7750">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="46.70326232910156" y="66.54341125488281" z="0.5"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_close_to_hero_7752">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-13.533163070678711" y="-147.33453369140625" z="0.0014286803780123591"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_close_to_adversary_7753">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-6.024298191070557" y="-72.51648712158203" z="0.03381359204649925"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_w_transform_7754">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="45.63162612915039" y="0.5770393013954163" z="0.5"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_w_transform_7755">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="90.05448150634766" y="9.254094123840332" z="0.5"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_close_to_standing_7756">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-9.729605674743652" y="31.362125396728516" z="0.0031167983543127775"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
</Actions>
</Init>
<Story name="MyStory">
<Act name="Behavior">
<ManeuverGroup maximumExecutionCount="1" name="ManeuverSequence">
<Actors selectTriggeringEntities="false">
<EntityRef entityRef="adversary"/>
</Actors>
<Maneuver name="LaneChangeSimpleManeuver">
<Event name="AdversaryAccelerates" priority="overwrite">
<Action name="AdversaryAccelerates">
<PrivateAction>
<LongitudinalAction>
<SpeedAction>
<SpeedActionDynamics dynamicsShape="step" value="50" dynamicsDimension="distance"/>
<SpeedActionTarget>
<AbsoluteTargetSpeed value="5.0"/>
</SpeedActionTarget>
</SpeedAction>
</LongitudinalAction>
</PrivateAction>
</Action>
<StartTrigger>
<ConditionGroup>
<Condition name="StartCondition" delay="0" conditionEdge="rising">
<ByEntityCondition>
<TriggeringEntities triggeringEntitiesRule="any">
<EntityRef entityRef="hero"/>
</TriggeringEntities>
<EntityCondition>
<RelativeDistanceCondition entityRef="adversary" relativeDistanceType="cartesianDistance" value="40.0" freespace="false" rule="lessThan"/>
</EntityCondition>
</ByEntityCondition>
</Condition>
</ConditionGroup>
</StartTrigger>
</Event>
<Event name="AdversaryChangesLane" priority="overwrite">
<Action name="AdversaryChangesLane">
<PrivateAction>
<LateralAction>
<LaneChangeAction>
<LaneChangeActionDynamics dynamicsShape="linear" value="25" dynamicsDimension="distance"/>
<LaneChangeTarget>
<RelativeTargetLane entityRef="adversary" value="-1"/>
</LaneChangeTarget>
</LaneChangeAction>
</LateralAction>
</PrivateAction>
</Action>
<StartTrigger>
<ConditionGroup>
<Condition name="AfterAdversaryAccelerates" delay="0" conditionEdge="rising">
<ByValueCondition>
<StoryboardElementStateCondition storyboardElementType="action" storyboardElementRef="AdversaryAccelerates" state="completeState"/>
</ByValueCondition>
</Condition>
</ConditionGroup>
</StartTrigger>
</Event>
</Maneuver>
</ManeuverGroup>
<StartTrigger>
<ConditionGroup>
<Condition name="OverallStartCondition" delay="0" conditionEdge="rising">
<ByEntityCondition>
<TriggeringEntities triggeringEntitiesRule="any">
<EntityRef entityRef="hero"/>
</TriggeringEntities>
<EntityCondition>
<TraveledDistanceCondition value="1.0"/>
</EntityCondition>
</ByEntityCondition>
</Condition>
<Condition name="StartTime" delay="0" conditionEdge="rising">
<ByValueCondition>
<SimulationTimeCondition value="0" rule="equalTo"/>
</ByValueCondition>
</Condition>
</ConditionGroup>
</StartTrigger>
<StopTrigger>
<ConditionGroup>
<Condition name="EndCondition" delay="0" conditionEdge="rising">
<ByEntityCondition>
<TriggeringEntities triggeringEntitiesRule="any">
<EntityRef entityRef="hero"/>
</TriggeringEntities>
<EntityCondition>
<TraveledDistanceCondition value="200.0"/>
</EntityCondition>
</ByEntityCondition>
</Condition>
</ConditionGroup>
</StopTrigger>
</Act>
</Story>
<StopTrigger>
<ConditionGroup>
<Condition name="criteria_RunningStopTest" delay="0" conditionEdge="rising">
<ByValueCondition>
<ParameterCondition parameterRef="" value="" rule="lessThan"/>
</ByValueCondition>
</Condition>
<Condition name="criteria_RunningRedLightTest" delay="0" conditionEdge="rising">
<ByValueCondition>
<ParameterCondition parameterRef="" value="" rule="lessThan"/>
</ByValueCondition>
</Condition>
<Condition name="criteria_WrongLaneTest" delay="0" conditionEdge="rising">
<ByValueCondition>
<ParameterCondition parameterRef="" value="" rule="lessThan"/>
</ByValueCondition>
</Condition>
<Condition name="criteria_OnSidewalkTest" delay="0" conditionEdge="rising">
<ByValueCondition>
<ParameterCondition parameterRef="" value="" rule="lessThan"/>
</ByValueCondition>
</Condition>
<Condition name="criteria_KeepLaneTest" delay="0" conditionEdge="rising">
<ByValueCondition>
<ParameterCondition parameterRef="" value="" rule="lessThan"/>
</ByValueCondition>
</Condition>
<Condition name="criteria_CollisionTest" delay="0" conditionEdge="rising">
<ByValueCondition>
<ParameterCondition parameterRef="" value="" rule="lessThan"/>
</ByValueCondition>
</Condition>
<Condition name="criteria_DrivenDistanceTest" delay="0" conditionEdge="rising">
<ByValueCondition>
<ParameterCondition parameterRef="distance_success" value="100" rule="lessThan"/>
</ByValueCondition>
</Condition>
</ConditionGroup>
</StopTrigger>
</Storyboard>
</OpenSCENARIO>
``` | Here is the result:
```
<?xml version="1.0" ?>
<OpenSCENARIO>
<FileHeader revMajor="1" revMinor="0" date="2020-03-24T12:00:00" description="CARLA:LaneChangeSimple" author=""/>
<ParameterDeclarations/>
<CatalogLocations/>
<RoadNetwork>
<LogicFile filepath="Town04"/>
<SceneGraphFile filepath=""/>
</RoadNetwork>
<Entities>
<ScenarioObject name="hero">
<Vehicle name="vehicle.tesla.model3" vehicleCategory="car">
<ParameterDeclarations/>
<Performance maxSpeed="69.444" maxAcceleration="200" maxDeceleration="10.0"/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2.1" length="4.5" height="1.8"/>
</BoundingBox>
<Axles>
<FrontAxle maxSteering="0.5" wheelDiameter="0.6" trackWidth="1.8" positionX="3.1" positionZ="0.3"/>
<RearAxle maxSteering="0.0" wheelDiameter="0.6" trackWidth="1.8" positionX="0.0" positionZ="0.3"/>
</Axles>
<Properties>
<Property name="type" value="ego_vehicle"/>
</Properties>
</Vehicle>
</ScenarioObject>
<ScenarioObject name="adversary">
<Vehicle name="vehicle.lincoln.mkz_2017" vehicleCategory="car">
<ParameterDeclarations/>
<Performance maxSpeed="69.444" maxAcceleration="200" maxDeceleration="10.0"/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2.1" length="4.5" height="1.8"/>
</BoundingBox>
<Axles>
<FrontAxle maxSteering="0.5" wheelDiameter="0.6" trackWidth="1.8" positionX="3.1" positionZ="0.3"/>
<RearAxle maxSteering="0.0" wheelDiameter="0.6" trackWidth="1.8" positionX="0.0" positionZ="0.3"/>
</Axles>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Vehicle>
</ScenarioObject>
<ScenarioObject name="standing">
<Vehicle name="vehicle.volkswagen.t2" vehicleCategory="car">
<ParameterDeclarations/>
<Performance maxSpeed="69.444" maxAcceleration="200" maxDeceleration="10.0"/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2.1" length="4.5" height="1.8"/>
</BoundingBox>
<Axles>
<FrontAxle maxSteering="0.5" wheelDiameter="0.6" trackWidth="1.8" positionX="3.1" positionZ="0.3"/>
<RearAxle maxSteering="0.0" wheelDiameter="0.6" 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_7749">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_w_transform_7750">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_close_to_hero_7752">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_close_to_adversary_7753">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_w_transform_7754">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_w_transform_7755">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_close_to_standing_7756">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_w_transform_7757">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
</Entities>
<Storyboard>
<Init>
<Actions>
<GlobalAction>
<EnvironmentAction>
<Environment name="Environment1">
<TimeOfDay animation="false" dateTime="2019-06-25T12:00:00"/>
<Weather cloudState="free">
<Sun intensity="0.85" azimuth="0" elevation="1.31"/>
<Fog visualRange="100000.0"/>
<Precipitation precipitationType="dry" intensity="0.0"/>
</Weather>
<RoadCondition frictionScaleFactor="1.0"/>
</Environment>
</EnvironmentAction>
</GlobalAction>
<Private entityRef="hero">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-9.4" y="-152.8" z="0.5" h="1.57079632679"/>
</Position>
</TeleportAction>
</PrivateAction>
<PrivateAction>
<ControllerAction>
<AssignControllerAction>
<Controller name="HeroAgent">
<Properties>
<Property name="module" value="external_control"/>
</Properties>
</Controller>
</AssignControllerAction>
<OverrideControllerValueAction>
<Throttle value="0" active="false"/>
<Brake value="0" active="false"/>
<Clutch value="0" active="false"/>
<ParkingBrake value="0" active="false"/>
<SteeringWheel value="0" active="false"/>
<Gear number="0" active="false"/>
</OverrideControllerValueAction>
</ControllerAction>
</PrivateAction>
</Private>
<Private entityRef="adversary">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-9.4" y="-71.0" z="0.5" h="1.57079632679"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="standing">
<PrivateAction>
<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_7749">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="0.47519651055336" y="-77.9356460571289" z="0.03378868103027344"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_w_transform_7750">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="46.70326232910156" y="66.54341125488281" z="0.5"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_close_to_hero_7752">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-13.533163070678711" y="-147.33453369140625" z="0.0014286803780123591"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_close_to_adversary_7753">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-6.024298191070557" y="-72.51648712158203" z="0.03381359204649925"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_w_transform_7754">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="45.63162612915039" y="0.5770393013954163" z="0.5"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_w_transform_7755">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="90.05448150634766" y="9.254094123840332" z="0.5"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_close_to_standing_7756">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-9.729605674743652" y="31.362125396728516" z="0.0031167983543127775"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_w_transform_7757">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-29.336389541625977" y="-20.100608825683594" z="0.5"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
</Actions>
</Init>
<Story name="MyStory">
<Act name="Behavior">
<ManeuverGroup maximumExecutionCount="1" name="ManeuverSequence">
<Actors selectTriggeringEntities="false">
<EntityRef entityRef="adversary"/>
</Actors>
<Maneuver name="LaneChangeSimpleManeuver">
<Event name="AdversaryAccelerates" priority="overwrite">
<Action name="AdversaryAccelerates">
<PrivateAction>
<LongitudinalAction>
<SpeedAction>
<SpeedActionDynamics dynamicsShape="step" value="50" dynamicsDimension="distance"/>
<SpeedActionTarget>
<AbsoluteTargetSpeed value="5.0"/>
</SpeedActionTarget>
</SpeedAction>
</LongitudinalAction>
</PrivateAction>
</Action>
<StartTrigger>
<ConditionGroup>
<Condition name="StartCondition" delay="0" conditionEdge="rising">
<ByEntityCondition>
<TriggeringEntities triggeringEntitiesRule="any">
<EntityRef entityRef="hero"/>
</TriggeringEntities>
<EntityCondition>
<RelativeDistanceCondition entityRef="adversary" relativeDistanceType="cartesianDistance" value="40.0" freespace="false" rule="lessThan"/>
</EntityCondition>
</ByEntityCondition>
</Condition>
</ConditionGroup>
</StartTrigger>
</Event>
<Event name="AdversaryChangesLane" priority="overwrite">
<Action name="AdversaryChangesLane">
<PrivateAction>
<LateralAction>
<LaneChangeAction>
<LaneChangeActionDynamics dynamicsShape="linear" value="25" dynamicsDimension="distance"/>
<LaneChangeTarget>
<RelativeTargetLane entityRef="adversary" value="-1"/>
</LaneChangeTarget>
</LaneChangeAction>
</LateralAction>
</PrivateAction>
</Action>
<StartTrigger>
<ConditionGroup>
<Condition name="AfterAdversaryAccelerates" delay="0" conditionEdge="rising">
<ByValueCondition>
<StoryboardElementStateCondition storyboardElementType="action" storyboardElementRef="AdversaryAccelerates" state="completeState"/>
</ByValueCondition>
</Condition>
</ConditionGroup>
</StartTrigger>
</Event>
</Maneuver>
</ManeuverGroup>
<StartTrigger>
<ConditionGroup>
<Condition name="OverallStartCondition" delay="0" conditionEdge="rising">
<ByEntityCondition>
<TriggeringEntities triggeringEntitiesRule="any">
<EntityRef entityRef="hero"/>
</TriggeringEntities>
<EntityCondition>
<TraveledDistanceCondition value="1.0"/>
</EntityCondition>
</ByEntityCondition>
</Condition>
<Condition name="StartTime" delay="0" conditionEdge="rising">
<ByValueCondition>
<SimulationTimeCondition value="0" rule="equalTo"/>
</ByValueCondition>
</Condition>
</ConditionGroup>
</StartTrigger>
<StopTrigger>
<ConditionGroup>
<Condition name="EndCondition" delay="0" conditionEdge="rising">
<ByEntityCondition>
<TriggeringEntities triggeringEntitiesRule="any">
<EntityRef entityRef="hero"/>
</TriggeringEntities>
<EntityCondition>
<TraveledDistanceCondition value="200.0"/>
</EntityCondition>
</ByEntityCondition>
</Condition>
</ConditionGroup>
</StopTrigger>
</Act>
</Story>
<StopTrigger>
<ConditionGroup>
<Condition name="criteria_RunningStopTest" delay="0" conditionEdge="rising">
<ByValueCondition>
<ParameterCondition parameterRef="" value="" rule="lessThan"/>
</ByValueCondition>
</Condition>
<Condition name="criteria_RunningRedLightTest" delay="0" conditionEdge="rising">
<ByValueCondition>
<ParameterCondition parameterRef="" value="" rule="lessThan"/>
</ByValueCondition>
</Condition>
<Condition name="criteria_WrongLaneTest" delay="0" conditionEdge="rising">
<ByValueCondition>
<ParameterCondition parameterRef="" value="" rule="lessThan"/>
</ByValueCondition>
</Condition>
<Condition name="criteria_OnSidewalkTest" delay="0" conditionEdge="rising">
<ByValueCondition>
<ParameterCondition parameterRef="" value="" rule="lessThan"/>
</ByValueCondition>
</Condition>
<Condition name="criteria_KeepLaneTest" delay="0" conditionEdge="rising">
<ByValueCondition>
<ParameterCondition parameterRef="" value="" rule="lessThan"/>
</ByValueCondition>
</Condition>
<Condition name="criteria_CollisionTest" delay="0" conditionEdge="rising">
<ByValueCondition>
<ParameterCondition parameterRef="" value="" rule="lessThan"/>
</ByValueCondition>
</Condition>
<Condition name="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_21501">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
</Entities>
<Storyboard>
<Init>
<Actions>
<GlobalAction>
<EnvironmentAction>
<Environment name="Environment1">
<TimeOfDay animation="false" dateTime="2019-06-25T12:00:00"/>
<Weather cloudState="free">
<Sun intensity="0.85" azimuth="0" elevation="1.31"/>
<Fog visualRange="100000.0"/>
<Precipitation precipitationType="dry" intensity="0.0"/>
</Weather>
<RoadCondition frictionScaleFactor="1.0"/>
</Environment>
</EnvironmentAction>
</GlobalAction>
<Private entityRef="hero">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-9.4" y="-152.8" z="0.5" h="1.57079632679"/>
</Position>
</TeleportAction>
</PrivateAction>
<PrivateAction>
<ControllerAction>
<AssignControllerAction>
<Controller name="HeroAgent">
<Properties>
<Property name="module" value="external_control"/>
</Properties>
</Controller>
</AssignControllerAction>
<OverrideControllerValueAction>
<Throttle value="0" active="false"/>
<Brake value="0" active="false"/>
<Clutch value="0" active="false"/>
<ParkingBrake value="0" active="false"/>
<SteeringWheel value="0" active="false"/>
<Gear number="0" active="false"/>
</OverrideControllerValueAction>
</ControllerAction>
</PrivateAction>
</Private>
<Private entityRef="adversary">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-9.4" y="-71.0" z="0.5" h="1.57079632679"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="standing">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-8.2" y="29.2" z="0.5" h="1.57079632679"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_close_to_standing_21501">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-16.73058319091797" y="31.7911376953125" z="0.0030158995650708675"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
</Actions>
</Init>
<Story name="MyStory">
<Act name="Behavior">
<ManeuverGroup maximumExecutionCount="1" name="ManeuverSequence">
<Actors selectTriggeringEntities="false">
<EntityRef entityRef="adversary"/>
</Actors>
<Maneuver name="LaneChangeSimpleManeuver">
<Event name="AdversaryAccelerates" priority="overwrite">
<Action name="AdversaryAccelerates">
<PrivateAction>
<LongitudinalAction>
<SpeedAction>
<SpeedActionDynamics dynamicsShape="step" value="50" dynamicsDimension="distance"/>
<SpeedActionTarget>
<AbsoluteTargetSpeed value="5.0"/>
</SpeedActionTarget>
</SpeedAction>
</LongitudinalAction>
</PrivateAction>
</Action>
<StartTrigger>
<ConditionGroup>
<Condition name="StartCondition" delay="0" conditionEdge="rising">
<ByEntityCondition>
<TriggeringEntities triggeringEntitiesRule="any">
<EntityRef entityRef="hero"/>
</TriggeringEntities>
<EntityCondition>
<RelativeDistanceCondition entityRef="adversary" relativeDistanceType="cartesianDistance" value="40.0" freespace="false" rule="lessThan"/>
</EntityCondition>
</ByEntityCondition>
</Condition>
</ConditionGroup>
</StartTrigger>
</Event>
<Event name="AdversaryChangesLane" priority="overwrite">
<Action name="AdversaryChangesLane">
<PrivateAction>
<LateralAction>
<LaneChangeAction>
<LaneChangeActionDynamics dynamicsShape="linear" value="25" dynamicsDimension="distance"/>
<LaneChangeTarget>
<RelativeTargetLane entityRef="adversary" value="-1"/>
</LaneChangeTarget>
</LaneChangeAction>
</LateralAction>
</PrivateAction>
</Action>
<StartTrigger>
<ConditionGroup>
<Condition name="AfterAdversaryAccelerates" delay="0" conditionEdge="rising">
<ByValueCondition>
<StoryboardElementStateCondition storyboardElementType="action" storyboardElementRef="AdversaryAccelerates" state="completeState"/>
</ByValueCondition>
</Condition>
</ConditionGroup>
</StartTrigger>
</Event>
</Maneuver>
</ManeuverGroup>
<StartTrigger>
<ConditionGroup>
<Condition name="OverallStartCondition" delay="0" conditionEdge="rising">
<ByEntityCondition>
<TriggeringEntities triggeringEntitiesRule="any">
<EntityRef entityRef="hero"/>
</TriggeringEntities>
<EntityCondition>
<TraveledDistanceCondition value="1.0"/>
</EntityCondition>
</ByEntityCondition>
</Condition>
<Condition name="StartTime" delay="0" conditionEdge="rising">
<ByValueCondition>
<SimulationTimeCondition value="0" rule="equalTo"/>
</ByValueCondition>
</Condition>
</ConditionGroup>
</StartTrigger>
<StopTrigger>
<ConditionGroup>
<Condition name="EndCondition" delay="0" conditionEdge="rising">
<ByEntityCondition>
<TriggeringEntities triggeringEntitiesRule="any">
<EntityRef entityRef="hero"/>
</TriggeringEntities>
<EntityCondition>
<TraveledDistanceCondition value="200.0"/>
</EntityCondition>
</ByEntityCondition>
</Condition>
</ConditionGroup>
</StopTrigger>
</Act>
</Story>
<StopTrigger>
<ConditionGroup>
<Condition name="criteria_RunningStopTest" delay="0" conditionEdge="rising">
<ByValueCondition>
<ParameterCondition parameterRef="" value="" rule="lessThan"/>
</ByValueCondition>
</Condition>
<Condition name="criteria_RunningRedLightTest" delay="0" conditionEdge="rising">
<ByValueCondition>
<ParameterCondition parameterRef="" value="" rule="lessThan"/>
</ByValueCondition>
</Condition>
<Condition name="criteria_WrongLaneTest" delay="0" conditionEdge="rising">
<ByValueCondition>
<ParameterCondition parameterRef="" value="" rule="lessThan"/>
</ByValueCondition>
</Condition>
<Condition name="criteria_OnSidewalkTest" delay="0" conditionEdge="rising">
<ByValueCondition>
<ParameterCondition parameterRef="" value="" rule="lessThan"/>
</ByValueCondition>
</Condition>
<Condition name="criteria_KeepLaneTest" delay="0" conditionEdge="rising">
<ByValueCondition>
<ParameterCondition parameterRef="" value="" rule="lessThan"/>
</ByValueCondition>
</Condition>
<Condition name="criteria_CollisionTest" delay="0" conditionEdge="rising">
<ByValueCondition>
<ParameterCondition parameterRef="" value="" rule="lessThan"/>
</ByValueCondition>
</Condition>
<Condition name="criteria_DrivenDistanceTest" delay="0" conditionEdge="rising">
<ByValueCondition>
<ParameterCondition parameterRef="distance_success" value="100" rule="lessThan"/>
</ByValueCondition>
</Condition>
</ConditionGroup>
</StopTrigger>
</Storyboard>
</OpenSCENARIO>
``` |
i need you to add pedestrian close to hero?
```
<?xml version="1.0" ?>
<OpenSCENARIO>
<FileHeader revMajor="1" revMinor="0" date="2020-03-24T12:00:00" description="CARLA:LaneChangeSimple" author=""/>
<ParameterDeclarations/>
<CatalogLocations/>
<RoadNetwork>
<LogicFile filepath="Town04"/>
<SceneGraphFile filepath=""/>
</RoadNetwork>
<Entities>
<ScenarioObject name="hero">
<Vehicle name="vehicle.tesla.model3" vehicleCategory="car">
<ParameterDeclarations/>
<Performance maxSpeed="69.444" maxAcceleration="200" maxDeceleration="10.0"/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2.1" length="4.5" height="1.8"/>
</BoundingBox>
<Axles>
<FrontAxle maxSteering="0.5" wheelDiameter="0.6" trackWidth="1.8" positionX="3.1" positionZ="0.3"/>
<RearAxle maxSteering="0.0" wheelDiameter="0.6" trackWidth="1.8" positionX="0.0" positionZ="0.3"/>
</Axles>
<Properties>
<Property name="type" value="ego_vehicle"/>
</Properties>
</Vehicle>
</ScenarioObject>
<ScenarioObject name="adversary">
<Vehicle name="vehicle.lincoln.mkz_2017" vehicleCategory="car">
<ParameterDeclarations/>
<Performance maxSpeed="69.444" maxAcceleration="200" maxDeceleration="10.0"/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2.1" length="4.5" height="1.8"/>
</BoundingBox>
<Axles>
<FrontAxle maxSteering="0.5" wheelDiameter="0.6" trackWidth="1.8" positionX="3.1" positionZ="0.3"/>
<RearAxle maxSteering="0.0" wheelDiameter="0.6" trackWidth="1.8" positionX="0.0" positionZ="0.3"/>
</Axles>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Vehicle>
</ScenarioObject>
<ScenarioObject name="standing">
<Vehicle name="vehicle.volkswagen.t2" vehicleCategory="car">
<ParameterDeclarations/>
<Performance maxSpeed="69.444" maxAcceleration="200" maxDeceleration="10.0"/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2.1" length="4.5" height="1.8"/>
</BoundingBox>
<Axles>
<FrontAxle maxSteering="0.5" wheelDiameter="0.6" trackWidth="1.8" positionX="3.1" positionZ="0.3"/>
<RearAxle maxSteering="0.0" wheelDiameter="0.6" trackWidth="1.8" positionX="0.0" positionZ="0.3"/>
</Axles>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Vehicle>
</ScenarioObject>
<ScenarioObject name="pedestrian_close_to_hero_17859">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_close_to_adversary_17860">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_w_transform_17861">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_close_to_adversary_17862">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_w_transform_17864">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_close_to_standing_17865">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_close_to_hero_17866">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_w_transform_17867">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_w_transform_17868">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_w_transform_17869">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_close_to_hero_17870">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_w_transform_17871">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_close_to_adversary_17872">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
</Entities>
<Storyboard>
<Init>
<Actions>
<GlobalAction>
<EnvironmentAction>
<Environment name="Environment1">
<TimeOfDay animation="false" dateTime="2019-06-25T12:00:00"/>
<Weather cloudState="free">
<Sun intensity="0.85" azimuth="0" elevation="1.31"/>
<Fog visualRange="100000.0"/>
<Precipitation precipitationType="dry" intensity="0.0"/>
</Weather>
<RoadCondition frictionScaleFactor="1.0"/>
</Environment>
</EnvironmentAction>
</GlobalAction>
<Private entityRef="hero">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-9.4" y="-152.8" z="0.5" h="1.57079632679"/>
</Position>
</TeleportAction>
</PrivateAction>
<PrivateAction>
<ControllerAction>
<AssignControllerAction>
<Controller name="HeroAgent">
<Properties>
<Property name="module" value="external_control"/>
</Properties>
</Controller>
</AssignControllerAction>
<OverrideControllerValueAction>
<Throttle value="0" active="false"/>
<Brake value="0" active="false"/>
<Clutch value="0" active="false"/>
<ParkingBrake value="0" active="false"/>
<SteeringWheel value="0" active="false"/>
<Gear number="0" active="false"/>
</OverrideControllerValueAction>
</ControllerAction>
</PrivateAction>
</Private>
<Private entityRef="adversary">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-9.4" y="-71.0" z="0.5" h="1.57079632679"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="standing">
<PrivateAction>
<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_17859">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-0.24467383325099945" y="-145.9249267578125" z="0.0014286803780123591"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_close_to_adversary_17860">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-22.208494186401367" y="-59.32497024536133" z="0.03378238528966904"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_w_transform_17861">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="62.242042541503906" y="17.44193458557129" z="0.5"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_close_to_adversary_17862">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-18.540637969970703" y="-67.1850357055664" z="0.033814504742622375"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_w_transform_17864">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="70.87271118164062" y="51.10936737060547" z="0.5"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_close_to_standing_17865">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="5.750216484069824" y="30.804887771606445" z="0.003040923969820142"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_close_to_hero_17866">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-15.71325397491455" y="-160.2262420654297" z="0.0014286803780123591"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_w_transform_17867">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-41.45772171020508" y="51.88978958129883" z="0.5"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_w_transform_17868">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="10.01784896850586" y="-90.90904235839844" z="0.5"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_w_transform_17869">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="45.47578430175781" y="-85.60523223876953" z="0.5"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_close_to_hero_17870">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-18.038036346435547" y="-156.02655029296875" z="0.0014286803780123591"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_w_transform_17871">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="29.831375122070312" y="-4.825311660766602" z="0.5"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_close_to_adversary_17872">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-1.8237470388412476" y="-78.5753173828125" z="0.03387870639562607"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
</Actions>
</Init>
<Story name="MyStory">
<Act name="Behavior">
<ManeuverGroup maximumExecutionCount="1" name="ManeuverSequence">
<Actors selectTriggeringEntities="false">
<EntityRef entityRef="adversary"/>
</Actors>
<Maneuver name="LaneChangeSimpleManeuver">
<Event name="AdversaryAccelerates" priority="overwrite">
<Action name="AdversaryAccelerates">
<PrivateAction>
<LongitudinalAction>
<SpeedAction>
<SpeedActionDynamics dynamicsShape="step" value="50" dynamicsDimension="distance"/>
<SpeedActionTarget>
<AbsoluteTargetSpeed value="5.0"/>
</SpeedActionTarget>
</SpeedAction>
</LongitudinalAction>
</PrivateAction>
</Action>
<StartTrigger>
<ConditionGroup>
<Condition name="StartCondition" delay="0" conditionEdge="rising">
<ByEntityCondition>
<TriggeringEntities triggeringEntitiesRule="any">
<EntityRef entityRef="hero"/>
</TriggeringEntities>
<EntityCondition>
<RelativeDistanceCondition entityRef="adversary" relativeDistanceType="cartesianDistance" value="40.0" freespace="false" rule="lessThan"/>
</EntityCondition>
</ByEntityCondition>
</Condition>
</ConditionGroup>
</StartTrigger>
</Event>
<Event name="AdversaryChangesLane" priority="overwrite">
<Action name="AdversaryChangesLane">
<PrivateAction>
<LateralAction>
<LaneChangeAction>
<LaneChangeActionDynamics dynamicsShape="linear" value="25" dynamicsDimension="distance"/>
<LaneChangeTarget>
<RelativeTargetLane entityRef="adversary" value="-1"/>
</LaneChangeTarget>
</LaneChangeAction>
</LateralAction>
</PrivateAction>
</Action>
<StartTrigger>
<ConditionGroup>
<Condition name="AfterAdversaryAccelerates" delay="0" conditionEdge="rising">
<ByValueCondition>
<StoryboardElementStateCondition storyboardElementType="action" storyboardElementRef="AdversaryAccelerates" state="completeState"/>
</ByValueCondition>
</Condition>
</ConditionGroup>
</StartTrigger>
</Event>
</Maneuver>
</ManeuverGroup>
<StartTrigger>
<ConditionGroup>
<Condition name="OverallStartCondition" delay="0" conditionEdge="rising">
<ByEntityCondition>
<TriggeringEntities triggeringEntitiesRule="any">
<EntityRef entityRef="hero"/>
</TriggeringEntities>
<EntityCondition>
<TraveledDistanceCondition value="1.0"/>
</EntityCondition>
</ByEntityCondition>
</Condition>
<Condition name="StartTime" delay="0" conditionEdge="rising">
<ByValueCondition>
<SimulationTimeCondition value="0" rule="equalTo"/>
</ByValueCondition>
</Condition>
</ConditionGroup>
</StartTrigger>
<StopTrigger>
<ConditionGroup>
<Condition name="EndCondition" delay="0" conditionEdge="rising">
<ByEntityCondition>
<TriggeringEntities triggeringEntitiesRule="any">
<EntityRef entityRef="hero"/>
</TriggeringEntities>
<EntityCondition>
<TraveledDistanceCondition value="200.0"/>
</EntityCondition>
</ByEntityCondition>
</Condition>
</ConditionGroup>
</StopTrigger>
</Act>
</Story>
<StopTrigger>
<ConditionGroup>
<Condition name="criteria_RunningStopTest" delay="0" conditionEdge="rising">
<ByValueCondition>
<ParameterCondition parameterRef="" value="" rule="lessThan"/>
</ByValueCondition>
</Condition>
<Condition name="criteria_RunningRedLightTest" delay="0" conditionEdge="rising">
<ByValueCondition>
<ParameterCondition parameterRef="" value="" rule="lessThan"/>
</ByValueCondition>
</Condition>
<Condition name="criteria_WrongLaneTest" delay="0" conditionEdge="rising">
<ByValueCondition>
<ParameterCondition parameterRef="" value="" rule="lessThan"/>
</ByValueCondition>
</Condition>
<Condition name="criteria_OnSidewalkTest" delay="0" conditionEdge="rising">
<ByValueCondition>
<ParameterCondition parameterRef="" value="" rule="lessThan"/>
</ByValueCondition>
</Condition>
<Condition name="criteria_KeepLaneTest" delay="0" conditionEdge="rising">
<ByValueCondition>
<ParameterCondition parameterRef="" value="" rule="lessThan"/>
</ByValueCondition>
</Condition>
<Condition name="criteria_CollisionTest" delay="0" conditionEdge="rising">
<ByValueCondition>
<ParameterCondition parameterRef="" value="" rule="lessThan"/>
</ByValueCondition>
</Condition>
<Condition name="criteria_DrivenDistanceTest" delay="0" conditionEdge="rising">
<ByValueCondition>
<ParameterCondition parameterRef="distance_success" value="100" rule="lessThan"/>
</ByValueCondition>
</Condition>
</ConditionGroup>
</StopTrigger>
</Storyboard>
</OpenSCENARIO>
``` | Here is the result:
```
<?xml version="1.0" ?>
<OpenSCENARIO>
<FileHeader revMajor="1" revMinor="0" date="2020-03-24T12:00:00" description="CARLA:LaneChangeSimple" author=""/>
<ParameterDeclarations/>
<CatalogLocations/>
<RoadNetwork>
<LogicFile filepath="Town04"/>
<SceneGraphFile filepath=""/>
</RoadNetwork>
<Entities>
<ScenarioObject name="hero">
<Vehicle name="vehicle.tesla.model3" vehicleCategory="car">
<ParameterDeclarations/>
<Performance maxSpeed="69.444" maxAcceleration="200" maxDeceleration="10.0"/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2.1" length="4.5" height="1.8"/>
</BoundingBox>
<Axles>
<FrontAxle maxSteering="0.5" wheelDiameter="0.6" trackWidth="1.8" positionX="3.1" positionZ="0.3"/>
<RearAxle maxSteering="0.0" wheelDiameter="0.6" trackWidth="1.8" positionX="0.0" positionZ="0.3"/>
</Axles>
<Properties>
<Property name="type" value="ego_vehicle"/>
</Properties>
</Vehicle>
</ScenarioObject>
<ScenarioObject name="adversary">
<Vehicle name="vehicle.lincoln.mkz_2017" vehicleCategory="car">
<ParameterDeclarations/>
<Performance maxSpeed="69.444" maxAcceleration="200" maxDeceleration="10.0"/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2.1" length="4.5" height="1.8"/>
</BoundingBox>
<Axles>
<FrontAxle maxSteering="0.5" wheelDiameter="0.6" trackWidth="1.8" positionX="3.1" positionZ="0.3"/>
<RearAxle maxSteering="0.0" wheelDiameter="0.6" trackWidth="1.8" positionX="0.0" positionZ="0.3"/>
</Axles>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Vehicle>
</ScenarioObject>
<ScenarioObject name="standing">
<Vehicle name="vehicle.volkswagen.t2" vehicleCategory="car">
<ParameterDeclarations/>
<Performance maxSpeed="69.444" maxAcceleration="200" maxDeceleration="10.0"/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2.1" length="4.5" height="1.8"/>
</BoundingBox>
<Axles>
<FrontAxle maxSteering="0.5" wheelDiameter="0.6" trackWidth="1.8" positionX="3.1" positionZ="0.3"/>
<RearAxle maxSteering="0.0" wheelDiameter="0.6" 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_17859">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_close_to_adversary_17860">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_w_transform_17861">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_close_to_adversary_17862">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_w_transform_17864">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_close_to_standing_17865">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_close_to_hero_17866">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_w_transform_17867">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_w_transform_17868">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_w_transform_17869">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_close_to_hero_17870">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_w_transform_17871">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_close_to_adversary_17872">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_close_to_hero_17873">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
</Entities>
<Storyboard>
<Init>
<Actions>
<GlobalAction>
<EnvironmentAction>
<Environment name="Environment1">
<TimeOfDay animation="false" dateTime="2019-06-25T12:00:00"/>
<Weather cloudState="free">
<Sun intensity="0.85" azimuth="0" elevation="1.31"/>
<Fog visualRange="100000.0"/>
<Precipitation precipitationType="dry" intensity="0.0"/>
</Weather>
<RoadCondition frictionScaleFactor="1.0"/>
</Environment>
</EnvironmentAction>
</GlobalAction>
<Private entityRef="hero">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-9.4" y="-152.8" z="0.5" h="1.57079632679"/>
</Position>
</TeleportAction>
</PrivateAction>
<PrivateAction>
<ControllerAction>
<AssignControllerAction>
<Controller name="HeroAgent">
<Properties>
<Property name="module" value="external_control"/>
</Properties>
</Controller>
</AssignControllerAction>
<OverrideControllerValueAction>
<Throttle value="0" active="false"/>
<Brake value="0" active="false"/>
<Clutch value="0" active="false"/>
<ParkingBrake value="0" active="false"/>
<SteeringWheel value="0" active="false"/>
<Gear number="0" active="false"/>
</OverrideControllerValueAction>
</ControllerAction>
</PrivateAction>
</Private>
<Private entityRef="adversary">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-9.4" y="-71.0" z="0.5" h="1.57079632679"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="standing">
<PrivateAction>
<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_17859">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-0.24467383325099945" y="-145.9249267578125" z="0.0014286803780123591"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_close_to_adversary_17860">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-22.208494186401367" y="-59.32497024536133" z="0.03378238528966904"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_w_transform_17861">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="62.242042541503906" y="17.44193458557129" z="0.5"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_close_to_adversary_17862">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-18.540637969970703" y="-67.1850357055664" z="0.033814504742622375"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_w_transform_17864">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="70.87271118164062" y="51.10936737060547" z="0.5"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_close_to_standing_17865">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="5.750216484069824" y="30.804887771606445" z="0.003040923969820142"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_close_to_hero_17866">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-15.71325397491455" y="-160.2262420654297" z="0.0014286803780123591"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_w_transform_17867">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-41.45772171020508" y="51.88978958129883" z="0.5"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_w_transform_17868">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="10.01784896850586" y="-90.90904235839844" z="0.5"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_w_transform_17869">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="45.47578430175781" y="-85.60523223876953" z="0.5"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_close_to_hero_17870">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-18.038036346435547" y="-156.02655029296875" z="0.0014286803780123591"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_w_transform_17871">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="29.831375122070312" y="-4.825311660766602" z="0.5"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_close_to_adversary_17872">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-1.8237470388412476" y="-78.5753173828125" z="0.03387870639562607"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_close_to_hero_17873">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-14.354568481445312" y="-148.19139099121094" z="0.0014286803780123591"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
</Actions>
</Init>
<Story name="MyStory">
<Act name="Behavior">
<ManeuverGroup maximumExecutionCount="1" name="ManeuverSequence">
<Actors selectTriggeringEntities="false">
<EntityRef entityRef="adversary"/>
</Actors>
<Maneuver name="LaneChangeSimpleManeuver">
<Event name="AdversaryAccelerates" priority="overwrite">
<Action name="AdversaryAccelerates">
<PrivateAction>
<LongitudinalAction>
<SpeedAction>
<SpeedActionDynamics dynamicsShape="step" value="50" dynamicsDimension="distance"/>
<SpeedActionTarget>
<AbsoluteTargetSpeed value="5.0"/>
</SpeedActionTarget>
</SpeedAction>
</LongitudinalAction>
</PrivateAction>
</Action>
<StartTrigger>
<ConditionGroup>
<Condition name="StartCondition" delay="0" conditionEdge="rising">
<ByEntityCondition>
<TriggeringEntities triggeringEntitiesRule="any">
<EntityRef entityRef="hero"/>
</TriggeringEntities>
<EntityCondition>
<RelativeDistanceCondition entityRef="adversary" relativeDistanceType="cartesianDistance" value="40.0" freespace="false" rule="lessThan"/>
</EntityCondition>
</ByEntityCondition>
</Condition>
</ConditionGroup>
</StartTrigger>
</Event>
<Event name="AdversaryChangesLane" priority="overwrite">
<Action name="AdversaryChangesLane">
<PrivateAction>
<LateralAction>
<LaneChangeAction>
<LaneChangeActionDynamics dynamicsShape="linear" value="25" dynamicsDimension="distance"/>
<LaneChangeTarget>
<RelativeTargetLane entityRef="adversary" value="-1"/>
</LaneChangeTarget>
</LaneChangeAction>
</LateralAction>
</PrivateAction>
</Action>
<StartTrigger>
<ConditionGroup>
<Condition name="AfterAdversaryAccelerates" delay="0" conditionEdge="rising">
<ByValueCondition>
<StoryboardElementStateCondition storyboardElementType="action" storyboardElementRef="AdversaryAccelerates" state="completeState"/>
</ByValueCondition>
</Condition>
</ConditionGroup>
</StartTrigger>
</Event>
</Maneuver>
</ManeuverGroup>
<StartTrigger>
<ConditionGroup>
<Condition name="OverallStartCondition" delay="0" conditionEdge="rising">
<ByEntityCondition>
<TriggeringEntities triggeringEntitiesRule="any">
<EntityRef entityRef="hero"/>
</TriggeringEntities>
<EntityCondition>
<TraveledDistanceCondition value="1.0"/>
</EntityCondition>
</ByEntityCondition>
</Condition>
<Condition name="StartTime" delay="0" conditionEdge="rising">
<ByValueCondition>
<SimulationTimeCondition value="0" rule="equalTo"/>
</ByValueCondition>
</Condition>
</ConditionGroup>
</StartTrigger>
<StopTrigger>
<ConditionGroup>
<Condition name="EndCondition" delay="0" conditionEdge="rising">
<ByEntityCondition>
<TriggeringEntities triggeringEntitiesRule="any">
<EntityRef entityRef="hero"/>
</TriggeringEntities>
<EntityCondition>
<TraveledDistanceCondition value="200.0"/>
</EntityCondition>
</ByEntityCondition>
</Condition>
</ConditionGroup>
</StopTrigger>
</Act>
</Story>
<StopTrigger>
<ConditionGroup>
<Condition name="criteria_RunningStopTest" delay="0" conditionEdge="rising">
<ByValueCondition>
<ParameterCondition parameterRef="" value="" rule="lessThan"/>
</ByValueCondition>
</Condition>
<Condition name="criteria_RunningRedLightTest" delay="0" conditionEdge="rising">
<ByValueCondition>
<ParameterCondition parameterRef="" value="" rule="lessThan"/>
</ByValueCondition>
</Condition>
<Condition name="criteria_WrongLaneTest" delay="0" conditionEdge="rising">
<ByValueCondition>
<ParameterCondition parameterRef="" value="" rule="lessThan"/>
</ByValueCondition>
</Condition>
<Condition name="criteria_OnSidewalkTest" delay="0" conditionEdge="rising">
<ByValueCondition>
<ParameterCondition parameterRef="" value="" rule="lessThan"/>
</ByValueCondition>
</Condition>
<Condition name="criteria_KeepLaneTest" delay="0" conditionEdge="rising">
<ByValueCondition>
<ParameterCondition parameterRef="" value="" rule="lessThan"/>
</ByValueCondition>
</Condition>
<Condition name="criteria_CollisionTest" delay="0" conditionEdge="rising">
<ByValueCondition>
<ParameterCondition parameterRef="" value="" rule="lessThan"/>
</ByValueCondition>
</Condition>
<Condition name="criteria_DrivenDistanceTest" delay="0" conditionEdge="rising">
<ByValueCondition>
<ParameterCondition parameterRef="distance_success" value="100" rule="lessThan"/>
</ByValueCondition>
</Condition>
</ConditionGroup>
</StopTrigger>
</Storyboard>
</OpenSCENARIO>
``` |
i would like you to add pedestrian close to adversary?
```
<?xml version="1.0" ?>
<OpenSCENARIO>
<FileHeader revMajor="1" revMinor="0" date="2020-03-24T12:00:00" description="CARLA:LaneChangeSimple" author=""/>
<ParameterDeclarations/>
<CatalogLocations/>
<RoadNetwork>
<LogicFile filepath="Town04"/>
<SceneGraphFile filepath=""/>
</RoadNetwork>
<Entities>
<ScenarioObject name="hero">
<Vehicle name="vehicle.tesla.model3" vehicleCategory="car">
<ParameterDeclarations/>
<Performance maxSpeed="69.444" maxAcceleration="200" maxDeceleration="10.0"/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2.1" length="4.5" height="1.8"/>
</BoundingBox>
<Axles>
<FrontAxle maxSteering="0.5" wheelDiameter="0.6" trackWidth="1.8" positionX="3.1" positionZ="0.3"/>
<RearAxle maxSteering="0.0" wheelDiameter="0.6" trackWidth="1.8" positionX="0.0" positionZ="0.3"/>
</Axles>
<Properties>
<Property name="type" value="ego_vehicle"/>
</Properties>
</Vehicle>
</ScenarioObject>
<ScenarioObject name="adversary">
<Vehicle name="vehicle.lincoln.mkz_2017" vehicleCategory="car">
<ParameterDeclarations/>
<Performance maxSpeed="69.444" maxAcceleration="200" maxDeceleration="10.0"/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2.1" length="4.5" height="1.8"/>
</BoundingBox>
<Axles>
<FrontAxle maxSteering="0.5" wheelDiameter="0.6" trackWidth="1.8" positionX="3.1" positionZ="0.3"/>
<RearAxle maxSteering="0.0" wheelDiameter="0.6" trackWidth="1.8" positionX="0.0" positionZ="0.3"/>
</Axles>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Vehicle>
</ScenarioObject>
<ScenarioObject name="standing">
<Vehicle name="vehicle.volkswagen.t2" vehicleCategory="car">
<ParameterDeclarations/>
<Performance maxSpeed="69.444" maxAcceleration="200" maxDeceleration="10.0"/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2.1" length="4.5" height="1.8"/>
</BoundingBox>
<Axles>
<FrontAxle maxSteering="0.5" wheelDiameter="0.6" trackWidth="1.8" positionX="3.1" positionZ="0.3"/>
<RearAxle maxSteering="0.0" wheelDiameter="0.6" trackWidth="1.8" positionX="0.0" positionZ="0.3"/>
</Axles>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Vehicle>
</ScenarioObject>
<ScenarioObject name="pedestrian_close_to_standing_4678">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_w_transform_4679">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_w_transform_4680">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_close_to_hero_4681">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_w_transform_4682">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_w_transform_4683">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_close_to_adversary_4684">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_w_transform_4685">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_w_transform_4686">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_w_transform_4687">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_w_transform_4688">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_close_to_adversary_4689">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_close_to_adversary_4690">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_w_transform_4691">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_w_transform_4692">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
</Entities>
<Storyboard>
<Init>
<Actions>
<GlobalAction>
<EnvironmentAction>
<Environment name="Environment1">
<TimeOfDay animation="false" dateTime="2019-06-25T12:00:00"/>
<Weather cloudState="free">
<Sun intensity="0.85" azimuth="0" elevation="1.31"/>
<Fog visualRange="100000.0"/>
<Precipitation precipitationType="dry" intensity="0.0"/>
</Weather>
<RoadCondition frictionScaleFactor="1.0"/>
</Environment>
</EnvironmentAction>
</GlobalAction>
<Private entityRef="hero">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-9.4" y="-152.8" z="0.5" h="1.57079632679"/>
</Position>
</TeleportAction>
</PrivateAction>
<PrivateAction>
<ControllerAction>
<AssignControllerAction>
<Controller name="HeroAgent">
<Properties>
<Property name="module" value="external_control"/>
</Properties>
</Controller>
</AssignControllerAction>
<OverrideControllerValueAction>
<Throttle value="0" active="false"/>
<Brake value="0" active="false"/>
<Clutch value="0" active="false"/>
<ParkingBrake value="0" active="false"/>
<SteeringWheel value="0" active="false"/>
<Gear number="0" active="false"/>
</OverrideControllerValueAction>
</ControllerAction>
</PrivateAction>
</Private>
<Private entityRef="adversary">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-9.4" y="-71.0" z="0.5" h="1.57079632679"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="standing">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-8.2" y="29.2" z="0.5" h="1.57079632679"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_close_to_standing_4678">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-16.700584411621094" y="19.512962341308594" z="0.0030444334261119366"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_w_transform_4679">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-41.83478546142578" y="-19.203554153442383" z="0.5"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_w_transform_4680">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-11.564260482788086" y="-79.15957641601562" z="0.5"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_close_to_hero_4681">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-10.003829002380371" y="-154.97579956054688" z="0.0014286803780123591"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_w_transform_4682">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-98.10456085205078" y="73.3553466796875" z="0.5"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_w_transform_4683">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="62.30591583251953" y="-48.18124008178711" z="0.5"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_close_to_adversary_4684">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-10.483684539794922" y="-69.92652893066406" z="0.03382308781147003"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_w_transform_4685">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="32.0893669128418" y="21.484821319580078" z="0.5"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_w_transform_4686">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-43.37490463256836" y="-23.98670196533203" z="0.5"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_w_transform_4687">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-89.65353393554688" y="32.44422912597656" z="0.5"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_w_transform_4688">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="45.43062973022461" y="-98.42840576171875" z="0.5"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_close_to_adversary_4689">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-9.316203117370605" y="-76.69795989990234" z="0.0337713249027729"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_close_to_adversary_4690">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-22.225971221923828" y="-81.22940826416016" z="0.03382198140025139"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_w_transform_4691">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="68.45237731933594" y="-43.281036376953125" z="0.5"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_w_transform_4692">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-43.82085037231445" y="-48.169803619384766" z="0.5"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
</Actions>
</Init>
<Story name="MyStory">
<Act name="Behavior">
<ManeuverGroup maximumExecutionCount="1" name="ManeuverSequence">
<Actors selectTriggeringEntities="false">
<EntityRef entityRef="adversary"/>
</Actors>
<Maneuver name="LaneChangeSimpleManeuver">
<Event name="AdversaryAccelerates" priority="overwrite">
<Action name="AdversaryAccelerates">
<PrivateAction>
<LongitudinalAction>
<SpeedAction>
<SpeedActionDynamics dynamicsShape="step" value="50" dynamicsDimension="distance"/>
<SpeedActionTarget>
<AbsoluteTargetSpeed value="5.0"/>
</SpeedActionTarget>
</SpeedAction>
</LongitudinalAction>
</PrivateAction>
</Action>
<StartTrigger>
<ConditionGroup>
<Condition name="StartCondition" delay="0" conditionEdge="rising">
<ByEntityCondition>
<TriggeringEntities triggeringEntitiesRule="any">
<EntityRef entityRef="hero"/>
</TriggeringEntities>
<EntityCondition>
<RelativeDistanceCondition entityRef="adversary" relativeDistanceType="cartesianDistance" value="40.0" freespace="false" rule="lessThan"/>
</EntityCondition>
</ByEntityCondition>
</Condition>
</ConditionGroup>
</StartTrigger>
</Event>
<Event name="AdversaryChangesLane" priority="overwrite">
<Action name="AdversaryChangesLane">
<PrivateAction>
<LateralAction>
<LaneChangeAction>
<LaneChangeActionDynamics dynamicsShape="linear" value="25" dynamicsDimension="distance"/>
<LaneChangeTarget>
<RelativeTargetLane entityRef="adversary" value="-1"/>
</LaneChangeTarget>
</LaneChangeAction>
</LateralAction>
</PrivateAction>
</Action>
<StartTrigger>
<ConditionGroup>
<Condition name="AfterAdversaryAccelerates" delay="0" conditionEdge="rising">
<ByValueCondition>
<StoryboardElementStateCondition storyboardElementType="action" storyboardElementRef="AdversaryAccelerates" state="completeState"/>
</ByValueCondition>
</Condition>
</ConditionGroup>
</StartTrigger>
</Event>
</Maneuver>
</ManeuverGroup>
<StartTrigger>
<ConditionGroup>
<Condition name="OverallStartCondition" delay="0" conditionEdge="rising">
<ByEntityCondition>
<TriggeringEntities triggeringEntitiesRule="any">
<EntityRef entityRef="hero"/>
</TriggeringEntities>
<EntityCondition>
<TraveledDistanceCondition value="1.0"/>
</EntityCondition>
</ByEntityCondition>
</Condition>
<Condition name="StartTime" delay="0" conditionEdge="rising">
<ByValueCondition>
<SimulationTimeCondition value="0" rule="equalTo"/>
</ByValueCondition>
</Condition>
</ConditionGroup>
</StartTrigger>
<StopTrigger>
<ConditionGroup>
<Condition name="EndCondition" delay="0" conditionEdge="rising">
<ByEntityCondition>
<TriggeringEntities triggeringEntitiesRule="any">
<EntityRef entityRef="hero"/>
</TriggeringEntities>
<EntityCondition>
<TraveledDistanceCondition value="200.0"/>
</EntityCondition>
</ByEntityCondition>
</Condition>
</ConditionGroup>
</StopTrigger>
</Act>
</Story>
<StopTrigger>
<ConditionGroup>
<Condition name="criteria_RunningStopTest" delay="0" conditionEdge="rising">
<ByValueCondition>
<ParameterCondition parameterRef="" value="" rule="lessThan"/>
</ByValueCondition>
</Condition>
<Condition name="criteria_RunningRedLightTest" delay="0" conditionEdge="rising">
<ByValueCondition>
<ParameterCondition parameterRef="" value="" rule="lessThan"/>
</ByValueCondition>
</Condition>
<Condition name="criteria_WrongLaneTest" delay="0" conditionEdge="rising">
<ByValueCondition>
<ParameterCondition parameterRef="" value="" rule="lessThan"/>
</ByValueCondition>
</Condition>
<Condition name="criteria_OnSidewalkTest" delay="0" conditionEdge="rising">
<ByValueCondition>
<ParameterCondition parameterRef="" value="" rule="lessThan"/>
</ByValueCondition>
</Condition>
<Condition name="criteria_KeepLaneTest" delay="0" conditionEdge="rising">
<ByValueCondition>
<ParameterCondition parameterRef="" value="" rule="lessThan"/>
</ByValueCondition>
</Condition>
<Condition name="criteria_CollisionTest" delay="0" conditionEdge="rising">
<ByValueCondition>
<ParameterCondition parameterRef="" value="" rule="lessThan"/>
</ByValueCondition>
</Condition>
<Condition name="criteria_DrivenDistanceTest" delay="0" conditionEdge="rising">
<ByValueCondition>
<ParameterCondition parameterRef="distance_success" value="100" rule="lessThan"/>
</ByValueCondition>
</Condition>
</ConditionGroup>
</StopTrigger>
</Storyboard>
</OpenSCENARIO>
``` | Here is the result:
```
<?xml version="1.0" ?>
<OpenSCENARIO>
<FileHeader revMajor="1" revMinor="0" date="2020-03-24T12:00:00" description="CARLA:LaneChangeSimple" author=""/>
<ParameterDeclarations/>
<CatalogLocations/>
<RoadNetwork>
<LogicFile filepath="Town04"/>
<SceneGraphFile filepath=""/>
</RoadNetwork>
<Entities>
<ScenarioObject name="hero">
<Vehicle name="vehicle.tesla.model3" vehicleCategory="car">
<ParameterDeclarations/>
<Performance maxSpeed="69.444" maxAcceleration="200" maxDeceleration="10.0"/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2.1" length="4.5" height="1.8"/>
</BoundingBox>
<Axles>
<FrontAxle maxSteering="0.5" wheelDiameter="0.6" trackWidth="1.8" positionX="3.1" positionZ="0.3"/>
<RearAxle maxSteering="0.0" wheelDiameter="0.6" trackWidth="1.8" positionX="0.0" positionZ="0.3"/>
</Axles>
<Properties>
<Property name="type" value="ego_vehicle"/>
</Properties>
</Vehicle>
</ScenarioObject>
<ScenarioObject name="adversary">
<Vehicle name="vehicle.lincoln.mkz_2017" vehicleCategory="car">
<ParameterDeclarations/>
<Performance maxSpeed="69.444" maxAcceleration="200" maxDeceleration="10.0"/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2.1" length="4.5" height="1.8"/>
</BoundingBox>
<Axles>
<FrontAxle maxSteering="0.5" wheelDiameter="0.6" trackWidth="1.8" positionX="3.1" positionZ="0.3"/>
<RearAxle maxSteering="0.0" wheelDiameter="0.6" trackWidth="1.8" positionX="0.0" positionZ="0.3"/>
</Axles>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Vehicle>
</ScenarioObject>
<ScenarioObject name="standing">
<Vehicle name="vehicle.volkswagen.t2" vehicleCategory="car">
<ParameterDeclarations/>
<Performance maxSpeed="69.444" maxAcceleration="200" maxDeceleration="10.0"/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2.1" length="4.5" height="1.8"/>
</BoundingBox>
<Axles>
<FrontAxle maxSteering="0.5" wheelDiameter="0.6" trackWidth="1.8" positionX="3.1" positionZ="0.3"/>
<RearAxle maxSteering="0.0" wheelDiameter="0.6" trackWidth="1.8" positionX="0.0" positionZ="0.3"/>
</Axles>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Vehicle>
</ScenarioObject>
<ScenarioObject name="pedestrian_close_to_standing_4678">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_w_transform_4679">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_w_transform_4680">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_close_to_hero_4681">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_w_transform_4682">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_w_transform_4683">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_close_to_adversary_4684">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_w_transform_4685">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_w_transform_4686">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_w_transform_4687">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_w_transform_4688">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_close_to_adversary_4689">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_close_to_adversary_4690">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_w_transform_4691">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_w_transform_4692">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_close_to_adversary_4693">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
</Entities>
<Storyboard>
<Init>
<Actions>
<GlobalAction>
<EnvironmentAction>
<Environment name="Environment1">
<TimeOfDay animation="false" dateTime="2019-06-25T12:00:00"/>
<Weather cloudState="free">
<Sun intensity="0.85" azimuth="0" elevation="1.31"/>
<Fog visualRange="100000.0"/>
<Precipitation precipitationType="dry" intensity="0.0"/>
</Weather>
<RoadCondition frictionScaleFactor="1.0"/>
</Environment>
</EnvironmentAction>
</GlobalAction>
<Private entityRef="hero">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-9.4" y="-152.8" z="0.5" h="1.57079632679"/>
</Position>
</TeleportAction>
</PrivateAction>
<PrivateAction>
<ControllerAction>
<AssignControllerAction>
<Controller name="HeroAgent">
<Properties>
<Property name="module" value="external_control"/>
</Properties>
</Controller>
</AssignControllerAction>
<OverrideControllerValueAction>
<Throttle value="0" active="false"/>
<Brake value="0" active="false"/>
<Clutch value="0" active="false"/>
<ParkingBrake value="0" active="false"/>
<SteeringWheel value="0" active="false"/>
<Gear number="0" active="false"/>
</OverrideControllerValueAction>
</ControllerAction>
</PrivateAction>
</Private>
<Private entityRef="adversary">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-9.4" y="-71.0" z="0.5" h="1.57079632679"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="standing">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-8.2" y="29.2" z="0.5" h="1.57079632679"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_close_to_standing_4678">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-16.700584411621094" y="19.512962341308594" z="0.0030444334261119366"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_w_transform_4679">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-41.83478546142578" y="-19.203554153442383" z="0.5"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_w_transform_4680">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-11.564260482788086" y="-79.15957641601562" z="0.5"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_close_to_hero_4681">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-10.003829002380371" y="-154.97579956054688" z="0.0014286803780123591"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_w_transform_4682">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-98.10456085205078" y="73.3553466796875" z="0.5"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_w_transform_4683">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="62.30591583251953" y="-48.18124008178711" z="0.5"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_close_to_adversary_4684">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-10.483684539794922" y="-69.92652893066406" z="0.03382308781147003"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_w_transform_4685">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="32.0893669128418" y="21.484821319580078" z="0.5"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_w_transform_4686">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-43.37490463256836" y="-23.98670196533203" z="0.5"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_w_transform_4687">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-89.65353393554688" y="32.44422912597656" z="0.5"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_w_transform_4688">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="45.43062973022461" y="-98.42840576171875" z="0.5"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_close_to_adversary_4689">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-9.316203117370605" y="-76.69795989990234" z="0.0337713249027729"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_close_to_adversary_4690">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-22.225971221923828" y="-81.22940826416016" z="0.03382198140025139"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_w_transform_4691">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="68.45237731933594" y="-43.281036376953125" z="0.5"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_w_transform_4692">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-43.82085037231445" y="-48.169803619384766" z="0.5"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_close_to_adversary_4693">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="8.698160171508789" y="-66.41578674316406" z="0.03383258730173111"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
</Actions>
</Init>
<Story name="MyStory">
<Act name="Behavior">
<ManeuverGroup maximumExecutionCount="1" name="ManeuverSequence">
<Actors selectTriggeringEntities="false">
<EntityRef entityRef="adversary"/>
</Actors>
<Maneuver name="LaneChangeSimpleManeuver">
<Event name="AdversaryAccelerates" priority="overwrite">
<Action name="AdversaryAccelerates">
<PrivateAction>
<LongitudinalAction>
<SpeedAction>
<SpeedActionDynamics dynamicsShape="step" value="50" dynamicsDimension="distance"/>
<SpeedActionTarget>
<AbsoluteTargetSpeed value="5.0"/>
</SpeedActionTarget>
</SpeedAction>
</LongitudinalAction>
</PrivateAction>
</Action>
<StartTrigger>
<ConditionGroup>
<Condition name="StartCondition" delay="0" conditionEdge="rising">
<ByEntityCondition>
<TriggeringEntities triggeringEntitiesRule="any">
<EntityRef entityRef="hero"/>
</TriggeringEntities>
<EntityCondition>
<RelativeDistanceCondition entityRef="adversary" relativeDistanceType="cartesianDistance" value="40.0" freespace="false" rule="lessThan"/>
</EntityCondition>
</ByEntityCondition>
</Condition>
</ConditionGroup>
</StartTrigger>
</Event>
<Event name="AdversaryChangesLane" priority="overwrite">
<Action name="AdversaryChangesLane">
<PrivateAction>
<LateralAction>
<LaneChangeAction>
<LaneChangeActionDynamics dynamicsShape="linear" value="25" dynamicsDimension="distance"/>
<LaneChangeTarget>
<RelativeTargetLane entityRef="adversary" value="-1"/>
</LaneChangeTarget>
</LaneChangeAction>
</LateralAction>
</PrivateAction>
</Action>
<StartTrigger>
<ConditionGroup>
<Condition name="AfterAdversaryAccelerates" delay="0" conditionEdge="rising">
<ByValueCondition>
<StoryboardElementStateCondition storyboardElementType="action" storyboardElementRef="AdversaryAccelerates" state="completeState"/>
</ByValueCondition>
</Condition>
</ConditionGroup>
</StartTrigger>
</Event>
</Maneuver>
</ManeuverGroup>
<StartTrigger>
<ConditionGroup>
<Condition name="OverallStartCondition" delay="0" conditionEdge="rising">
<ByEntityCondition>
<TriggeringEntities triggeringEntitiesRule="any">
<EntityRef entityRef="hero"/>
</TriggeringEntities>
<EntityCondition>
<TraveledDistanceCondition value="1.0"/>
</EntityCondition>
</ByEntityCondition>
</Condition>
<Condition name="StartTime" delay="0" conditionEdge="rising">
<ByValueCondition>
<SimulationTimeCondition value="0" rule="equalTo"/>
</ByValueCondition>
</Condition>
</ConditionGroup>
</StartTrigger>
<StopTrigger>
<ConditionGroup>
<Condition name="EndCondition" delay="0" conditionEdge="rising">
<ByEntityCondition>
<TriggeringEntities triggeringEntitiesRule="any">
<EntityRef entityRef="hero"/>
</TriggeringEntities>
<EntityCondition>
<TraveledDistanceCondition value="200.0"/>
</EntityCondition>
</ByEntityCondition>
</Condition>
</ConditionGroup>
</StopTrigger>
</Act>
</Story>
<StopTrigger>
<ConditionGroup>
<Condition name="criteria_RunningStopTest" delay="0" conditionEdge="rising">
<ByValueCondition>
<ParameterCondition parameterRef="" value="" rule="lessThan"/>
</ByValueCondition>
</Condition>
<Condition name="criteria_RunningRedLightTest" delay="0" conditionEdge="rising">
<ByValueCondition>
<ParameterCondition parameterRef="" value="" rule="lessThan"/>
</ByValueCondition>
</Condition>
<Condition name="criteria_WrongLaneTest" delay="0" conditionEdge="rising">
<ByValueCondition>
<ParameterCondition parameterRef="" value="" rule="lessThan"/>
</ByValueCondition>
</Condition>
<Condition name="criteria_OnSidewalkTest" delay="0" conditionEdge="rising">
<ByValueCondition>
<ParameterCondition parameterRef="" value="" rule="lessThan"/>
</ByValueCondition>
</Condition>
<Condition name="criteria_KeepLaneTest" delay="0" conditionEdge="rising">
<ByValueCondition>
<ParameterCondition parameterRef="" value="" rule="lessThan"/>
</ByValueCondition>
</Condition>
<Condition name="criteria_CollisionTest" delay="0" conditionEdge="rising">
<ByValueCondition>
<ParameterCondition parameterRef="" value="" rule="lessThan"/>
</ByValueCondition>
</Condition>
<Condition name="criteria_DrivenDistanceTest" delay="0" conditionEdge="rising">
<ByValueCondition>
<ParameterCondition parameterRef="distance_success" value="100" rule="lessThan"/>
</ByValueCondition>
</Condition>
</ConditionGroup>
</StopTrigger>
</Storyboard>
</OpenSCENARIO>
``` |
i would like you to demonstrate remove pedestrian actor named pedestrian_w_transform_20826?
```
<?xml version="1.0" ?>
<OpenSCENARIO>
<FileHeader revMajor="1" revMinor="0" date="2020-03-24T12:00:00" description="CARLA:LaneChangeSimple" author=""/>
<ParameterDeclarations/>
<CatalogLocations/>
<RoadNetwork>
<LogicFile filepath="Town04"/>
<SceneGraphFile filepath=""/>
</RoadNetwork>
<Entities>
<ScenarioObject name="hero">
<Vehicle name="vehicle.tesla.model3" vehicleCategory="car">
<ParameterDeclarations/>
<Performance maxSpeed="69.444" maxAcceleration="200" maxDeceleration="10.0"/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2.1" length="4.5" height="1.8"/>
</BoundingBox>
<Axles>
<FrontAxle maxSteering="0.5" wheelDiameter="0.6" trackWidth="1.8" positionX="3.1" positionZ="0.3"/>
<RearAxle maxSteering="0.0" wheelDiameter="0.6" trackWidth="1.8" positionX="0.0" positionZ="0.3"/>
</Axles>
<Properties>
<Property name="type" value="ego_vehicle"/>
</Properties>
</Vehicle>
</ScenarioObject>
<ScenarioObject name="adversary">
<Vehicle name="vehicle.lincoln.mkz_2017" vehicleCategory="car">
<ParameterDeclarations/>
<Performance maxSpeed="69.444" maxAcceleration="200" maxDeceleration="10.0"/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2.1" length="4.5" height="1.8"/>
</BoundingBox>
<Axles>
<FrontAxle maxSteering="0.5" wheelDiameter="0.6" trackWidth="1.8" positionX="3.1" positionZ="0.3"/>
<RearAxle maxSteering="0.0" wheelDiameter="0.6" trackWidth="1.8" positionX="0.0" positionZ="0.3"/>
</Axles>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Vehicle>
</ScenarioObject>
<ScenarioObject name="standing">
<Vehicle name="vehicle.volkswagen.t2" vehicleCategory="car">
<ParameterDeclarations/>
<Performance maxSpeed="69.444" maxAcceleration="200" maxDeceleration="10.0"/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2.1" length="4.5" height="1.8"/>
</BoundingBox>
<Axles>
<FrontAxle maxSteering="0.5" wheelDiameter="0.6" trackWidth="1.8" positionX="3.1" positionZ="0.3"/>
<RearAxle maxSteering="0.0" wheelDiameter="0.6" 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_20817">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_w_transform_20818">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_w_transform_20820">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_w_transform_20821">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_close_to_hero_20822">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_close_to_hero_20823">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_w_transform_20824">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_w_transform_20825">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_w_transform_20826">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_w_transform_20827">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_close_to_adversary_20828">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_close_to_adversary_20829">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_w_transform_20830">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_close_to_adversary_20831">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_w_transform_20832">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_close_to_hero_20833">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_w_transform_20835">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_w_transform_20836">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_close_to_adversary_20837">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_w_transform_20839">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_w_transform_20840">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_close_to_standing_20841">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_close_to_standing_20842">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_close_to_standing_20843">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_w_transform_20844">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
</Entities>
<Storyboard>
<Init>
<Actions>
<GlobalAction>
<EnvironmentAction>
<Environment name="Environment1">
<TimeOfDay animation="false" dateTime="2019-06-25T12:00:00"/>
<Weather cloudState="free">
<Sun intensity="0.85" azimuth="0" elevation="1.31"/>
<Fog visualRange="100000.0"/>
<Precipitation precipitationType="dry" intensity="0.0"/>
</Weather>
<RoadCondition frictionScaleFactor="1.0"/>
</Environment>
</EnvironmentAction>
</GlobalAction>
<Private entityRef="hero">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-9.4" y="-152.8" z="0.5" h="1.57079632679"/>
</Position>
</TeleportAction>
</PrivateAction>
<PrivateAction>
<ControllerAction>
<AssignControllerAction>
<Controller name="HeroAgent">
<Properties>
<Property name="module" value="external_control"/>
</Properties>
</Controller>
</AssignControllerAction>
<OverrideControllerValueAction>
<Throttle value="0" active="false"/>
<Brake value="0" active="false"/>
<Clutch value="0" active="false"/>
<ParkingBrake value="0" active="false"/>
<SteeringWheel value="0" active="false"/>
<Gear number="0" active="false"/>
</OverrideControllerValueAction>
</ControllerAction>
</PrivateAction>
</Private>
<Private entityRef="adversary">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-9.4" y="-71.0" z="0.5" h="1.57079632679"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="standing">
<PrivateAction>
<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_20817">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-2.559659481048584" y="-74.8328628540039" z="0.0338175967335701"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_w_transform_20818">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="93.56537628173828" y="78.60379791259766" z="0.5"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_w_transform_20820">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="30.58610725402832" y="-95.6400146484375" z="0.5"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_w_transform_20821">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="78.32563018798828" y="77.5461654663086" z="0.5"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_close_to_hero_20822">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-3.8531808853149414" y="-147.5889434814453" z="0.0014286803780123591"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_close_to_hero_20823">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-1.6372088193893433" y="-160.13082885742188" z="0.0014286803780123591"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_w_transform_20824">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="86.39566802978516" y="35.149715423583984" z="0.5"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_w_transform_20825">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="14.784491539001465" y="17.321809768676758" z="0.5"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_w_transform_20826">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-99.99102020263672" y="-93.09770965576172" z="0.5"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_w_transform_20827">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-53.954036712646484" y="-39.28021240234375" z="0.5"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_close_to_adversary_20828">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-19.346975326538086" y="-78.24063110351562" z="0.033810194581747055"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_close_to_adversary_20829">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-9.6823148727417" y="-77.32532501220703" z="0.03379695862531662"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_w_transform_20830">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="40.40706253051758" y="50.378536224365234" z="0.5"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_close_to_adversary_20831">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-6.729588031768799" y="-65.64815521240234" z="0.03379165753722191"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_w_transform_20832">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-39.89494323730469" y="25.494295120239258" z="0.5"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_close_to_hero_20833">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-17.578819274902344" y="-140.3500518798828" z="0.0014286803780123591"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_w_transform_20835">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="2.44205379486084" y="-69.14655303955078" z="0.5"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_w_transform_20836">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-30.678627014160156" y="18.564727783203125" z="0.5"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_close_to_adversary_20837">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-2.655001401901245" y="-73.87908172607422" z="0.03379131108522415"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_w_transform_20839">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-25.385366439819336" y="-8.38381576538086" z="0.5"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_w_transform_20840">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-24.19082260131836" y="68.774658203125" z="0.5"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_close_to_standing_20841">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-13.892577171325684" y="36.200782775878906" z="0.0031035232823342085"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_close_to_standing_20842">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-2.258054733276367" y="35.00210189819336" z="0.003118438646197319"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_close_to_standing_20843">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="1.374397873878479" y="29.485891342163086" z="0.003112373175099492"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_w_transform_20844">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="2.3926761150360107" y="40.28425979614258" z="0.5"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
</Actions>
</Init>
<Story name="MyStory">
<Act name="Behavior">
<ManeuverGroup maximumExecutionCount="1" name="ManeuverSequence">
<Actors selectTriggeringEntities="false">
<EntityRef entityRef="adversary"/>
</Actors>
<Maneuver name="LaneChangeSimpleManeuver">
<Event name="AdversaryAccelerates" priority="overwrite">
<Action name="AdversaryAccelerates">
<PrivateAction>
<LongitudinalAction>
<SpeedAction>
<SpeedActionDynamics dynamicsShape="step" value="50" dynamicsDimension="distance"/>
<SpeedActionTarget>
<AbsoluteTargetSpeed value="5.0"/>
</SpeedActionTarget>
</SpeedAction>
</LongitudinalAction>
</PrivateAction>
</Action>
<StartTrigger>
<ConditionGroup>
<Condition name="StartCondition" delay="0" conditionEdge="rising">
<ByEntityCondition>
<TriggeringEntities triggeringEntitiesRule="any">
<EntityRef entityRef="hero"/>
</TriggeringEntities>
<EntityCondition>
<RelativeDistanceCondition entityRef="adversary" relativeDistanceType="cartesianDistance" value="40.0" freespace="false" rule="lessThan"/>
</EntityCondition>
</ByEntityCondition>
</Condition>
</ConditionGroup>
</StartTrigger>
</Event>
<Event name="AdversaryChangesLane" priority="overwrite">
<Action name="AdversaryChangesLane">
<PrivateAction>
<LateralAction>
<LaneChangeAction>
<LaneChangeActionDynamics dynamicsShape="linear" value="25" dynamicsDimension="distance"/>
<LaneChangeTarget>
<RelativeTargetLane entityRef="adversary" value="-1"/>
</LaneChangeTarget>
</LaneChangeAction>
</LateralAction>
</PrivateAction>
</Action>
<StartTrigger>
<ConditionGroup>
<Condition name="AfterAdversaryAccelerates" delay="0" conditionEdge="rising">
<ByValueCondition>
<StoryboardElementStateCondition storyboardElementType="action" storyboardElementRef="AdversaryAccelerates" state="completeState"/>
</ByValueCondition>
</Condition>
</ConditionGroup>
</StartTrigger>
</Event>
</Maneuver>
</ManeuverGroup>
<StartTrigger>
<ConditionGroup>
<Condition name="OverallStartCondition" delay="0" conditionEdge="rising">
<ByEntityCondition>
<TriggeringEntities triggeringEntitiesRule="any">
<EntityRef entityRef="hero"/>
</TriggeringEntities>
<EntityCondition>
<TraveledDistanceCondition value="1.0"/>
</EntityCondition>
</ByEntityCondition>
</Condition>
<Condition name="StartTime" delay="0" conditionEdge="rising">
<ByValueCondition>
<SimulationTimeCondition value="0" rule="equalTo"/>
</ByValueCondition>
</Condition>
</ConditionGroup>
</StartTrigger>
<StopTrigger>
<ConditionGroup>
<Condition name="EndCondition" delay="0" conditionEdge="rising">
<ByEntityCondition>
<TriggeringEntities triggeringEntitiesRule="any">
<EntityRef entityRef="hero"/>
</TriggeringEntities>
<EntityCondition>
<TraveledDistanceCondition value="200.0"/>
</EntityCondition>
</ByEntityCondition>
</Condition>
</ConditionGroup>
</StopTrigger>
</Act>
</Story>
<StopTrigger>
<ConditionGroup>
<Condition name="criteria_RunningStopTest" delay="0" conditionEdge="rising">
<ByValueCondition>
<ParameterCondition parameterRef="" value="" rule="lessThan"/>
</ByValueCondition>
</Condition>
<Condition name="criteria_RunningRedLightTest" delay="0" conditionEdge="rising">
<ByValueCondition>
<ParameterCondition parameterRef="" value="" rule="lessThan"/>
</ByValueCondition>
</Condition>
<Condition name="criteria_WrongLaneTest" delay="0" conditionEdge="rising">
<ByValueCondition>
<ParameterCondition parameterRef="" value="" rule="lessThan"/>
</ByValueCondition>
</Condition>
<Condition name="criteria_OnSidewalkTest" delay="0" conditionEdge="rising">
<ByValueCondition>
<ParameterCondition parameterRef="" value="" rule="lessThan"/>
</ByValueCondition>
</Condition>
<Condition name="criteria_KeepLaneTest" delay="0" conditionEdge="rising">
<ByValueCondition>
<ParameterCondition parameterRef="" value="" rule="lessThan"/>
</ByValueCondition>
</Condition>
<Condition name="criteria_CollisionTest" delay="0" conditionEdge="rising">
<ByValueCondition>
<ParameterCondition parameterRef="" value="" rule="lessThan"/>
</ByValueCondition>
</Condition>
<Condition name="criteria_DrivenDistanceTest" delay="0" conditionEdge="rising">
<ByValueCondition>
<ParameterCondition parameterRef="distance_success" value="100" rule="lessThan"/>
</ByValueCondition>
</Condition>
</ConditionGroup>
</StopTrigger>
</Storyboard>
</OpenSCENARIO>
``` | Here is the result:
```
<?xml version="1.0" ?>
<OpenSCENARIO>
<FileHeader revMajor="1" revMinor="0" date="2020-03-24T12:00:00" description="CARLA:LaneChangeSimple" author=""/>
<ParameterDeclarations/>
<CatalogLocations/>
<RoadNetwork>
<LogicFile filepath="Town04"/>
<SceneGraphFile filepath=""/>
</RoadNetwork>
<Entities>
<ScenarioObject name="hero">
<Vehicle name="vehicle.tesla.model3" vehicleCategory="car">
<ParameterDeclarations/>
<Performance maxSpeed="69.444" maxAcceleration="200" maxDeceleration="10.0"/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2.1" length="4.5" height="1.8"/>
</BoundingBox>
<Axles>
<FrontAxle maxSteering="0.5" wheelDiameter="0.6" trackWidth="1.8" positionX="3.1" positionZ="0.3"/>
<RearAxle maxSteering="0.0" wheelDiameter="0.6" trackWidth="1.8" positionX="0.0" positionZ="0.3"/>
</Axles>
<Properties>
<Property name="type" value="ego_vehicle"/>
</Properties>
</Vehicle>
</ScenarioObject>
<ScenarioObject name="adversary">
<Vehicle name="vehicle.lincoln.mkz_2017" vehicleCategory="car">
<ParameterDeclarations/>
<Performance maxSpeed="69.444" maxAcceleration="200" maxDeceleration="10.0"/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2.1" length="4.5" height="1.8"/>
</BoundingBox>
<Axles>
<FrontAxle maxSteering="0.5" wheelDiameter="0.6" trackWidth="1.8" positionX="3.1" positionZ="0.3"/>
<RearAxle maxSteering="0.0" wheelDiameter="0.6" trackWidth="1.8" positionX="0.0" positionZ="0.3"/>
</Axles>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Vehicle>
</ScenarioObject>
<ScenarioObject name="standing">
<Vehicle name="vehicle.volkswagen.t2" vehicleCategory="car">
<ParameterDeclarations/>
<Performance maxSpeed="69.444" maxAcceleration="200" maxDeceleration="10.0"/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2.1" length="4.5" height="1.8"/>
</BoundingBox>
<Axles>
<FrontAxle maxSteering="0.5" wheelDiameter="0.6" trackWidth="1.8" positionX="3.1" positionZ="0.3"/>
<RearAxle maxSteering="0.0" wheelDiameter="0.6" 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_20817">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_w_transform_20818">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_w_transform_20820">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_w_transform_20821">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_close_to_hero_20822">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_close_to_hero_20823">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_w_transform_20824">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_w_transform_20825">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_w_transform_20827">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_close_to_adversary_20828">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_close_to_adversary_20829">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_w_transform_20830">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_close_to_adversary_20831">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_w_transform_20832">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_close_to_hero_20833">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_w_transform_20835">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_w_transform_20836">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_close_to_adversary_20837">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_w_transform_20839">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_w_transform_20840">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_close_to_standing_20841">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_close_to_standing_20842">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_close_to_standing_20843">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_w_transform_20844">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
</Entities>
<Storyboard>
<Init>
<Actions>
<GlobalAction>
<EnvironmentAction>
<Environment name="Environment1">
<TimeOfDay animation="false" dateTime="2019-06-25T12:00:00"/>
<Weather cloudState="free">
<Sun intensity="0.85" azimuth="0" elevation="1.31"/>
<Fog visualRange="100000.0"/>
<Precipitation precipitationType="dry" intensity="0.0"/>
</Weather>
<RoadCondition frictionScaleFactor="1.0"/>
</Environment>
</EnvironmentAction>
</GlobalAction>
<Private entityRef="hero">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-9.4" y="-152.8" z="0.5" h="1.57079632679"/>
</Position>
</TeleportAction>
</PrivateAction>
<PrivateAction>
<ControllerAction>
<AssignControllerAction>
<Controller name="HeroAgent">
<Properties>
<Property name="module" value="external_control"/>
</Properties>
</Controller>
</AssignControllerAction>
<OverrideControllerValueAction>
<Throttle value="0" active="false"/>
<Brake value="0" active="false"/>
<Clutch value="0" active="false"/>
<ParkingBrake value="0" active="false"/>
<SteeringWheel value="0" active="false"/>
<Gear number="0" active="false"/>
</OverrideControllerValueAction>
</ControllerAction>
</PrivateAction>
</Private>
<Private entityRef="adversary">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-9.4" y="-71.0" z="0.5" h="1.57079632679"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="standing">
<PrivateAction>
<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_20817">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-2.559659481048584" y="-74.8328628540039" z="0.0338175967335701"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_w_transform_20818">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="93.56537628173828" y="78.60379791259766" z="0.5"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_w_transform_20820">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="30.58610725402832" y="-95.6400146484375" z="0.5"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_w_transform_20821">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="78.32563018798828" y="77.5461654663086" z="0.5"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_close_to_hero_20822">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-3.8531808853149414" y="-147.5889434814453" z="0.0014286803780123591"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_close_to_hero_20823">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-1.6372088193893433" y="-160.13082885742188" z="0.0014286803780123591"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_w_transform_20824">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="86.39566802978516" y="35.149715423583984" z="0.5"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_w_transform_20825">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="14.784491539001465" y="17.321809768676758" z="0.5"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_w_transform_20827">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-53.954036712646484" y="-39.28021240234375" z="0.5"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_close_to_adversary_20828">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-19.346975326538086" y="-78.24063110351562" z="0.033810194581747055"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_close_to_adversary_20829">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-9.6823148727417" y="-77.32532501220703" z="0.03379695862531662"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_w_transform_20830">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="40.40706253051758" y="50.378536224365234" z="0.5"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_close_to_adversary_20831">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-6.729588031768799" y="-65.64815521240234" z="0.03379165753722191"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_w_transform_20832">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-39.89494323730469" y="25.494295120239258" z="0.5"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_close_to_hero_20833">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-17.578819274902344" y="-140.3500518798828" z="0.0014286803780123591"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_w_transform_20835">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="2.44205379486084" y="-69.14655303955078" z="0.5"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_w_transform_20836">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-30.678627014160156" y="18.564727783203125" z="0.5"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_close_to_adversary_20837">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-2.655001401901245" y="-73.87908172607422" z="0.03379131108522415"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_w_transform_20839">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-25.385366439819336" y="-8.38381576538086" z="0.5"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_w_transform_20840">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-24.19082260131836" y="68.774658203125" z="0.5"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_close_to_standing_20841">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-13.892577171325684" y="36.200782775878906" z="0.0031035232823342085"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_close_to_standing_20842">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-2.258054733276367" y="35.00210189819336" z="0.003118438646197319"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_close_to_standing_20843">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="1.374397873878479" y="29.485891342163086" z="0.003112373175099492"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_w_transform_20844">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="2.3926761150360107" y="40.28425979614258" z="0.5"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
</Actions>
</Init>
<Story name="MyStory">
<Act name="Behavior">
<ManeuverGroup maximumExecutionCount="1" name="ManeuverSequence">
<Actors selectTriggeringEntities="false">
<EntityRef entityRef="adversary"/>
</Actors>
<Maneuver name="LaneChangeSimpleManeuver">
<Event name="AdversaryAccelerates" priority="overwrite">
<Action name="AdversaryAccelerates">
<PrivateAction>
<LongitudinalAction>
<SpeedAction>
<SpeedActionDynamics dynamicsShape="step" value="50" dynamicsDimension="distance"/>
<SpeedActionTarget>
<AbsoluteTargetSpeed value="5.0"/>
</SpeedActionTarget>
</SpeedAction>
</LongitudinalAction>
</PrivateAction>
</Action>
<StartTrigger>
<ConditionGroup>
<Condition name="StartCondition" delay="0" conditionEdge="rising">
<ByEntityCondition>
<TriggeringEntities triggeringEntitiesRule="any">
<EntityRef entityRef="hero"/>
</TriggeringEntities>
<EntityCondition>
<RelativeDistanceCondition entityRef="adversary" relativeDistanceType="cartesianDistance" value="40.0" freespace="false" rule="lessThan"/>
</EntityCondition>
</ByEntityCondition>
</Condition>
</ConditionGroup>
</StartTrigger>
</Event>
<Event name="AdversaryChangesLane" priority="overwrite">
<Action name="AdversaryChangesLane">
<PrivateAction>
<LateralAction>
<LaneChangeAction>
<LaneChangeActionDynamics dynamicsShape="linear" value="25" dynamicsDimension="distance"/>
<LaneChangeTarget>
<RelativeTargetLane entityRef="adversary" value="-1"/>
</LaneChangeTarget>
</LaneChangeAction>
</LateralAction>
</PrivateAction>
</Action>
<StartTrigger>
<ConditionGroup>
<Condition name="AfterAdversaryAccelerates" delay="0" conditionEdge="rising">
<ByValueCondition>
<StoryboardElementStateCondition storyboardElementType="action" storyboardElementRef="AdversaryAccelerates" state="completeState"/>
</ByValueCondition>
</Condition>
</ConditionGroup>
</StartTrigger>
</Event>
</Maneuver>
</ManeuverGroup>
<StartTrigger>
<ConditionGroup>
<Condition name="OverallStartCondition" delay="0" conditionEdge="rising">
<ByEntityCondition>
<TriggeringEntities triggeringEntitiesRule="any">
<EntityRef entityRef="hero"/>
</TriggeringEntities>
<EntityCondition>
<TraveledDistanceCondition value="1.0"/>
</EntityCondition>
</ByEntityCondition>
</Condition>
<Condition name="StartTime" delay="0" conditionEdge="rising">
<ByValueCondition>
<SimulationTimeCondition value="0" rule="equalTo"/>
</ByValueCondition>
</Condition>
</ConditionGroup>
</StartTrigger>
<StopTrigger>
<ConditionGroup>
<Condition name="EndCondition" delay="0" conditionEdge="rising">
<ByEntityCondition>
<TriggeringEntities triggeringEntitiesRule="any">
<EntityRef entityRef="hero"/>
</TriggeringEntities>
<EntityCondition>
<TraveledDistanceCondition value="200.0"/>
</EntityCondition>
</ByEntityCondition>
</Condition>
</ConditionGroup>
</StopTrigger>
</Act>
</Story>
<StopTrigger>
<ConditionGroup>
<Condition name="criteria_RunningStopTest" delay="0" conditionEdge="rising">
<ByValueCondition>
<ParameterCondition parameterRef="" value="" rule="lessThan"/>
</ByValueCondition>
</Condition>
<Condition name="criteria_RunningRedLightTest" delay="0" conditionEdge="rising">
<ByValueCondition>
<ParameterCondition parameterRef="" value="" rule="lessThan"/>
</ByValueCondition>
</Condition>
<Condition name="criteria_WrongLaneTest" delay="0" conditionEdge="rising">
<ByValueCondition>
<ParameterCondition parameterRef="" value="" rule="lessThan"/>
</ByValueCondition>
</Condition>
<Condition name="criteria_OnSidewalkTest" delay="0" conditionEdge="rising">
<ByValueCondition>
<ParameterCondition parameterRef="" value="" rule="lessThan"/>
</ByValueCondition>
</Condition>
<Condition name="criteria_KeepLaneTest" delay="0" conditionEdge="rising">
<ByValueCondition>
<ParameterCondition parameterRef="" value="" rule="lessThan"/>
</ByValueCondition>
</Condition>
<Condition name="criteria_CollisionTest" delay="0" conditionEdge="rising">
<ByValueCondition>
<ParameterCondition parameterRef="" value="" rule="lessThan"/>
</ByValueCondition>
</Condition>
<Condition name="criteria_DrivenDistanceTest" delay="0" conditionEdge="rising">
<ByValueCondition>
<ParameterCondition parameterRef="distance_success" value="100" rule="lessThan"/>
</ByValueCondition>
</Condition>
</ConditionGroup>
</StopTrigger>
</Storyboard>
</OpenSCENARIO>
``` |
i want you to add pedestrian close to adversary?
```
<?xml version="1.0" ?>
<OpenSCENARIO>
<FileHeader revMajor="1" revMinor="0" date="2020-03-24T12:00:00" description="CARLA:LaneChangeSimple" author=""/>
<ParameterDeclarations/>
<CatalogLocations/>
<RoadNetwork>
<LogicFile filepath="Town04"/>
<SceneGraphFile filepath=""/>
</RoadNetwork>
<Entities>
<ScenarioObject name="hero">
<Vehicle name="vehicle.tesla.model3" vehicleCategory="car">
<ParameterDeclarations/>
<Performance maxSpeed="69.444" maxAcceleration="200" maxDeceleration="10.0"/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2.1" length="4.5" height="1.8"/>
</BoundingBox>
<Axles>
<FrontAxle maxSteering="0.5" wheelDiameter="0.6" trackWidth="1.8" positionX="3.1" positionZ="0.3"/>
<RearAxle maxSteering="0.0" wheelDiameter="0.6" trackWidth="1.8" positionX="0.0" positionZ="0.3"/>
</Axles>
<Properties>
<Property name="type" value="ego_vehicle"/>
</Properties>
</Vehicle>
</ScenarioObject>
<ScenarioObject name="adversary">
<Vehicle name="vehicle.lincoln.mkz_2017" vehicleCategory="car">
<ParameterDeclarations/>
<Performance maxSpeed="69.444" maxAcceleration="200" maxDeceleration="10.0"/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2.1" length="4.5" height="1.8"/>
</BoundingBox>
<Axles>
<FrontAxle maxSteering="0.5" wheelDiameter="0.6" trackWidth="1.8" positionX="3.1" positionZ="0.3"/>
<RearAxle maxSteering="0.0" wheelDiameter="0.6" trackWidth="1.8" positionX="0.0" positionZ="0.3"/>
</Axles>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Vehicle>
</ScenarioObject>
<ScenarioObject name="standing">
<Vehicle name="vehicle.volkswagen.t2" vehicleCategory="car">
<ParameterDeclarations/>
<Performance maxSpeed="69.444" maxAcceleration="200" maxDeceleration="10.0"/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2.1" length="4.5" height="1.8"/>
</BoundingBox>
<Axles>
<FrontAxle maxSteering="0.5" wheelDiameter="0.6" trackWidth="1.8" positionX="3.1" positionZ="0.3"/>
<RearAxle maxSteering="0.0" wheelDiameter="0.6" trackWidth="1.8" positionX="0.0" positionZ="0.3"/>
</Axles>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Vehicle>
</ScenarioObject>
<ScenarioObject name="pedestrian_close_to_adversary_1096">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
</Entities>
<Storyboard>
<Init>
<Actions>
<GlobalAction>
<EnvironmentAction>
<Environment name="Environment1">
<TimeOfDay animation="false" dateTime="2019-06-25T12:00:00"/>
<Weather cloudState="free">
<Sun intensity="0.85" azimuth="0" elevation="1.31"/>
<Fog visualRange="100000.0"/>
<Precipitation precipitationType="dry" intensity="0.0"/>
</Weather>
<RoadCondition frictionScaleFactor="1.0"/>
</Environment>
</EnvironmentAction>
</GlobalAction>
<Private entityRef="hero">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-9.4" y="-152.8" z="0.5" h="1.57079632679"/>
</Position>
</TeleportAction>
</PrivateAction>
<PrivateAction>
<ControllerAction>
<AssignControllerAction>
<Controller name="HeroAgent">
<Properties>
<Property name="module" value="external_control"/>
</Properties>
</Controller>
</AssignControllerAction>
<OverrideControllerValueAction>
<Throttle value="0" active="false"/>
<Brake value="0" active="false"/>
<Clutch value="0" active="false"/>
<ParkingBrake value="0" active="false"/>
<SteeringWheel value="0" active="false"/>
<Gear number="0" active="false"/>
</OverrideControllerValueAction>
</ControllerAction>
</PrivateAction>
</Private>
<Private entityRef="adversary">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-9.4" y="-71.0" z="0.5" h="1.57079632679"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="standing">
<PrivateAction>
<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_1096">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-10.137431144714355" y="-77.64246368408203" z="0.03377567231655121"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
</Actions>
</Init>
<Story name="MyStory">
<Act name="Behavior">
<ManeuverGroup maximumExecutionCount="1" name="ManeuverSequence">
<Actors selectTriggeringEntities="false">
<EntityRef entityRef="adversary"/>
</Actors>
<Maneuver name="LaneChangeSimpleManeuver">
<Event name="AdversaryAccelerates" priority="overwrite">
<Action name="AdversaryAccelerates">
<PrivateAction>
<LongitudinalAction>
<SpeedAction>
<SpeedActionDynamics dynamicsShape="step" value="50" dynamicsDimension="distance"/>
<SpeedActionTarget>
<AbsoluteTargetSpeed value="5.0"/>
</SpeedActionTarget>
</SpeedAction>
</LongitudinalAction>
</PrivateAction>
</Action>
<StartTrigger>
<ConditionGroup>
<Condition name="StartCondition" delay="0" conditionEdge="rising">
<ByEntityCondition>
<TriggeringEntities triggeringEntitiesRule="any">
<EntityRef entityRef="hero"/>
</TriggeringEntities>
<EntityCondition>
<RelativeDistanceCondition entityRef="adversary" relativeDistanceType="cartesianDistance" value="40.0" freespace="false" rule="lessThan"/>
</EntityCondition>
</ByEntityCondition>
</Condition>
</ConditionGroup>
</StartTrigger>
</Event>
<Event name="AdversaryChangesLane" priority="overwrite">
<Action name="AdversaryChangesLane">
<PrivateAction>
<LateralAction>
<LaneChangeAction>
<LaneChangeActionDynamics dynamicsShape="linear" value="25" dynamicsDimension="distance"/>
<LaneChangeTarget>
<RelativeTargetLane entityRef="adversary" value="-1"/>
</LaneChangeTarget>
</LaneChangeAction>
</LateralAction>
</PrivateAction>
</Action>
<StartTrigger>
<ConditionGroup>
<Condition name="AfterAdversaryAccelerates" delay="0" conditionEdge="rising">
<ByValueCondition>
<StoryboardElementStateCondition storyboardElementType="action" storyboardElementRef="AdversaryAccelerates" state="completeState"/>
</ByValueCondition>
</Condition>
</ConditionGroup>
</StartTrigger>
</Event>
</Maneuver>
</ManeuverGroup>
<StartTrigger>
<ConditionGroup>
<Condition name="OverallStartCondition" delay="0" conditionEdge="rising">
<ByEntityCondition>
<TriggeringEntities triggeringEntitiesRule="any">
<EntityRef entityRef="hero"/>
</TriggeringEntities>
<EntityCondition>
<TraveledDistanceCondition value="1.0"/>
</EntityCondition>
</ByEntityCondition>
</Condition>
<Condition name="StartTime" delay="0" conditionEdge="rising">
<ByValueCondition>
<SimulationTimeCondition value="0" rule="equalTo"/>
</ByValueCondition>
</Condition>
</ConditionGroup>
</StartTrigger>
<StopTrigger>
<ConditionGroup>
<Condition name="EndCondition" delay="0" conditionEdge="rising">
<ByEntityCondition>
<TriggeringEntities triggeringEntitiesRule="any">
<EntityRef entityRef="hero"/>
</TriggeringEntities>
<EntityCondition>
<TraveledDistanceCondition value="200.0"/>
</EntityCondition>
</ByEntityCondition>
</Condition>
</ConditionGroup>
</StopTrigger>
</Act>
</Story>
<StopTrigger>
<ConditionGroup>
<Condition name="criteria_RunningStopTest" delay="0" conditionEdge="rising">
<ByValueCondition>
<ParameterCondition parameterRef="" value="" rule="lessThan"/>
</ByValueCondition>
</Condition>
<Condition name="criteria_RunningRedLightTest" delay="0" conditionEdge="rising">
<ByValueCondition>
<ParameterCondition parameterRef="" value="" rule="lessThan"/>
</ByValueCondition>
</Condition>
<Condition name="criteria_WrongLaneTest" delay="0" conditionEdge="rising">
<ByValueCondition>
<ParameterCondition parameterRef="" value="" rule="lessThan"/>
</ByValueCondition>
</Condition>
<Condition name="criteria_OnSidewalkTest" delay="0" conditionEdge="rising">
<ByValueCondition>
<ParameterCondition parameterRef="" value="" rule="lessThan"/>
</ByValueCondition>
</Condition>
<Condition name="criteria_KeepLaneTest" delay="0" conditionEdge="rising">
<ByValueCondition>
<ParameterCondition parameterRef="" value="" rule="lessThan"/>
</ByValueCondition>
</Condition>
<Condition name="criteria_CollisionTest" delay="0" conditionEdge="rising">
<ByValueCondition>
<ParameterCondition parameterRef="" value="" rule="lessThan"/>
</ByValueCondition>
</Condition>
<Condition name="criteria_DrivenDistanceTest" delay="0" conditionEdge="rising">
<ByValueCondition>
<ParameterCondition parameterRef="distance_success" value="100" rule="lessThan"/>
</ByValueCondition>
</Condition>
</ConditionGroup>
</StopTrigger>
</Storyboard>
</OpenSCENARIO>
``` | Here is the result:
```
<?xml version="1.0" ?>
<OpenSCENARIO>
<FileHeader revMajor="1" revMinor="0" date="2020-03-24T12:00:00" description="CARLA:LaneChangeSimple" author=""/>
<ParameterDeclarations/>
<CatalogLocations/>
<RoadNetwork>
<LogicFile filepath="Town04"/>
<SceneGraphFile filepath=""/>
</RoadNetwork>
<Entities>
<ScenarioObject name="hero">
<Vehicle name="vehicle.tesla.model3" vehicleCategory="car">
<ParameterDeclarations/>
<Performance maxSpeed="69.444" maxAcceleration="200" maxDeceleration="10.0"/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2.1" length="4.5" height="1.8"/>
</BoundingBox>
<Axles>
<FrontAxle maxSteering="0.5" wheelDiameter="0.6" trackWidth="1.8" positionX="3.1" positionZ="0.3"/>
<RearAxle maxSteering="0.0" wheelDiameter="0.6" trackWidth="1.8" positionX="0.0" positionZ="0.3"/>
</Axles>
<Properties>
<Property name="type" value="ego_vehicle"/>
</Properties>
</Vehicle>
</ScenarioObject>
<ScenarioObject name="adversary">
<Vehicle name="vehicle.lincoln.mkz_2017" vehicleCategory="car">
<ParameterDeclarations/>
<Performance maxSpeed="69.444" maxAcceleration="200" maxDeceleration="10.0"/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2.1" length="4.5" height="1.8"/>
</BoundingBox>
<Axles>
<FrontAxle maxSteering="0.5" wheelDiameter="0.6" trackWidth="1.8" positionX="3.1" positionZ="0.3"/>
<RearAxle maxSteering="0.0" wheelDiameter="0.6" trackWidth="1.8" positionX="0.0" positionZ="0.3"/>
</Axles>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Vehicle>
</ScenarioObject>
<ScenarioObject name="standing">
<Vehicle name="vehicle.volkswagen.t2" vehicleCategory="car">
<ParameterDeclarations/>
<Performance maxSpeed="69.444" maxAcceleration="200" maxDeceleration="10.0"/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2.1" length="4.5" height="1.8"/>
</BoundingBox>
<Axles>
<FrontAxle maxSteering="0.5" wheelDiameter="0.6" trackWidth="1.8" positionX="3.1" positionZ="0.3"/>
<RearAxle maxSteering="0.0" wheelDiameter="0.6" 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_1096">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_close_to_adversary_1097">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
</Entities>
<Storyboard>
<Init>
<Actions>
<GlobalAction>
<EnvironmentAction>
<Environment name="Environment1">
<TimeOfDay animation="false" dateTime="2019-06-25T12:00:00"/>
<Weather cloudState="free">
<Sun intensity="0.85" azimuth="0" elevation="1.31"/>
<Fog visualRange="100000.0"/>
<Precipitation precipitationType="dry" intensity="0.0"/>
</Weather>
<RoadCondition frictionScaleFactor="1.0"/>
</Environment>
</EnvironmentAction>
</GlobalAction>
<Private entityRef="hero">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-9.4" y="-152.8" z="0.5" h="1.57079632679"/>
</Position>
</TeleportAction>
</PrivateAction>
<PrivateAction>
<ControllerAction>
<AssignControllerAction>
<Controller name="HeroAgent">
<Properties>
<Property name="module" value="external_control"/>
</Properties>
</Controller>
</AssignControllerAction>
<OverrideControllerValueAction>
<Throttle value="0" active="false"/>
<Brake value="0" active="false"/>
<Clutch value="0" active="false"/>
<ParkingBrake value="0" active="false"/>
<SteeringWheel value="0" active="false"/>
<Gear number="0" active="false"/>
</OverrideControllerValueAction>
</ControllerAction>
</PrivateAction>
</Private>
<Private entityRef="adversary">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-9.4" y="-71.0" z="0.5" h="1.57079632679"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="standing">
<PrivateAction>
<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_1096">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-10.137431144714355" y="-77.64246368408203" z="0.03377567231655121"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_close_to_adversary_1097">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-6.612925052642822" y="-72.0207290649414" z="0.03376659378409386"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
</Actions>
</Init>
<Story name="MyStory">
<Act name="Behavior">
<ManeuverGroup maximumExecutionCount="1" name="ManeuverSequence">
<Actors selectTriggeringEntities="false">
<EntityRef entityRef="adversary"/>
</Actors>
<Maneuver name="LaneChangeSimpleManeuver">
<Event name="AdversaryAccelerates" priority="overwrite">
<Action name="AdversaryAccelerates">
<PrivateAction>
<LongitudinalAction>
<SpeedAction>
<SpeedActionDynamics dynamicsShape="step" value="50" dynamicsDimension="distance"/>
<SpeedActionTarget>
<AbsoluteTargetSpeed value="5.0"/>
</SpeedActionTarget>
</SpeedAction>
</LongitudinalAction>
</PrivateAction>
</Action>
<StartTrigger>
<ConditionGroup>
<Condition name="StartCondition" delay="0" conditionEdge="rising">
<ByEntityCondition>
<TriggeringEntities triggeringEntitiesRule="any">
<EntityRef entityRef="hero"/>
</TriggeringEntities>
<EntityCondition>
<RelativeDistanceCondition entityRef="adversary" relativeDistanceType="cartesianDistance" value="40.0" freespace="false" rule="lessThan"/>
</EntityCondition>
</ByEntityCondition>
</Condition>
</ConditionGroup>
</StartTrigger>
</Event>
<Event name="AdversaryChangesLane" priority="overwrite">
<Action name="AdversaryChangesLane">
<PrivateAction>
<LateralAction>
<LaneChangeAction>
<LaneChangeActionDynamics dynamicsShape="linear" value="25" dynamicsDimension="distance"/>
<LaneChangeTarget>
<RelativeTargetLane entityRef="adversary" value="-1"/>
</LaneChangeTarget>
</LaneChangeAction>
</LateralAction>
</PrivateAction>
</Action>
<StartTrigger>
<ConditionGroup>
<Condition name="AfterAdversaryAccelerates" delay="0" conditionEdge="rising">
<ByValueCondition>
<StoryboardElementStateCondition storyboardElementType="action" storyboardElementRef="AdversaryAccelerates" state="completeState"/>
</ByValueCondition>
</Condition>
</ConditionGroup>
</StartTrigger>
</Event>
</Maneuver>
</ManeuverGroup>
<StartTrigger>
<ConditionGroup>
<Condition name="OverallStartCondition" delay="0" conditionEdge="rising">
<ByEntityCondition>
<TriggeringEntities triggeringEntitiesRule="any">
<EntityRef entityRef="hero"/>
</TriggeringEntities>
<EntityCondition>
<TraveledDistanceCondition value="1.0"/>
</EntityCondition>
</ByEntityCondition>
</Condition>
<Condition name="StartTime" delay="0" conditionEdge="rising">
<ByValueCondition>
<SimulationTimeCondition value="0" rule="equalTo"/>
</ByValueCondition>
</Condition>
</ConditionGroup>
</StartTrigger>
<StopTrigger>
<ConditionGroup>
<Condition name="EndCondition" delay="0" conditionEdge="rising">
<ByEntityCondition>
<TriggeringEntities triggeringEntitiesRule="any">
<EntityRef entityRef="hero"/>
</TriggeringEntities>
<EntityCondition>
<TraveledDistanceCondition value="200.0"/>
</EntityCondition>
</ByEntityCondition>
</Condition>
</ConditionGroup>
</StopTrigger>
</Act>
</Story>
<StopTrigger>
<ConditionGroup>
<Condition name="criteria_RunningStopTest" delay="0" conditionEdge="rising">
<ByValueCondition>
<ParameterCondition parameterRef="" value="" rule="lessThan"/>
</ByValueCondition>
</Condition>
<Condition name="criteria_RunningRedLightTest" delay="0" conditionEdge="rising">
<ByValueCondition>
<ParameterCondition parameterRef="" value="" rule="lessThan"/>
</ByValueCondition>
</Condition>
<Condition name="criteria_WrongLaneTest" delay="0" conditionEdge="rising">
<ByValueCondition>
<ParameterCondition parameterRef="" value="" rule="lessThan"/>
</ByValueCondition>
</Condition>
<Condition name="criteria_OnSidewalkTest" delay="0" conditionEdge="rising">
<ByValueCondition>
<ParameterCondition parameterRef="" value="" rule="lessThan"/>
</ByValueCondition>
</Condition>
<Condition name="criteria_KeepLaneTest" delay="0" conditionEdge="rising">
<ByValueCondition>
<ParameterCondition parameterRef="" value="" rule="lessThan"/>
</ByValueCondition>
</Condition>
<Condition name="criteria_CollisionTest" delay="0" conditionEdge="rising">
<ByValueCondition>
<ParameterCondition parameterRef="" value="" rule="lessThan"/>
</ByValueCondition>
</Condition>
<Condition name="criteria_DrivenDistanceTest" delay="0" conditionEdge="rising">
<ByValueCondition>
<ParameterCondition parameterRef="distance_success" value="100" rule="lessThan"/>
</ByValueCondition>
</Condition>
</ConditionGroup>
</StopTrigger>
</Storyboard>
</OpenSCENARIO>
``` |
i would like to ask you to remove pedestrian actor named pedestrian_w_transform_21136?
```
<?xml version="1.0" ?>
<OpenSCENARIO>
<FileHeader revMajor="1" revMinor="0" date="2020-03-24T12:00:00" description="CARLA:LaneChangeSimple" author=""/>
<ParameterDeclarations/>
<CatalogLocations/>
<RoadNetwork>
<LogicFile filepath="Town04"/>
<SceneGraphFile filepath=""/>
</RoadNetwork>
<Entities>
<ScenarioObject name="hero">
<Vehicle name="vehicle.tesla.model3" vehicleCategory="car">
<ParameterDeclarations/>
<Performance maxSpeed="69.444" maxAcceleration="200" maxDeceleration="10.0"/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2.1" length="4.5" height="1.8"/>
</BoundingBox>
<Axles>
<FrontAxle maxSteering="0.5" wheelDiameter="0.6" trackWidth="1.8" positionX="3.1" positionZ="0.3"/>
<RearAxle maxSteering="0.0" wheelDiameter="0.6" trackWidth="1.8" positionX="0.0" positionZ="0.3"/>
</Axles>
<Properties>
<Property name="type" value="ego_vehicle"/>
</Properties>
</Vehicle>
</ScenarioObject>
<ScenarioObject name="adversary">
<Vehicle name="vehicle.lincoln.mkz_2017" vehicleCategory="car">
<ParameterDeclarations/>
<Performance maxSpeed="69.444" maxAcceleration="200" maxDeceleration="10.0"/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2.1" length="4.5" height="1.8"/>
</BoundingBox>
<Axles>
<FrontAxle maxSteering="0.5" wheelDiameter="0.6" trackWidth="1.8" positionX="3.1" positionZ="0.3"/>
<RearAxle maxSteering="0.0" wheelDiameter="0.6" trackWidth="1.8" positionX="0.0" positionZ="0.3"/>
</Axles>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Vehicle>
</ScenarioObject>
<ScenarioObject name="standing">
<Vehicle name="vehicle.volkswagen.t2" vehicleCategory="car">
<ParameterDeclarations/>
<Performance maxSpeed="69.444" maxAcceleration="200" maxDeceleration="10.0"/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2.1" length="4.5" height="1.8"/>
</BoundingBox>
<Axles>
<FrontAxle maxSteering="0.5" wheelDiameter="0.6" trackWidth="1.8" positionX="3.1" positionZ="0.3"/>
<RearAxle maxSteering="0.0" wheelDiameter="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_21135">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_w_transform_21136">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_w_transform_21137">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_close_to_hero_21138">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_close_to_adversary_21140">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_close_to_hero_21141">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
</Entities>
<Storyboard>
<Init>
<Actions>
<GlobalAction>
<EnvironmentAction>
<Environment name="Environment1">
<TimeOfDay animation="false" dateTime="2019-06-25T12:00:00"/>
<Weather cloudState="free">
<Sun intensity="0.85" azimuth="0" elevation="1.31"/>
<Fog visualRange="100000.0"/>
<Precipitation precipitationType="dry" intensity="0.0"/>
</Weather>
<RoadCondition frictionScaleFactor="1.0"/>
</Environment>
</EnvironmentAction>
</GlobalAction>
<Private entityRef="hero">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-9.4" y="-152.8" z="0.5" h="1.57079632679"/>
</Position>
</TeleportAction>
</PrivateAction>
<PrivateAction>
<ControllerAction>
<AssignControllerAction>
<Controller name="HeroAgent">
<Properties>
<Property name="module" value="external_control"/>
</Properties>
</Controller>
</AssignControllerAction>
<OverrideControllerValueAction>
<Throttle value="0" active="false"/>
<Brake value="0" active="false"/>
<Clutch value="0" active="false"/>
<ParkingBrake value="0" active="false"/>
<SteeringWheel value="0" active="false"/>
<Gear number="0" active="false"/>
</OverrideControllerValueAction>
</ControllerAction>
</PrivateAction>
</Private>
<Private entityRef="adversary">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-9.4" y="-71.0" z="0.5" h="1.57079632679"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="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_21135">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="1.15481436252594" y="-40.02545166015625" z="0.5"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_w_transform_21136">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-63.898399353027344" y="-45.47226333618164" z="0.5"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_w_transform_21137">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="97.97124481201172" y="94.68854522705078" z="0.5"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_close_to_hero_21138">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-13.955710411071777" y="-157.1959686279297" z="0.0014286803780123591"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_close_to_adversary_21140">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-7.680537223815918" y="-67.94332885742188" z="0.033814314752817154"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_close_to_hero_21141">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="3.252066135406494" y="-138.82620239257812" z="0.0014286803780123591"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
</Actions>
</Init>
<Story name="MyStory">
<Act name="Behavior">
<ManeuverGroup maximumExecutionCount="1" name="ManeuverSequence">
<Actors selectTriggeringEntities="false">
<EntityRef entityRef="adversary"/>
</Actors>
<Maneuver name="LaneChangeSimpleManeuver">
<Event name="AdversaryAccelerates" priority="overwrite">
<Action name="AdversaryAccelerates">
<PrivateAction>
<LongitudinalAction>
<SpeedAction>
<SpeedActionDynamics dynamicsShape="step" value="50" dynamicsDimension="distance"/>
<SpeedActionTarget>
<AbsoluteTargetSpeed value="5.0"/>
</SpeedActionTarget>
</SpeedAction>
</LongitudinalAction>
</PrivateAction>
</Action>
<StartTrigger>
<ConditionGroup>
<Condition name="StartCondition" delay="0" conditionEdge="rising">
<ByEntityCondition>
<TriggeringEntities triggeringEntitiesRule="any">
<EntityRef entityRef="hero"/>
</TriggeringEntities>
<EntityCondition>
<RelativeDistanceCondition entityRef="adversary" relativeDistanceType="cartesianDistance" value="40.0" freespace="false" rule="lessThan"/>
</EntityCondition>
</ByEntityCondition>
</Condition>
</ConditionGroup>
</StartTrigger>
</Event>
<Event name="AdversaryChangesLane" priority="overwrite">
<Action name="AdversaryChangesLane">
<PrivateAction>
<LateralAction>
<LaneChangeAction>
<LaneChangeActionDynamics dynamicsShape="linear" value="25" dynamicsDimension="distance"/>
<LaneChangeTarget>
<RelativeTargetLane entityRef="adversary" value="-1"/>
</LaneChangeTarget>
</LaneChangeAction>
</LateralAction>
</PrivateAction>
</Action>
<StartTrigger>
<ConditionGroup>
<Condition name="AfterAdversaryAccelerates" delay="0" conditionEdge="rising">
<ByValueCondition>
<StoryboardElementStateCondition storyboardElementType="action" storyboardElementRef="AdversaryAccelerates" state="completeState"/>
</ByValueCondition>
</Condition>
</ConditionGroup>
</StartTrigger>
</Event>
</Maneuver>
</ManeuverGroup>
<StartTrigger>
<ConditionGroup>
<Condition name="OverallStartCondition" delay="0" conditionEdge="rising">
<ByEntityCondition>
<TriggeringEntities triggeringEntitiesRule="any">
<EntityRef entityRef="hero"/>
</TriggeringEntities>
<EntityCondition>
<TraveledDistanceCondition value="1.0"/>
</EntityCondition>
</ByEntityCondition>
</Condition>
<Condition name="StartTime" delay="0" conditionEdge="rising">
<ByValueCondition>
<SimulationTimeCondition value="0" rule="equalTo"/>
</ByValueCondition>
</Condition>
</ConditionGroup>
</StartTrigger>
<StopTrigger>
<ConditionGroup>
<Condition name="EndCondition" delay="0" conditionEdge="rising">
<ByEntityCondition>
<TriggeringEntities triggeringEntitiesRule="any">
<EntityRef entityRef="hero"/>
</TriggeringEntities>
<EntityCondition>
<TraveledDistanceCondition value="200.0"/>
</EntityCondition>
</ByEntityCondition>
</Condition>
</ConditionGroup>
</StopTrigger>
</Act>
</Story>
<StopTrigger>
<ConditionGroup>
<Condition name="criteria_RunningStopTest" delay="0" conditionEdge="rising">
<ByValueCondition>
<ParameterCondition parameterRef="" value="" rule="lessThan"/>
</ByValueCondition>
</Condition>
<Condition name="criteria_RunningRedLightTest" delay="0" conditionEdge="rising">
<ByValueCondition>
<ParameterCondition parameterRef="" value="" rule="lessThan"/>
</ByValueCondition>
</Condition>
<Condition name="criteria_WrongLaneTest" delay="0" conditionEdge="rising">
<ByValueCondition>
<ParameterCondition parameterRef="" value="" rule="lessThan"/>
</ByValueCondition>
</Condition>
<Condition name="criteria_OnSidewalkTest" delay="0" conditionEdge="rising">
<ByValueCondition>
<ParameterCondition parameterRef="" value="" rule="lessThan"/>
</ByValueCondition>
</Condition>
<Condition name="criteria_KeepLaneTest" delay="0" conditionEdge="rising">
<ByValueCondition>
<ParameterCondition parameterRef="" value="" rule="lessThan"/>
</ByValueCondition>
</Condition>
<Condition name="criteria_CollisionTest" delay="0" conditionEdge="rising">
<ByValueCondition>
<ParameterCondition parameterRef="" value="" rule="lessThan"/>
</ByValueCondition>
</Condition>
<Condition name="criteria_DrivenDistanceTest" delay="0" conditionEdge="rising">
<ByValueCondition>
<ParameterCondition parameterRef="distance_success" value="100" rule="lessThan"/>
</ByValueCondition>
</Condition>
</ConditionGroup>
</StopTrigger>
</Storyboard>
</OpenSCENARIO>
``` | Here is the result:
```
<?xml version="1.0" ?>
<OpenSCENARIO>
<FileHeader revMajor="1" revMinor="0" date="2020-03-24T12:00:00" description="CARLA:LaneChangeSimple" author=""/>
<ParameterDeclarations/>
<CatalogLocations/>
<RoadNetwork>
<LogicFile filepath="Town04"/>
<SceneGraphFile filepath=""/>
</RoadNetwork>
<Entities>
<ScenarioObject name="hero">
<Vehicle name="vehicle.tesla.model3" vehicleCategory="car">
<ParameterDeclarations/>
<Performance maxSpeed="69.444" maxAcceleration="200" maxDeceleration="10.0"/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2.1" length="4.5" height="1.8"/>
</BoundingBox>
<Axles>
<FrontAxle maxSteering="0.5" wheelDiameter="0.6" trackWidth="1.8" positionX="3.1" positionZ="0.3"/>
<RearAxle maxSteering="0.0" wheelDiameter="0.6" trackWidth="1.8" positionX="0.0" positionZ="0.3"/>
</Axles>
<Properties>
<Property name="type" value="ego_vehicle"/>
</Properties>
</Vehicle>
</ScenarioObject>
<ScenarioObject name="adversary">
<Vehicle name="vehicle.lincoln.mkz_2017" vehicleCategory="car">
<ParameterDeclarations/>
<Performance maxSpeed="69.444" maxAcceleration="200" maxDeceleration="10.0"/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2.1" length="4.5" height="1.8"/>
</BoundingBox>
<Axles>
<FrontAxle maxSteering="0.5" wheelDiameter="0.6" trackWidth="1.8" positionX="3.1" positionZ="0.3"/>
<RearAxle maxSteering="0.0" wheelDiameter="0.6" trackWidth="1.8" positionX="0.0" positionZ="0.3"/>
</Axles>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Vehicle>
</ScenarioObject>
<ScenarioObject name="standing">
<Vehicle name="vehicle.volkswagen.t2" vehicleCategory="car">
<ParameterDeclarations/>
<Performance maxSpeed="69.444" maxAcceleration="200" maxDeceleration="10.0"/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2.1" length="4.5" height="1.8"/>
</BoundingBox>
<Axles>
<FrontAxle maxSteering="0.5" wheelDiameter="0.6" trackWidth="1.8" positionX="3.1" positionZ="0.3"/>
<RearAxle maxSteering="0.0" wheelDiameter="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_21135">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_w_transform_21137">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_close_to_hero_21138">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_close_to_adversary_21140">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_close_to_hero_21141">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
</Entities>
<Storyboard>
<Init>
<Actions>
<GlobalAction>
<EnvironmentAction>
<Environment name="Environment1">
<TimeOfDay animation="false" dateTime="2019-06-25T12:00:00"/>
<Weather cloudState="free">
<Sun intensity="0.85" azimuth="0" elevation="1.31"/>
<Fog visualRange="100000.0"/>
<Precipitation precipitationType="dry" intensity="0.0"/>
</Weather>
<RoadCondition frictionScaleFactor="1.0"/>
</Environment>
</EnvironmentAction>
</GlobalAction>
<Private entityRef="hero">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-9.4" y="-152.8" z="0.5" h="1.57079632679"/>
</Position>
</TeleportAction>
</PrivateAction>
<PrivateAction>
<ControllerAction>
<AssignControllerAction>
<Controller name="HeroAgent">
<Properties>
<Property name="module" value="external_control"/>
</Properties>
</Controller>
</AssignControllerAction>
<OverrideControllerValueAction>
<Throttle value="0" active="false"/>
<Brake value="0" active="false"/>
<Clutch value="0" active="false"/>
<ParkingBrake value="0" active="false"/>
<SteeringWheel value="0" active="false"/>
<Gear number="0" active="false"/>
</OverrideControllerValueAction>
</ControllerAction>
</PrivateAction>
</Private>
<Private entityRef="adversary">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-9.4" y="-71.0" z="0.5" h="1.57079632679"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="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_21135">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="1.15481436252594" y="-40.02545166015625" z="0.5"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_w_transform_21137">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="97.97124481201172" y="94.68854522705078" z="0.5"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_close_to_hero_21138">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-13.955710411071777" y="-157.1959686279297" z="0.0014286803780123591"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_close_to_adversary_21140">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-7.680537223815918" y="-67.94332885742188" z="0.033814314752817154"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_close_to_hero_21141">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="3.252066135406494" y="-138.82620239257812" z="0.0014286803780123591"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
</Actions>
</Init>
<Story name="MyStory">
<Act name="Behavior">
<ManeuverGroup maximumExecutionCount="1" name="ManeuverSequence">
<Actors selectTriggeringEntities="false">
<EntityRef entityRef="adversary"/>
</Actors>
<Maneuver name="LaneChangeSimpleManeuver">
<Event name="AdversaryAccelerates" priority="overwrite">
<Action name="AdversaryAccelerates">
<PrivateAction>
<LongitudinalAction>
<SpeedAction>
<SpeedActionDynamics dynamicsShape="step" value="50" dynamicsDimension="distance"/>
<SpeedActionTarget>
<AbsoluteTargetSpeed value="5.0"/>
</SpeedActionTarget>
</SpeedAction>
</LongitudinalAction>
</PrivateAction>
</Action>
<StartTrigger>
<ConditionGroup>
<Condition name="StartCondition" delay="0" conditionEdge="rising">
<ByEntityCondition>
<TriggeringEntities triggeringEntitiesRule="any">
<EntityRef entityRef="hero"/>
</TriggeringEntities>
<EntityCondition>
<RelativeDistanceCondition entityRef="adversary" relativeDistanceType="cartesianDistance" value="40.0" freespace="false" rule="lessThan"/>
</EntityCondition>
</ByEntityCondition>
</Condition>
</ConditionGroup>
</StartTrigger>
</Event>
<Event name="AdversaryChangesLane" priority="overwrite">
<Action name="AdversaryChangesLane">
<PrivateAction>
<LateralAction>
<LaneChangeAction>
<LaneChangeActionDynamics dynamicsShape="linear" value="25" dynamicsDimension="distance"/>
<LaneChangeTarget>
<RelativeTargetLane entityRef="adversary" value="-1"/>
</LaneChangeTarget>
</LaneChangeAction>
</LateralAction>
</PrivateAction>
</Action>
<StartTrigger>
<ConditionGroup>
<Condition name="AfterAdversaryAccelerates" delay="0" conditionEdge="rising">
<ByValueCondition>
<StoryboardElementStateCondition storyboardElementType="action" storyboardElementRef="AdversaryAccelerates" state="completeState"/>
</ByValueCondition>
</Condition>
</ConditionGroup>
</StartTrigger>
</Event>
</Maneuver>
</ManeuverGroup>
<StartTrigger>
<ConditionGroup>
<Condition name="OverallStartCondition" delay="0" conditionEdge="rising">
<ByEntityCondition>
<TriggeringEntities triggeringEntitiesRule="any">
<EntityRef entityRef="hero"/>
</TriggeringEntities>
<EntityCondition>
<TraveledDistanceCondition value="1.0"/>
</EntityCondition>
</ByEntityCondition>
</Condition>
<Condition name="StartTime" delay="0" conditionEdge="rising">
<ByValueCondition>
<SimulationTimeCondition value="0" rule="equalTo"/>
</ByValueCondition>
</Condition>
</ConditionGroup>
</StartTrigger>
<StopTrigger>
<ConditionGroup>
<Condition name="EndCondition" delay="0" conditionEdge="rising">
<ByEntityCondition>
<TriggeringEntities triggeringEntitiesRule="any">
<EntityRef entityRef="hero"/>
</TriggeringEntities>
<EntityCondition>
<TraveledDistanceCondition value="200.0"/>
</EntityCondition>
</ByEntityCondition>
</Condition>
</ConditionGroup>
</StopTrigger>
</Act>
</Story>
<StopTrigger>
<ConditionGroup>
<Condition name="criteria_RunningStopTest" delay="0" conditionEdge="rising">
<ByValueCondition>
<ParameterCondition parameterRef="" value="" rule="lessThan"/>
</ByValueCondition>
</Condition>
<Condition name="criteria_RunningRedLightTest" delay="0" conditionEdge="rising">
<ByValueCondition>
<ParameterCondition parameterRef="" value="" rule="lessThan"/>
</ByValueCondition>
</Condition>
<Condition name="criteria_WrongLaneTest" delay="0" conditionEdge="rising">
<ByValueCondition>
<ParameterCondition parameterRef="" value="" rule="lessThan"/>
</ByValueCondition>
</Condition>
<Condition name="criteria_OnSidewalkTest" delay="0" conditionEdge="rising">
<ByValueCondition>
<ParameterCondition parameterRef="" value="" rule="lessThan"/>
</ByValueCondition>
</Condition>
<Condition name="criteria_KeepLaneTest" delay="0" conditionEdge="rising">
<ByValueCondition>
<ParameterCondition parameterRef="" value="" rule="lessThan"/>
</ByValueCondition>
</Condition>
<Condition name="criteria_CollisionTest" delay="0" conditionEdge="rising">
<ByValueCondition>
<ParameterCondition parameterRef="" value="" rule="lessThan"/>
</ByValueCondition>
</Condition>
<Condition name="criteria_DrivenDistanceTest" delay="0" conditionEdge="rising">
<ByValueCondition>
<ParameterCondition parameterRef="distance_success" value="100" rule="lessThan"/>
</ByValueCondition>
</Condition>
</ConditionGroup>
</StopTrigger>
</Storyboard>
</OpenSCENARIO>
``` |
would you add pedestrian close to standing?
```
<?xml version="1.0" ?>
<OpenSCENARIO>
<FileHeader revMajor="1" revMinor="0" date="2020-03-24T12:00:00" description="CARLA:LaneChangeSimple" author=""/>
<ParameterDeclarations/>
<CatalogLocations/>
<RoadNetwork>
<LogicFile filepath="Town04"/>
<SceneGraphFile filepath=""/>
</RoadNetwork>
<Entities>
<ScenarioObject name="hero">
<Vehicle name="vehicle.tesla.model3" vehicleCategory="car">
<ParameterDeclarations/>
<Performance maxSpeed="69.444" maxAcceleration="200" maxDeceleration="10.0"/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2.1" length="4.5" height="1.8"/>
</BoundingBox>
<Axles>
<FrontAxle maxSteering="0.5" wheelDiameter="0.6" trackWidth="1.8" positionX="3.1" positionZ="0.3"/>
<RearAxle maxSteering="0.0" wheelDiameter="0.6" trackWidth="1.8" positionX="0.0" positionZ="0.3"/>
</Axles>
<Properties>
<Property name="type" value="ego_vehicle"/>
</Properties>
</Vehicle>
</ScenarioObject>
<ScenarioObject name="adversary">
<Vehicle name="vehicle.lincoln.mkz_2017" vehicleCategory="car">
<ParameterDeclarations/>
<Performance maxSpeed="69.444" maxAcceleration="200" maxDeceleration="10.0"/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2.1" length="4.5" height="1.8"/>
</BoundingBox>
<Axles>
<FrontAxle maxSteering="0.5" wheelDiameter="0.6" trackWidth="1.8" positionX="3.1" positionZ="0.3"/>
<RearAxle maxSteering="0.0" wheelDiameter="0.6" trackWidth="1.8" positionX="0.0" positionZ="0.3"/>
</Axles>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Vehicle>
</ScenarioObject>
<ScenarioObject name="standing">
<Vehicle name="vehicle.volkswagen.t2" vehicleCategory="car">
<ParameterDeclarations/>
<Performance maxSpeed="69.444" maxAcceleration="200" maxDeceleration="10.0"/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2.1" length="4.5" height="1.8"/>
</BoundingBox>
<Axles>
<FrontAxle maxSteering="0.5" wheelDiameter="0.6" trackWidth="1.8" positionX="3.1" positionZ="0.3"/>
<RearAxle maxSteering="0.0" wheelDiameter="0.6" trackWidth="1.8" positionX="0.0" positionZ="0.3"/>
</Axles>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Vehicle>
</ScenarioObject>
<ScenarioObject name="pedestrian_close_to_adversary_19577">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_close_to_standing_19579">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_w_transform_19580">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_w_transform_19581">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_close_to_hero_19582">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_w_transform_19583">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_close_to_hero_19584">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_w_transform_19585">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
</Entities>
<Storyboard>
<Init>
<Actions>
<GlobalAction>
<EnvironmentAction>
<Environment name="Environment1">
<TimeOfDay animation="false" dateTime="2019-06-25T12:00:00"/>
<Weather cloudState="free">
<Sun intensity="0.85" azimuth="0" elevation="1.31"/>
<Fog visualRange="100000.0"/>
<Precipitation precipitationType="dry" intensity="0.0"/>
</Weather>
<RoadCondition frictionScaleFactor="1.0"/>
</Environment>
</EnvironmentAction>
</GlobalAction>
<Private entityRef="hero">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-9.4" y="-152.8" z="0.5" h="1.57079632679"/>
</Position>
</TeleportAction>
</PrivateAction>
<PrivateAction>
<ControllerAction>
<AssignControllerAction>
<Controller name="HeroAgent">
<Properties>
<Property name="module" value="external_control"/>
</Properties>
</Controller>
</AssignControllerAction>
<OverrideControllerValueAction>
<Throttle value="0" active="false"/>
<Brake value="0" active="false"/>
<Clutch value="0" active="false"/>
<ParkingBrake value="0" active="false"/>
<SteeringWheel value="0" active="false"/>
<Gear number="0" active="false"/>
</OverrideControllerValueAction>
</ControllerAction>
</PrivateAction>
</Private>
<Private entityRef="adversary">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-9.4" y="-71.0" z="0.5" h="1.57079632679"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="standing">
<PrivateAction>
<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_19577">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-2.004802942276001" y="-80.46172332763672" z="0.03379512578248978"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_close_to_standing_19579">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-2.311286687850952" y="21.00554847717285" z="0.0030631255358457565"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_w_transform_19580">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-86.21149444580078" y="74.52619171142578" z="0.5"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_w_transform_19581">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="3.9208953380584717" y="-13.593220710754395" z="0.5"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_close_to_hero_19582">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-1.706800103187561" y="-152.81301879882812" z="0.0014286803780123591"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_w_transform_19583">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-60.670684814453125" y="-29.978361129760742" z="0.5"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_close_to_hero_19584">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-13.307232856750488" y="-157.31234741210938" z="0.0014286803780123591"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_w_transform_19585">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="28.78976821899414" y="46.148765563964844" z="0.5"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
</Actions>
</Init>
<Story name="MyStory">
<Act name="Behavior">
<ManeuverGroup maximumExecutionCount="1" name="ManeuverSequence">
<Actors selectTriggeringEntities="false">
<EntityRef entityRef="adversary"/>
</Actors>
<Maneuver name="LaneChangeSimpleManeuver">
<Event name="AdversaryAccelerates" priority="overwrite">
<Action name="AdversaryAccelerates">
<PrivateAction>
<LongitudinalAction>
<SpeedAction>
<SpeedActionDynamics dynamicsShape="step" value="50" dynamicsDimension="distance"/>
<SpeedActionTarget>
<AbsoluteTargetSpeed value="5.0"/>
</SpeedActionTarget>
</SpeedAction>
</LongitudinalAction>
</PrivateAction>
</Action>
<StartTrigger>
<ConditionGroup>
<Condition name="StartCondition" delay="0" conditionEdge="rising">
<ByEntityCondition>
<TriggeringEntities triggeringEntitiesRule="any">
<EntityRef entityRef="hero"/>
</TriggeringEntities>
<EntityCondition>
<RelativeDistanceCondition entityRef="adversary" relativeDistanceType="cartesianDistance" value="40.0" freespace="false" rule="lessThan"/>
</EntityCondition>
</ByEntityCondition>
</Condition>
</ConditionGroup>
</StartTrigger>
</Event>
<Event name="AdversaryChangesLane" priority="overwrite">
<Action name="AdversaryChangesLane">
<PrivateAction>
<LateralAction>
<LaneChangeAction>
<LaneChangeActionDynamics dynamicsShape="linear" value="25" dynamicsDimension="distance"/>
<LaneChangeTarget>
<RelativeTargetLane entityRef="adversary" value="-1"/>
</LaneChangeTarget>
</LaneChangeAction>
</LateralAction>
</PrivateAction>
</Action>
<StartTrigger>
<ConditionGroup>
<Condition name="AfterAdversaryAccelerates" delay="0" conditionEdge="rising">
<ByValueCondition>
<StoryboardElementStateCondition storyboardElementType="action" storyboardElementRef="AdversaryAccelerates" state="completeState"/>
</ByValueCondition>
</Condition>
</ConditionGroup>
</StartTrigger>
</Event>
</Maneuver>
</ManeuverGroup>
<StartTrigger>
<ConditionGroup>
<Condition name="OverallStartCondition" delay="0" conditionEdge="rising">
<ByEntityCondition>
<TriggeringEntities triggeringEntitiesRule="any">
<EntityRef entityRef="hero"/>
</TriggeringEntities>
<EntityCondition>
<TraveledDistanceCondition value="1.0"/>
</EntityCondition>
</ByEntityCondition>
</Condition>
<Condition name="StartTime" delay="0" conditionEdge="rising">
<ByValueCondition>
<SimulationTimeCondition value="0" rule="equalTo"/>
</ByValueCondition>
</Condition>
</ConditionGroup>
</StartTrigger>
<StopTrigger>
<ConditionGroup>
<Condition name="EndCondition" delay="0" conditionEdge="rising">
<ByEntityCondition>
<TriggeringEntities triggeringEntitiesRule="any">
<EntityRef entityRef="hero"/>
</TriggeringEntities>
<EntityCondition>
<TraveledDistanceCondition value="200.0"/>
</EntityCondition>
</ByEntityCondition>
</Condition>
</ConditionGroup>
</StopTrigger>
</Act>
</Story>
<StopTrigger>
<ConditionGroup>
<Condition name="criteria_RunningStopTest" delay="0" conditionEdge="rising">
<ByValueCondition>
<ParameterCondition parameterRef="" value="" rule="lessThan"/>
</ByValueCondition>
</Condition>
<Condition name="criteria_RunningRedLightTest" delay="0" conditionEdge="rising">
<ByValueCondition>
<ParameterCondition parameterRef="" value="" rule="lessThan"/>
</ByValueCondition>
</Condition>
<Condition name="criteria_WrongLaneTest" delay="0" conditionEdge="rising">
<ByValueCondition>
<ParameterCondition parameterRef="" value="" rule="lessThan"/>
</ByValueCondition>
</Condition>
<Condition name="criteria_OnSidewalkTest" delay="0" conditionEdge="rising">
<ByValueCondition>
<ParameterCondition parameterRef="" value="" rule="lessThan"/>
</ByValueCondition>
</Condition>
<Condition name="criteria_KeepLaneTest" delay="0" conditionEdge="rising">
<ByValueCondition>
<ParameterCondition parameterRef="" value="" rule="lessThan"/>
</ByValueCondition>
</Condition>
<Condition name="criteria_CollisionTest" delay="0" conditionEdge="rising">
<ByValueCondition>
<ParameterCondition parameterRef="" value="" rule="lessThan"/>
</ByValueCondition>
</Condition>
<Condition name="criteria_DrivenDistanceTest" delay="0" conditionEdge="rising">
<ByValueCondition>
<ParameterCondition parameterRef="distance_success" value="100" rule="lessThan"/>
</ByValueCondition>
</Condition>
</ConditionGroup>
</StopTrigger>
</Storyboard>
</OpenSCENARIO>
``` | Here is the result:
```
<?xml version="1.0" ?>
<OpenSCENARIO>
<FileHeader revMajor="1" revMinor="0" date="2020-03-24T12:00:00" description="CARLA:LaneChangeSimple" author=""/>
<ParameterDeclarations/>
<CatalogLocations/>
<RoadNetwork>
<LogicFile filepath="Town04"/>
<SceneGraphFile filepath=""/>
</RoadNetwork>
<Entities>
<ScenarioObject name="hero">
<Vehicle name="vehicle.tesla.model3" vehicleCategory="car">
<ParameterDeclarations/>
<Performance maxSpeed="69.444" maxAcceleration="200" maxDeceleration="10.0"/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2.1" length="4.5" height="1.8"/>
</BoundingBox>
<Axles>
<FrontAxle maxSteering="0.5" wheelDiameter="0.6" trackWidth="1.8" positionX="3.1" positionZ="0.3"/>
<RearAxle maxSteering="0.0" wheelDiameter="0.6" trackWidth="1.8" positionX="0.0" positionZ="0.3"/>
</Axles>
<Properties>
<Property name="type" value="ego_vehicle"/>
</Properties>
</Vehicle>
</ScenarioObject>
<ScenarioObject name="adversary">
<Vehicle name="vehicle.lincoln.mkz_2017" vehicleCategory="car">
<ParameterDeclarations/>
<Performance maxSpeed="69.444" maxAcceleration="200" maxDeceleration="10.0"/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2.1" length="4.5" height="1.8"/>
</BoundingBox>
<Axles>
<FrontAxle maxSteering="0.5" wheelDiameter="0.6" trackWidth="1.8" positionX="3.1" positionZ="0.3"/>
<RearAxle maxSteering="0.0" wheelDiameter="0.6" trackWidth="1.8" positionX="0.0" positionZ="0.3"/>
</Axles>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Vehicle>
</ScenarioObject>
<ScenarioObject name="standing">
<Vehicle name="vehicle.volkswagen.t2" vehicleCategory="car">
<ParameterDeclarations/>
<Performance maxSpeed="69.444" maxAcceleration="200" maxDeceleration="10.0"/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2.1" length="4.5" height="1.8"/>
</BoundingBox>
<Axles>
<FrontAxle maxSteering="0.5" wheelDiameter="0.6" trackWidth="1.8" positionX="3.1" positionZ="0.3"/>
<RearAxle maxSteering="0.0" wheelDiameter="0.6" 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_19577">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_close_to_standing_19579">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_w_transform_19580">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_w_transform_19581">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_close_to_hero_19582">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_w_transform_19583">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_close_to_hero_19584">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_w_transform_19585">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_close_to_standing_19586">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
</Entities>
<Storyboard>
<Init>
<Actions>
<GlobalAction>
<EnvironmentAction>
<Environment name="Environment1">
<TimeOfDay animation="false" dateTime="2019-06-25T12:00:00"/>
<Weather cloudState="free">
<Sun intensity="0.85" azimuth="0" elevation="1.31"/>
<Fog visualRange="100000.0"/>
<Precipitation precipitationType="dry" intensity="0.0"/>
</Weather>
<RoadCondition frictionScaleFactor="1.0"/>
</Environment>
</EnvironmentAction>
</GlobalAction>
<Private entityRef="hero">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-9.4" y="-152.8" z="0.5" h="1.57079632679"/>
</Position>
</TeleportAction>
</PrivateAction>
<PrivateAction>
<ControllerAction>
<AssignControllerAction>
<Controller name="HeroAgent">
<Properties>
<Property name="module" value="external_control"/>
</Properties>
</Controller>
</AssignControllerAction>
<OverrideControllerValueAction>
<Throttle value="0" active="false"/>
<Brake value="0" active="false"/>
<Clutch value="0" active="false"/>
<ParkingBrake value="0" active="false"/>
<SteeringWheel value="0" active="false"/>
<Gear number="0" active="false"/>
</OverrideControllerValueAction>
</ControllerAction>
</PrivateAction>
</Private>
<Private entityRef="adversary">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-9.4" y="-71.0" z="0.5" h="1.57079632679"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="standing">
<PrivateAction>
<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_19577">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-2.004802942276001" y="-80.46172332763672" z="0.03379512578248978"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_close_to_standing_19579">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-2.311286687850952" y="21.00554847717285" z="0.0030631255358457565"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_w_transform_19580">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-86.21149444580078" y="74.52619171142578" z="0.5"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_w_transform_19581">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="3.9208953380584717" y="-13.593220710754395" z="0.5"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_close_to_hero_19582">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-1.706800103187561" y="-152.81301879882812" z="0.0014286803780123591"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_w_transform_19583">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-60.670684814453125" y="-29.978361129760742" z="0.5"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_close_to_hero_19584">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-13.307232856750488" y="-157.31234741210938" z="0.0014286803780123591"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_w_transform_19585">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="28.78976821899414" y="46.148765563964844" z="0.5"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_close_to_standing_19586">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-10.174068450927734" y="37.5313606262207" z="0.003063316224142909"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
</Actions>
</Init>
<Story name="MyStory">
<Act name="Behavior">
<ManeuverGroup maximumExecutionCount="1" name="ManeuverSequence">
<Actors selectTriggeringEntities="false">
<EntityRef entityRef="adversary"/>
</Actors>
<Maneuver name="LaneChangeSimpleManeuver">
<Event name="AdversaryAccelerates" priority="overwrite">
<Action name="AdversaryAccelerates">
<PrivateAction>
<LongitudinalAction>
<SpeedAction>
<SpeedActionDynamics dynamicsShape="step" value="50" dynamicsDimension="distance"/>
<SpeedActionTarget>
<AbsoluteTargetSpeed value="5.0"/>
</SpeedActionTarget>
</SpeedAction>
</LongitudinalAction>
</PrivateAction>
</Action>
<StartTrigger>
<ConditionGroup>
<Condition name="StartCondition" delay="0" conditionEdge="rising">
<ByEntityCondition>
<TriggeringEntities triggeringEntitiesRule="any">
<EntityRef entityRef="hero"/>
</TriggeringEntities>
<EntityCondition>
<RelativeDistanceCondition entityRef="adversary" relativeDistanceType="cartesianDistance" value="40.0" freespace="false" rule="lessThan"/>
</EntityCondition>
</ByEntityCondition>
</Condition>
</ConditionGroup>
</StartTrigger>
</Event>
<Event name="AdversaryChangesLane" priority="overwrite">
<Action name="AdversaryChangesLane">
<PrivateAction>
<LateralAction>
<LaneChangeAction>
<LaneChangeActionDynamics dynamicsShape="linear" value="25" dynamicsDimension="distance"/>
<LaneChangeTarget>
<RelativeTargetLane entityRef="adversary" value="-1"/>
</LaneChangeTarget>
</LaneChangeAction>
</LateralAction>
</PrivateAction>
</Action>
<StartTrigger>
<ConditionGroup>
<Condition name="AfterAdversaryAccelerates" delay="0" conditionEdge="rising">
<ByValueCondition>
<StoryboardElementStateCondition storyboardElementType="action" storyboardElementRef="AdversaryAccelerates" state="completeState"/>
</ByValueCondition>
</Condition>
</ConditionGroup>
</StartTrigger>
</Event>
</Maneuver>
</ManeuverGroup>
<StartTrigger>
<ConditionGroup>
<Condition name="OverallStartCondition" delay="0" conditionEdge="rising">
<ByEntityCondition>
<TriggeringEntities triggeringEntitiesRule="any">
<EntityRef entityRef="hero"/>
</TriggeringEntities>
<EntityCondition>
<TraveledDistanceCondition value="1.0"/>
</EntityCondition>
</ByEntityCondition>
</Condition>
<Condition name="StartTime" delay="0" conditionEdge="rising">
<ByValueCondition>
<SimulationTimeCondition value="0" rule="equalTo"/>
</ByValueCondition>
</Condition>
</ConditionGroup>
</StartTrigger>
<StopTrigger>
<ConditionGroup>
<Condition name="EndCondition" delay="0" conditionEdge="rising">
<ByEntityCondition>
<TriggeringEntities triggeringEntitiesRule="any">
<EntityRef entityRef="hero"/>
</TriggeringEntities>
<EntityCondition>
<TraveledDistanceCondition value="200.0"/>
</EntityCondition>
</ByEntityCondition>
</Condition>
</ConditionGroup>
</StopTrigger>
</Act>
</Story>
<StopTrigger>
<ConditionGroup>
<Condition name="criteria_RunningStopTest" delay="0" conditionEdge="rising">
<ByValueCondition>
<ParameterCondition parameterRef="" value="" rule="lessThan"/>
</ByValueCondition>
</Condition>
<Condition name="criteria_RunningRedLightTest" delay="0" conditionEdge="rising">
<ByValueCondition>
<ParameterCondition parameterRef="" value="" rule="lessThan"/>
</ByValueCondition>
</Condition>
<Condition name="criteria_WrongLaneTest" delay="0" conditionEdge="rising">
<ByValueCondition>
<ParameterCondition parameterRef="" value="" rule="lessThan"/>
</ByValueCondition>
</Condition>
<Condition name="criteria_OnSidewalkTest" delay="0" conditionEdge="rising">
<ByValueCondition>
<ParameterCondition parameterRef="" value="" rule="lessThan"/>
</ByValueCondition>
</Condition>
<Condition name="criteria_KeepLaneTest" delay="0" conditionEdge="rising">
<ByValueCondition>
<ParameterCondition parameterRef="" value="" rule="lessThan"/>
</ByValueCondition>
</Condition>
<Condition name="criteria_CollisionTest" delay="0" conditionEdge="rising">
<ByValueCondition>
<ParameterCondition parameterRef="" value="" rule="lessThan"/>
</ByValueCondition>
</Condition>
<Condition name="criteria_DrivenDistanceTest" delay="0" conditionEdge="rising">
<ByValueCondition>
<ParameterCondition parameterRef="distance_success" value="100" rule="lessThan"/>
</ByValueCondition>
</Condition>
</ConditionGroup>
</StopTrigger>
</Storyboard>
</OpenSCENARIO>
``` |
i would like you to add pedestrian close to hero?
```
<?xml version="1.0" ?>
<OpenSCENARIO>
<FileHeader revMajor="1" revMinor="0" date="2020-03-24T12:00:00" description="CARLA:LaneChangeSimple" author=""/>
<ParameterDeclarations/>
<CatalogLocations/>
<RoadNetwork>
<LogicFile filepath="Town04"/>
<SceneGraphFile filepath=""/>
</RoadNetwork>
<Entities>
<ScenarioObject name="hero">
<Vehicle name="vehicle.tesla.model3" vehicleCategory="car">
<ParameterDeclarations/>
<Performance maxSpeed="69.444" maxAcceleration="200" maxDeceleration="10.0"/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2.1" length="4.5" height="1.8"/>
</BoundingBox>
<Axles>
<FrontAxle maxSteering="0.5" wheelDiameter="0.6" trackWidth="1.8" positionX="3.1" positionZ="0.3"/>
<RearAxle maxSteering="0.0" wheelDiameter="0.6" trackWidth="1.8" positionX="0.0" positionZ="0.3"/>
</Axles>
<Properties>
<Property name="type" value="ego_vehicle"/>
</Properties>
</Vehicle>
</ScenarioObject>
<ScenarioObject name="adversary">
<Vehicle name="vehicle.lincoln.mkz_2017" vehicleCategory="car">
<ParameterDeclarations/>
<Performance maxSpeed="69.444" maxAcceleration="200" maxDeceleration="10.0"/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2.1" length="4.5" height="1.8"/>
</BoundingBox>
<Axles>
<FrontAxle maxSteering="0.5" wheelDiameter="0.6" trackWidth="1.8" positionX="3.1" positionZ="0.3"/>
<RearAxle maxSteering="0.0" wheelDiameter="0.6" trackWidth="1.8" positionX="0.0" positionZ="0.3"/>
</Axles>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Vehicle>
</ScenarioObject>
<ScenarioObject name="standing">
<Vehicle name="vehicle.volkswagen.t2" vehicleCategory="car">
<ParameterDeclarations/>
<Performance maxSpeed="69.444" maxAcceleration="200" maxDeceleration="10.0"/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2.1" length="4.5" height="1.8"/>
</BoundingBox>
<Axles>
<FrontAxle maxSteering="0.5" wheelDiameter="0.6" trackWidth="1.8" positionX="3.1" positionZ="0.3"/>
<RearAxle maxSteering="0.0" wheelDiameter="0.6" trackWidth="1.8" positionX="0.0" positionZ="0.3"/>
</Axles>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Vehicle>
</ScenarioObject>
<ScenarioObject name="pedestrian_close_to_adversary_8641">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_w_transform_8642">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_close_to_hero_8643">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_close_to_adversary_8644">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_w_transform_8645">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_w_transform_8646">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_w_transform_8647">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_w_transform_8648">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_close_to_adversary_8649">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_close_to_standing_8650">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_w_transform_8651">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_w_transform_8652">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_w_transform_8653">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_close_to_adversary_8654">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_close_to_adversary_8655">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_close_to_hero_8656">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_close_to_hero_8659">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_w_transform_8660">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
</Entities>
<Storyboard>
<Init>
<Actions>
<GlobalAction>
<EnvironmentAction>
<Environment name="Environment1">
<TimeOfDay animation="false" dateTime="2019-06-25T12:00:00"/>
<Weather cloudState="free">
<Sun intensity="0.85" azimuth="0" elevation="1.31"/>
<Fog visualRange="100000.0"/>
<Precipitation precipitationType="dry" intensity="0.0"/>
</Weather>
<RoadCondition frictionScaleFactor="1.0"/>
</Environment>
</EnvironmentAction>
</GlobalAction>
<Private entityRef="hero">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-9.4" y="-152.8" z="0.5" h="1.57079632679"/>
</Position>
</TeleportAction>
</PrivateAction>
<PrivateAction>
<ControllerAction>
<AssignControllerAction>
<Controller name="HeroAgent">
<Properties>
<Property name="module" value="external_control"/>
</Properties>
</Controller>
</AssignControllerAction>
<OverrideControllerValueAction>
<Throttle value="0" active="false"/>
<Brake value="0" active="false"/>
<Clutch value="0" active="false"/>
<ParkingBrake value="0" active="false"/>
<SteeringWheel value="0" active="false"/>
<Gear number="0" active="false"/>
</OverrideControllerValueAction>
</ControllerAction>
</PrivateAction>
</Private>
<Private entityRef="adversary">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-9.4" y="-71.0" z="0.5" h="1.57079632679"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="standing">
<PrivateAction>
<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_8641">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-6.20053243637085" y="-63.043392181396484" z="0.03378055617213249"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_w_transform_8642">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="28.56172752380371" y="-71.12250518798828" z="0.5"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_close_to_hero_8643">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-14.67426586151123" y="-145.6430206298828" z="0.0014286803780123591"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_close_to_adversary_8644">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-13.138508796691895" y="-67.78260040283203" z="0.033758390694856644"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_w_transform_8645">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-97.96065521240234" y="9.31610107421875" z="0.5"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_w_transform_8646">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-16.786962509155273" y="-16.291427612304688" z="0.5"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_w_transform_8647">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-66.64057159423828" y="-7.858810901641846" z="0.5"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_w_transform_8648">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="94.08895111083984" y="46.39134216308594" z="0.5"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_close_to_adversary_8649">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-9.74221134185791" y="-54.74725341796875" z="0.03380035236477852"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_close_to_standing_8650">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-6.193196773529053" y="23.872539520263672" z="0.003051338018849492"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_w_transform_8651">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="87.70222473144531" y="-39.07255554199219" z="0.5"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_w_transform_8652">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="56.949485778808594" y="24.53388786315918" z="0.5"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_w_transform_8653">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-34.927425384521484" y="35.72544860839844" z="0.5"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_close_to_adversary_8654">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-5.170100688934326" y="-67.41073608398438" z="0.03382110595703125"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_close_to_adversary_8655">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-1.2827441692352295" y="-61.464805603027344" z="0.03383808210492134"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_close_to_hero_8656">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-6.85136604309082" y="-145.0103302001953" z="0.0014286803780123591"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_close_to_hero_8659">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-1.6932737827301025" y="-148.8057403564453" z="0.0014286803780123591"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_w_transform_8660">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="67.04270935058594" y="21.701364517211914" z="0.5"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
</Actions>
</Init>
<Story name="MyStory">
<Act name="Behavior">
<ManeuverGroup maximumExecutionCount="1" name="ManeuverSequence">
<Actors selectTriggeringEntities="false">
<EntityRef entityRef="adversary"/>
</Actors>
<Maneuver name="LaneChangeSimpleManeuver">
<Event name="AdversaryAccelerates" priority="overwrite">
<Action name="AdversaryAccelerates">
<PrivateAction>
<LongitudinalAction>
<SpeedAction>
<SpeedActionDynamics dynamicsShape="step" value="50" dynamicsDimension="distance"/>
<SpeedActionTarget>
<AbsoluteTargetSpeed value="5.0"/>
</SpeedActionTarget>
</SpeedAction>
</LongitudinalAction>
</PrivateAction>
</Action>
<StartTrigger>
<ConditionGroup>
<Condition name="StartCondition" delay="0" conditionEdge="rising">
<ByEntityCondition>
<TriggeringEntities triggeringEntitiesRule="any">
<EntityRef entityRef="hero"/>
</TriggeringEntities>
<EntityCondition>
<RelativeDistanceCondition entityRef="adversary" relativeDistanceType="cartesianDistance" value="40.0" freespace="false" rule="lessThan"/>
</EntityCondition>
</ByEntityCondition>
</Condition>
</ConditionGroup>
</StartTrigger>
</Event>
<Event name="AdversaryChangesLane" priority="overwrite">
<Action name="AdversaryChangesLane">
<PrivateAction>
<LateralAction>
<LaneChangeAction>
<LaneChangeActionDynamics dynamicsShape="linear" value="25" dynamicsDimension="distance"/>
<LaneChangeTarget>
<RelativeTargetLane entityRef="adversary" value="-1"/>
</LaneChangeTarget>
</LaneChangeAction>
</LateralAction>
</PrivateAction>
</Action>
<StartTrigger>
<ConditionGroup>
<Condition name="AfterAdversaryAccelerates" delay="0" conditionEdge="rising">
<ByValueCondition>
<StoryboardElementStateCondition storyboardElementType="action" storyboardElementRef="AdversaryAccelerates" state="completeState"/>
</ByValueCondition>
</Condition>
</ConditionGroup>
</StartTrigger>
</Event>
</Maneuver>
</ManeuverGroup>
<StartTrigger>
<ConditionGroup>
<Condition name="OverallStartCondition" delay="0" conditionEdge="rising">
<ByEntityCondition>
<TriggeringEntities triggeringEntitiesRule="any">
<EntityRef entityRef="hero"/>
</TriggeringEntities>
<EntityCondition>
<TraveledDistanceCondition value="1.0"/>
</EntityCondition>
</ByEntityCondition>
</Condition>
<Condition name="StartTime" delay="0" conditionEdge="rising">
<ByValueCondition>
<SimulationTimeCondition value="0" rule="equalTo"/>
</ByValueCondition>
</Condition>
</ConditionGroup>
</StartTrigger>
<StopTrigger>
<ConditionGroup>
<Condition name="EndCondition" delay="0" conditionEdge="rising">
<ByEntityCondition>
<TriggeringEntities triggeringEntitiesRule="any">
<EntityRef entityRef="hero"/>
</TriggeringEntities>
<EntityCondition>
<TraveledDistanceCondition value="200.0"/>
</EntityCondition>
</ByEntityCondition>
</Condition>
</ConditionGroup>
</StopTrigger>
</Act>
</Story>
<StopTrigger>
<ConditionGroup>
<Condition name="criteria_RunningStopTest" delay="0" conditionEdge="rising">
<ByValueCondition>
<ParameterCondition parameterRef="" value="" rule="lessThan"/>
</ByValueCondition>
</Condition>
<Condition name="criteria_RunningRedLightTest" delay="0" conditionEdge="rising">
<ByValueCondition>
<ParameterCondition parameterRef="" value="" rule="lessThan"/>
</ByValueCondition>
</Condition>
<Condition name="criteria_WrongLaneTest" delay="0" conditionEdge="rising">
<ByValueCondition>
<ParameterCondition parameterRef="" value="" rule="lessThan"/>
</ByValueCondition>
</Condition>
<Condition name="criteria_OnSidewalkTest" delay="0" conditionEdge="rising">
<ByValueCondition>
<ParameterCondition parameterRef="" value="" rule="lessThan"/>
</ByValueCondition>
</Condition>
<Condition name="criteria_KeepLaneTest" delay="0" conditionEdge="rising">
<ByValueCondition>
<ParameterCondition parameterRef="" value="" rule="lessThan"/>
</ByValueCondition>
</Condition>
<Condition name="criteria_CollisionTest" delay="0" conditionEdge="rising">
<ByValueCondition>
<ParameterCondition parameterRef="" value="" rule="lessThan"/>
</ByValueCondition>
</Condition>
<Condition name="criteria_DrivenDistanceTest" delay="0" conditionEdge="rising">
<ByValueCondition>
<ParameterCondition parameterRef="distance_success" value="100" rule="lessThan"/>
</ByValueCondition>
</Condition>
</ConditionGroup>
</StopTrigger>
</Storyboard>
</OpenSCENARIO>
``` | Here is the result:
```
<?xml version="1.0" ?>
<OpenSCENARIO>
<FileHeader revMajor="1" revMinor="0" date="2020-03-24T12:00:00" description="CARLA:LaneChangeSimple" author=""/>
<ParameterDeclarations/>
<CatalogLocations/>
<RoadNetwork>
<LogicFile filepath="Town04"/>
<SceneGraphFile filepath=""/>
</RoadNetwork>
<Entities>
<ScenarioObject name="hero">
<Vehicle name="vehicle.tesla.model3" vehicleCategory="car">
<ParameterDeclarations/>
<Performance maxSpeed="69.444" maxAcceleration="200" maxDeceleration="10.0"/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2.1" length="4.5" height="1.8"/>
</BoundingBox>
<Axles>
<FrontAxle maxSteering="0.5" wheelDiameter="0.6" trackWidth="1.8" positionX="3.1" positionZ="0.3"/>
<RearAxle maxSteering="0.0" wheelDiameter="0.6" trackWidth="1.8" positionX="0.0" positionZ="0.3"/>
</Axles>
<Properties>
<Property name="type" value="ego_vehicle"/>
</Properties>
</Vehicle>
</ScenarioObject>
<ScenarioObject name="adversary">
<Vehicle name="vehicle.lincoln.mkz_2017" vehicleCategory="car">
<ParameterDeclarations/>
<Performance maxSpeed="69.444" maxAcceleration="200" maxDeceleration="10.0"/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2.1" length="4.5" height="1.8"/>
</BoundingBox>
<Axles>
<FrontAxle maxSteering="0.5" wheelDiameter="0.6" trackWidth="1.8" positionX="3.1" positionZ="0.3"/>
<RearAxle maxSteering="0.0" wheelDiameter="0.6" trackWidth="1.8" positionX="0.0" positionZ="0.3"/>
</Axles>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Vehicle>
</ScenarioObject>
<ScenarioObject name="standing">
<Vehicle name="vehicle.volkswagen.t2" vehicleCategory="car">
<ParameterDeclarations/>
<Performance maxSpeed="69.444" maxAcceleration="200" maxDeceleration="10.0"/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2.1" length="4.5" height="1.8"/>
</BoundingBox>
<Axles>
<FrontAxle maxSteering="0.5" wheelDiameter="0.6" trackWidth="1.8" positionX="3.1" positionZ="0.3"/>
<RearAxle maxSteering="0.0" wheelDiameter="0.6" 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_8641">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_w_transform_8642">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_close_to_hero_8643">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_close_to_adversary_8644">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_w_transform_8645">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_w_transform_8646">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_w_transform_8647">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_w_transform_8648">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_close_to_adversary_8649">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_close_to_standing_8650">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_w_transform_8651">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_w_transform_8652">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_w_transform_8653">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_close_to_adversary_8654">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_close_to_adversary_8655">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_close_to_hero_8656">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_close_to_hero_8659">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_w_transform_8660">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_close_to_hero_8661">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
</Entities>
<Storyboard>
<Init>
<Actions>
<GlobalAction>
<EnvironmentAction>
<Environment name="Environment1">
<TimeOfDay animation="false" dateTime="2019-06-25T12:00:00"/>
<Weather cloudState="free">
<Sun intensity="0.85" azimuth="0" elevation="1.31"/>
<Fog visualRange="100000.0"/>
<Precipitation precipitationType="dry" intensity="0.0"/>
</Weather>
<RoadCondition frictionScaleFactor="1.0"/>
</Environment>
</EnvironmentAction>
</GlobalAction>
<Private entityRef="hero">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-9.4" y="-152.8" z="0.5" h="1.57079632679"/>
</Position>
</TeleportAction>
</PrivateAction>
<PrivateAction>
<ControllerAction>
<AssignControllerAction>
<Controller name="HeroAgent">
<Properties>
<Property name="module" value="external_control"/>
</Properties>
</Controller>
</AssignControllerAction>
<OverrideControllerValueAction>
<Throttle value="0" active="false"/>
<Brake value="0" active="false"/>
<Clutch value="0" active="false"/>
<ParkingBrake value="0" active="false"/>
<SteeringWheel value="0" active="false"/>
<Gear number="0" active="false"/>
</OverrideControllerValueAction>
</ControllerAction>
</PrivateAction>
</Private>
<Private entityRef="adversary">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-9.4" y="-71.0" z="0.5" h="1.57079632679"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="standing">
<PrivateAction>
<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_8641">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-6.20053243637085" y="-63.043392181396484" z="0.03378055617213249"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_w_transform_8642">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="28.56172752380371" y="-71.12250518798828" z="0.5"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_close_to_hero_8643">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-14.67426586151123" y="-145.6430206298828" z="0.0014286803780123591"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_close_to_adversary_8644">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-13.138508796691895" y="-67.78260040283203" z="0.033758390694856644"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_w_transform_8645">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-97.96065521240234" y="9.31610107421875" z="0.5"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_w_transform_8646">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-16.786962509155273" y="-16.291427612304688" z="0.5"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_w_transform_8647">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-66.64057159423828" y="-7.858810901641846" z="0.5"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_w_transform_8648">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="94.08895111083984" y="46.39134216308594" z="0.5"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_close_to_adversary_8649">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-9.74221134185791" y="-54.74725341796875" z="0.03380035236477852"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_close_to_standing_8650">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-6.193196773529053" y="23.872539520263672" z="0.003051338018849492"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_w_transform_8651">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="87.70222473144531" y="-39.07255554199219" z="0.5"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_w_transform_8652">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="56.949485778808594" y="24.53388786315918" z="0.5"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_w_transform_8653">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-34.927425384521484" y="35.72544860839844" z="0.5"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_close_to_adversary_8654">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-5.170100688934326" y="-67.41073608398438" z="0.03382110595703125"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_close_to_adversary_8655">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-1.2827441692352295" y="-61.464805603027344" z="0.03383808210492134"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_close_to_hero_8656">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-6.85136604309082" y="-145.0103302001953" z="0.0014286803780123591"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_close_to_hero_8659">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-1.6932737827301025" y="-148.8057403564453" z="0.0014286803780123591"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_w_transform_8660">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="67.04270935058594" y="21.701364517211914" z="0.5"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_close_to_hero_8661">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-21.07880210876465" y="-138.86293029785156" z="0.0014286803780123591"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
</Actions>
</Init>
<Story name="MyStory">
<Act name="Behavior">
<ManeuverGroup maximumExecutionCount="1" name="ManeuverSequence">
<Actors selectTriggeringEntities="false">
<EntityRef entityRef="adversary"/>
</Actors>
<Maneuver name="LaneChangeSimpleManeuver">
<Event name="AdversaryAccelerates" priority="overwrite">
<Action name="AdversaryAccelerates">
<PrivateAction>
<LongitudinalAction>
<SpeedAction>
<SpeedActionDynamics dynamicsShape="step" value="50" dynamicsDimension="distance"/>
<SpeedActionTarget>
<AbsoluteTargetSpeed value="5.0"/>
</SpeedActionTarget>
</SpeedAction>
</LongitudinalAction>
</PrivateAction>
</Action>
<StartTrigger>
<ConditionGroup>
<Condition name="StartCondition" delay="0" conditionEdge="rising">
<ByEntityCondition>
<TriggeringEntities triggeringEntitiesRule="any">
<EntityRef entityRef="hero"/>
</TriggeringEntities>
<EntityCondition>
<RelativeDistanceCondition entityRef="adversary" relativeDistanceType="cartesianDistance" value="40.0" freespace="false" rule="lessThan"/>
</EntityCondition>
</ByEntityCondition>
</Condition>
</ConditionGroup>
</StartTrigger>
</Event>
<Event name="AdversaryChangesLane" priority="overwrite">
<Action name="AdversaryChangesLane">
<PrivateAction>
<LateralAction>
<LaneChangeAction>
<LaneChangeActionDynamics dynamicsShape="linear" value="25" dynamicsDimension="distance"/>
<LaneChangeTarget>
<RelativeTargetLane entityRef="adversary" value="-1"/>
</LaneChangeTarget>
</LaneChangeAction>
</LateralAction>
</PrivateAction>
</Action>
<StartTrigger>
<ConditionGroup>
<Condition name="AfterAdversaryAccelerates" delay="0" conditionEdge="rising">
<ByValueCondition>
<StoryboardElementStateCondition storyboardElementType="action" storyboardElementRef="AdversaryAccelerates" state="completeState"/>
</ByValueCondition>
</Condition>
</ConditionGroup>
</StartTrigger>
</Event>
</Maneuver>
</ManeuverGroup>
<StartTrigger>
<ConditionGroup>
<Condition name="OverallStartCondition" delay="0" conditionEdge="rising">
<ByEntityCondition>
<TriggeringEntities triggeringEntitiesRule="any">
<EntityRef entityRef="hero"/>
</TriggeringEntities>
<EntityCondition>
<TraveledDistanceCondition value="1.0"/>
</EntityCondition>
</ByEntityCondition>
</Condition>
<Condition name="StartTime" delay="0" conditionEdge="rising">
<ByValueCondition>
<SimulationTimeCondition value="0" rule="equalTo"/>
</ByValueCondition>
</Condition>
</ConditionGroup>
</StartTrigger>
<StopTrigger>
<ConditionGroup>
<Condition name="EndCondition" delay="0" conditionEdge="rising">
<ByEntityCondition>
<TriggeringEntities triggeringEntitiesRule="any">
<EntityRef entityRef="hero"/>
</TriggeringEntities>
<EntityCondition>
<TraveledDistanceCondition value="200.0"/>
</EntityCondition>
</ByEntityCondition>
</Condition>
</ConditionGroup>
</StopTrigger>
</Act>
</Story>
<StopTrigger>
<ConditionGroup>
<Condition name="criteria_RunningStopTest" delay="0" conditionEdge="rising">
<ByValueCondition>
<ParameterCondition parameterRef="" value="" rule="lessThan"/>
</ByValueCondition>
</Condition>
<Condition name="criteria_RunningRedLightTest" delay="0" conditionEdge="rising">
<ByValueCondition>
<ParameterCondition parameterRef="" value="" rule="lessThan"/>
</ByValueCondition>
</Condition>
<Condition name="criteria_WrongLaneTest" delay="0" conditionEdge="rising">
<ByValueCondition>
<ParameterCondition parameterRef="" value="" rule="lessThan"/>
</ByValueCondition>
</Condition>
<Condition name="criteria_OnSidewalkTest" delay="0" conditionEdge="rising">
<ByValueCondition>
<ParameterCondition parameterRef="" value="" rule="lessThan"/>
</ByValueCondition>
</Condition>
<Condition name="criteria_KeepLaneTest" delay="0" conditionEdge="rising">
<ByValueCondition>
<ParameterCondition parameterRef="" value="" rule="lessThan"/>
</ByValueCondition>
</Condition>
<Condition name="criteria_CollisionTest" delay="0" conditionEdge="rising">
<ByValueCondition>
<ParameterCondition parameterRef="" value="" rule="lessThan"/>
</ByValueCondition>
</Condition>
<Condition name="criteria_DrivenDistanceTest" delay="0" conditionEdge="rising">
<ByValueCondition>
<ParameterCondition parameterRef="distance_success" value="100" rule="lessThan"/>
</ByValueCondition>
</Condition>
</ConditionGroup>
</StopTrigger>
</Storyboard>
</OpenSCENARIO>
``` |
i would like you to demonstrate add pedestrian at location (63.53, -36.16, 0.5)?
```
<?xml version="1.0" ?>
<OpenSCENARIO>
<FileHeader revMajor="1" revMinor="0" date="2020-03-24T12:00:00" description="CARLA:LaneChangeSimple" author=""/>
<ParameterDeclarations/>
<CatalogLocations/>
<RoadNetwork>
<LogicFile filepath="Town04"/>
<SceneGraphFile filepath=""/>
</RoadNetwork>
<Entities>
<ScenarioObject name="hero">
<Vehicle name="vehicle.tesla.model3" vehicleCategory="car">
<ParameterDeclarations/>
<Performance maxSpeed="69.444" maxAcceleration="200" maxDeceleration="10.0"/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2.1" length="4.5" height="1.8"/>
</BoundingBox>
<Axles>
<FrontAxle maxSteering="0.5" wheelDiameter="0.6" trackWidth="1.8" positionX="3.1" positionZ="0.3"/>
<RearAxle maxSteering="0.0" wheelDiameter="0.6" trackWidth="1.8" positionX="0.0" positionZ="0.3"/>
</Axles>
<Properties>
<Property name="type" value="ego_vehicle"/>
</Properties>
</Vehicle>
</ScenarioObject>
<ScenarioObject name="adversary">
<Vehicle name="vehicle.lincoln.mkz_2017" vehicleCategory="car">
<ParameterDeclarations/>
<Performance maxSpeed="69.444" maxAcceleration="200" maxDeceleration="10.0"/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2.1" length="4.5" height="1.8"/>
</BoundingBox>
<Axles>
<FrontAxle maxSteering="0.5" wheelDiameter="0.6" trackWidth="1.8" positionX="3.1" positionZ="0.3"/>
<RearAxle maxSteering="0.0" wheelDiameter="0.6" trackWidth="1.8" positionX="0.0" positionZ="0.3"/>
</Axles>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Vehicle>
</ScenarioObject>
<ScenarioObject name="standing">
<Vehicle name="vehicle.volkswagen.t2" vehicleCategory="car">
<ParameterDeclarations/>
<Performance maxSpeed="69.444" maxAcceleration="200" maxDeceleration="10.0"/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2.1" length="4.5" height="1.8"/>
</BoundingBox>
<Axles>
<FrontAxle maxSteering="0.5" wheelDiameter="0.6" trackWidth="1.8" positionX="3.1" positionZ="0.3"/>
<RearAxle maxSteering="0.0" wheelDiameter="0.6" trackWidth="1.8" positionX="0.0" positionZ="0.3"/>
</Axles>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Vehicle>
</ScenarioObject>
<ScenarioObject name="pedestrian_close_to_standing_11540">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_w_transform_11541">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_w_transform_11542">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_w_transform_11543">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
</Entities>
<Storyboard>
<Init>
<Actions>
<GlobalAction>
<EnvironmentAction>
<Environment name="Environment1">
<TimeOfDay animation="false" dateTime="2019-06-25T12:00:00"/>
<Weather cloudState="free">
<Sun intensity="0.85" azimuth="0" elevation="1.31"/>
<Fog visualRange="100000.0"/>
<Precipitation precipitationType="dry" intensity="0.0"/>
</Weather>
<RoadCondition frictionScaleFactor="1.0"/>
</Environment>
</EnvironmentAction>
</GlobalAction>
<Private entityRef="hero">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-9.4" y="-152.8" z="0.5" h="1.57079632679"/>
</Position>
</TeleportAction>
</PrivateAction>
<PrivateAction>
<ControllerAction>
<AssignControllerAction>
<Controller name="HeroAgent">
<Properties>
<Property name="module" value="external_control"/>
</Properties>
</Controller>
</AssignControllerAction>
<OverrideControllerValueAction>
<Throttle value="0" active="false"/>
<Brake value="0" active="false"/>
<Clutch value="0" active="false"/>
<ParkingBrake value="0" active="false"/>
<SteeringWheel value="0" active="false"/>
<Gear number="0" active="false"/>
</OverrideControllerValueAction>
</ControllerAction>
</PrivateAction>
</Private>
<Private entityRef="adversary">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-9.4" y="-71.0" z="0.5" h="1.57079632679"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="standing">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-8.2" y="29.2" z="0.5" h="1.57079632679"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_close_to_standing_11540">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-1.926169514656067" y="20.18172836303711" z="0.0031265639699995518"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_w_transform_11541">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="86.56839752197266" y="-71.73662567138672" z="0.5"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_w_transform_11542">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="39.8942756652832" y="40.39242935180664" z="0.5"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_w_transform_11543">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-93.2330322265625" y="27.149343490600586" z="0.5"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
</Actions>
</Init>
<Story name="MyStory">
<Act name="Behavior">
<ManeuverGroup maximumExecutionCount="1" name="ManeuverSequence">
<Actors selectTriggeringEntities="false">
<EntityRef entityRef="adversary"/>
</Actors>
<Maneuver name="LaneChangeSimpleManeuver">
<Event name="AdversaryAccelerates" priority="overwrite">
<Action name="AdversaryAccelerates">
<PrivateAction>
<LongitudinalAction>
<SpeedAction>
<SpeedActionDynamics dynamicsShape="step" value="50" dynamicsDimension="distance"/>
<SpeedActionTarget>
<AbsoluteTargetSpeed value="5.0"/>
</SpeedActionTarget>
</SpeedAction>
</LongitudinalAction>
</PrivateAction>
</Action>
<StartTrigger>
<ConditionGroup>
<Condition name="StartCondition" delay="0" conditionEdge="rising">
<ByEntityCondition>
<TriggeringEntities triggeringEntitiesRule="any">
<EntityRef entityRef="hero"/>
</TriggeringEntities>
<EntityCondition>
<RelativeDistanceCondition entityRef="adversary" relativeDistanceType="cartesianDistance" value="40.0" freespace="false" rule="lessThan"/>
</EntityCondition>
</ByEntityCondition>
</Condition>
</ConditionGroup>
</StartTrigger>
</Event>
<Event name="AdversaryChangesLane" priority="overwrite">
<Action name="AdversaryChangesLane">
<PrivateAction>
<LateralAction>
<LaneChangeAction>
<LaneChangeActionDynamics dynamicsShape="linear" value="25" dynamicsDimension="distance"/>
<LaneChangeTarget>
<RelativeTargetLane entityRef="adversary" value="-1"/>
</LaneChangeTarget>
</LaneChangeAction>
</LateralAction>
</PrivateAction>
</Action>
<StartTrigger>
<ConditionGroup>
<Condition name="AfterAdversaryAccelerates" delay="0" conditionEdge="rising">
<ByValueCondition>
<StoryboardElementStateCondition storyboardElementType="action" storyboardElementRef="AdversaryAccelerates" state="completeState"/>
</ByValueCondition>
</Condition>
</ConditionGroup>
</StartTrigger>
</Event>
</Maneuver>
</ManeuverGroup>
<StartTrigger>
<ConditionGroup>
<Condition name="OverallStartCondition" delay="0" conditionEdge="rising">
<ByEntityCondition>
<TriggeringEntities triggeringEntitiesRule="any">
<EntityRef entityRef="hero"/>
</TriggeringEntities>
<EntityCondition>
<TraveledDistanceCondition value="1.0"/>
</EntityCondition>
</ByEntityCondition>
</Condition>
<Condition name="StartTime" delay="0" conditionEdge="rising">
<ByValueCondition>
<SimulationTimeCondition value="0" rule="equalTo"/>
</ByValueCondition>
</Condition>
</ConditionGroup>
</StartTrigger>
<StopTrigger>
<ConditionGroup>
<Condition name="EndCondition" delay="0" conditionEdge="rising">
<ByEntityCondition>
<TriggeringEntities triggeringEntitiesRule="any">
<EntityRef entityRef="hero"/>
</TriggeringEntities>
<EntityCondition>
<TraveledDistanceCondition value="200.0"/>
</EntityCondition>
</ByEntityCondition>
</Condition>
</ConditionGroup>
</StopTrigger>
</Act>
</Story>
<StopTrigger>
<ConditionGroup>
<Condition name="criteria_RunningStopTest" delay="0" conditionEdge="rising">
<ByValueCondition>
<ParameterCondition parameterRef="" value="" rule="lessThan"/>
</ByValueCondition>
</Condition>
<Condition name="criteria_RunningRedLightTest" delay="0" conditionEdge="rising">
<ByValueCondition>
<ParameterCondition parameterRef="" value="" rule="lessThan"/>
</ByValueCondition>
</Condition>
<Condition name="criteria_WrongLaneTest" delay="0" conditionEdge="rising">
<ByValueCondition>
<ParameterCondition parameterRef="" value="" rule="lessThan"/>
</ByValueCondition>
</Condition>
<Condition name="criteria_OnSidewalkTest" delay="0" conditionEdge="rising">
<ByValueCondition>
<ParameterCondition parameterRef="" value="" rule="lessThan"/>
</ByValueCondition>
</Condition>
<Condition name="criteria_KeepLaneTest" delay="0" conditionEdge="rising">
<ByValueCondition>
<ParameterCondition parameterRef="" value="" rule="lessThan"/>
</ByValueCondition>
</Condition>
<Condition name="criteria_CollisionTest" delay="0" conditionEdge="rising">
<ByValueCondition>
<ParameterCondition parameterRef="" value="" rule="lessThan"/>
</ByValueCondition>
</Condition>
<Condition name="criteria_DrivenDistanceTest" delay="0" conditionEdge="rising">
<ByValueCondition>
<ParameterCondition parameterRef="distance_success" value="100" rule="lessThan"/>
</ByValueCondition>
</Condition>
</ConditionGroup>
</StopTrigger>
</Storyboard>
</OpenSCENARIO>
``` | Here is the result:
```
<?xml version="1.0" ?>
<OpenSCENARIO>
<FileHeader revMajor="1" revMinor="0" date="2020-03-24T12:00:00" description="CARLA:LaneChangeSimple" author=""/>
<ParameterDeclarations/>
<CatalogLocations/>
<RoadNetwork>
<LogicFile filepath="Town04"/>
<SceneGraphFile filepath=""/>
</RoadNetwork>
<Entities>
<ScenarioObject name="hero">
<Vehicle name="vehicle.tesla.model3" vehicleCategory="car">
<ParameterDeclarations/>
<Performance maxSpeed="69.444" maxAcceleration="200" maxDeceleration="10.0"/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2.1" length="4.5" height="1.8"/>
</BoundingBox>
<Axles>
<FrontAxle maxSteering="0.5" wheelDiameter="0.6" trackWidth="1.8" positionX="3.1" positionZ="0.3"/>
<RearAxle maxSteering="0.0" wheelDiameter="0.6" trackWidth="1.8" positionX="0.0" positionZ="0.3"/>
</Axles>
<Properties>
<Property name="type" value="ego_vehicle"/>
</Properties>
</Vehicle>
</ScenarioObject>
<ScenarioObject name="adversary">
<Vehicle name="vehicle.lincoln.mkz_2017" vehicleCategory="car">
<ParameterDeclarations/>
<Performance maxSpeed="69.444" maxAcceleration="200" maxDeceleration="10.0"/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2.1" length="4.5" height="1.8"/>
</BoundingBox>
<Axles>
<FrontAxle maxSteering="0.5" wheelDiameter="0.6" trackWidth="1.8" positionX="3.1" positionZ="0.3"/>
<RearAxle maxSteering="0.0" wheelDiameter="0.6" trackWidth="1.8" positionX="0.0" positionZ="0.3"/>
</Axles>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Vehicle>
</ScenarioObject>
<ScenarioObject name="standing">
<Vehicle name="vehicle.volkswagen.t2" vehicleCategory="car">
<ParameterDeclarations/>
<Performance maxSpeed="69.444" maxAcceleration="200" maxDeceleration="10.0"/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2.1" length="4.5" height="1.8"/>
</BoundingBox>
<Axles>
<FrontAxle maxSteering="0.5" wheelDiameter="0.6" trackWidth="1.8" positionX="3.1" positionZ="0.3"/>
<RearAxle maxSteering="0.0" wheelDiameter="0.6" trackWidth="1.8" positionX="0.0" positionZ="0.3"/>
</Axles>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Vehicle>
</ScenarioObject>
<ScenarioObject name="pedestrian_close_to_standing_11540">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_w_transform_11541">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_w_transform_11542">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_w_transform_11543">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_w_transform_11544">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
</Entities>
<Storyboard>
<Init>
<Actions>
<GlobalAction>
<EnvironmentAction>
<Environment name="Environment1">
<TimeOfDay animation="false" dateTime="2019-06-25T12:00:00"/>
<Weather cloudState="free">
<Sun intensity="0.85" azimuth="0" elevation="1.31"/>
<Fog visualRange="100000.0"/>
<Precipitation precipitationType="dry" intensity="0.0"/>
</Weather>
<RoadCondition frictionScaleFactor="1.0"/>
</Environment>
</EnvironmentAction>
</GlobalAction>
<Private entityRef="hero">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-9.4" y="-152.8" z="0.5" h="1.57079632679"/>
</Position>
</TeleportAction>
</PrivateAction>
<PrivateAction>
<ControllerAction>
<AssignControllerAction>
<Controller name="HeroAgent">
<Properties>
<Property name="module" value="external_control"/>
</Properties>
</Controller>
</AssignControllerAction>
<OverrideControllerValueAction>
<Throttle value="0" active="false"/>
<Brake value="0" active="false"/>
<Clutch value="0" active="false"/>
<ParkingBrake value="0" active="false"/>
<SteeringWheel value="0" active="false"/>
<Gear number="0" active="false"/>
</OverrideControllerValueAction>
</ControllerAction>
</PrivateAction>
</Private>
<Private entityRef="adversary">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-9.4" y="-71.0" z="0.5" h="1.57079632679"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="standing">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-8.2" y="29.2" z="0.5" h="1.57079632679"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_close_to_standing_11540">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-1.926169514656067" y="20.18172836303711" z="0.0031265639699995518"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_w_transform_11541">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="86.56839752197266" y="-71.73662567138672" z="0.5"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_w_transform_11542">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="39.8942756652832" y="40.39242935180664" z="0.5"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_w_transform_11543">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-93.2330322265625" y="27.149343490600586" z="0.5"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_w_transform_11544">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="63.52956771850586" y="-36.1561279296875" z="0.5"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
</Actions>
</Init>
<Story name="MyStory">
<Act name="Behavior">
<ManeuverGroup maximumExecutionCount="1" name="ManeuverSequence">
<Actors selectTriggeringEntities="false">
<EntityRef entityRef="adversary"/>
</Actors>
<Maneuver name="LaneChangeSimpleManeuver">
<Event name="AdversaryAccelerates" priority="overwrite">
<Action name="AdversaryAccelerates">
<PrivateAction>
<LongitudinalAction>
<SpeedAction>
<SpeedActionDynamics dynamicsShape="step" value="50" dynamicsDimension="distance"/>
<SpeedActionTarget>
<AbsoluteTargetSpeed value="5.0"/>
</SpeedActionTarget>
</SpeedAction>
</LongitudinalAction>
</PrivateAction>
</Action>
<StartTrigger>
<ConditionGroup>
<Condition name="StartCondition" delay="0" conditionEdge="rising">
<ByEntityCondition>
<TriggeringEntities triggeringEntitiesRule="any">
<EntityRef entityRef="hero"/>
</TriggeringEntities>
<EntityCondition>
<RelativeDistanceCondition entityRef="adversary" relativeDistanceType="cartesianDistance" value="40.0" freespace="false" rule="lessThan"/>
</EntityCondition>
</ByEntityCondition>
</Condition>
</ConditionGroup>
</StartTrigger>
</Event>
<Event name="AdversaryChangesLane" priority="overwrite">
<Action name="AdversaryChangesLane">
<PrivateAction>
<LateralAction>
<LaneChangeAction>
<LaneChangeActionDynamics dynamicsShape="linear" value="25" dynamicsDimension="distance"/>
<LaneChangeTarget>
<RelativeTargetLane entityRef="adversary" value="-1"/>
</LaneChangeTarget>
</LaneChangeAction>
</LateralAction>
</PrivateAction>
</Action>
<StartTrigger>
<ConditionGroup>
<Condition name="AfterAdversaryAccelerates" delay="0" conditionEdge="rising">
<ByValueCondition>
<StoryboardElementStateCondition storyboardElementType="action" storyboardElementRef="AdversaryAccelerates" state="completeState"/>
</ByValueCondition>
</Condition>
</ConditionGroup>
</StartTrigger>
</Event>
</Maneuver>
</ManeuverGroup>
<StartTrigger>
<ConditionGroup>
<Condition name="OverallStartCondition" delay="0" conditionEdge="rising">
<ByEntityCondition>
<TriggeringEntities triggeringEntitiesRule="any">
<EntityRef entityRef="hero"/>
</TriggeringEntities>
<EntityCondition>
<TraveledDistanceCondition value="1.0"/>
</EntityCondition>
</ByEntityCondition>
</Condition>
<Condition name="StartTime" delay="0" conditionEdge="rising">
<ByValueCondition>
<SimulationTimeCondition value="0" rule="equalTo"/>
</ByValueCondition>
</Condition>
</ConditionGroup>
</StartTrigger>
<StopTrigger>
<ConditionGroup>
<Condition name="EndCondition" delay="0" conditionEdge="rising">
<ByEntityCondition>
<TriggeringEntities triggeringEntitiesRule="any">
<EntityRef entityRef="hero"/>
</TriggeringEntities>
<EntityCondition>
<TraveledDistanceCondition value="200.0"/>
</EntityCondition>
</ByEntityCondition>
</Condition>
</ConditionGroup>
</StopTrigger>
</Act>
</Story>
<StopTrigger>
<ConditionGroup>
<Condition name="criteria_RunningStopTest" delay="0" conditionEdge="rising">
<ByValueCondition>
<ParameterCondition parameterRef="" value="" rule="lessThan"/>
</ByValueCondition>
</Condition>
<Condition name="criteria_RunningRedLightTest" delay="0" conditionEdge="rising">
<ByValueCondition>
<ParameterCondition parameterRef="" value="" rule="lessThan"/>
</ByValueCondition>
</Condition>
<Condition name="criteria_WrongLaneTest" delay="0" conditionEdge="rising">
<ByValueCondition>
<ParameterCondition parameterRef="" value="" rule="lessThan"/>
</ByValueCondition>
</Condition>
<Condition name="criteria_OnSidewalkTest" delay="0" conditionEdge="rising">
<ByValueCondition>
<ParameterCondition parameterRef="" value="" rule="lessThan"/>
</ByValueCondition>
</Condition>
<Condition name="criteria_KeepLaneTest" delay="0" conditionEdge="rising">
<ByValueCondition>
<ParameterCondition parameterRef="" value="" rule="lessThan"/>
</ByValueCondition>
</Condition>
<Condition name="criteria_CollisionTest" delay="0" conditionEdge="rising">
<ByValueCondition>
<ParameterCondition parameterRef="" value="" rule="lessThan"/>
</ByValueCondition>
</Condition>
<Condition name="criteria_DrivenDistanceTest" delay="0" conditionEdge="rising">
<ByValueCondition>
<ParameterCondition parameterRef="distance_success" value="100" rule="lessThan"/>
</ByValueCondition>
</Condition>
</ConditionGroup>
</StopTrigger>
</Storyboard>
</OpenSCENARIO>
``` |
add pedestrian close to hero?
```
<?xml version="1.0" ?>
<OpenSCENARIO>
<FileHeader revMajor="1" revMinor="0" date="2020-03-24T12:00:00" description="CARLA:LaneChangeSimple" author=""/>
<ParameterDeclarations/>
<CatalogLocations/>
<RoadNetwork>
<LogicFile filepath="Town04"/>
<SceneGraphFile filepath=""/>
</RoadNetwork>
<Entities>
<ScenarioObject name="hero">
<Vehicle name="vehicle.tesla.model3" vehicleCategory="car">
<ParameterDeclarations/>
<Performance maxSpeed="69.444" maxAcceleration="200" maxDeceleration="10.0"/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2.1" length="4.5" height="1.8"/>
</BoundingBox>
<Axles>
<FrontAxle maxSteering="0.5" wheelDiameter="0.6" trackWidth="1.8" positionX="3.1" positionZ="0.3"/>
<RearAxle maxSteering="0.0" wheelDiameter="0.6" trackWidth="1.8" positionX="0.0" positionZ="0.3"/>
</Axles>
<Properties>
<Property name="type" value="ego_vehicle"/>
</Properties>
</Vehicle>
</ScenarioObject>
<ScenarioObject name="adversary">
<Vehicle name="vehicle.lincoln.mkz_2017" vehicleCategory="car">
<ParameterDeclarations/>
<Performance maxSpeed="69.444" maxAcceleration="200" maxDeceleration="10.0"/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2.1" length="4.5" height="1.8"/>
</BoundingBox>
<Axles>
<FrontAxle maxSteering="0.5" wheelDiameter="0.6" trackWidth="1.8" positionX="3.1" positionZ="0.3"/>
<RearAxle maxSteering="0.0" wheelDiameter="0.6" trackWidth="1.8" positionX="0.0" positionZ="0.3"/>
</Axles>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Vehicle>
</ScenarioObject>
<ScenarioObject name="standing">
<Vehicle name="vehicle.volkswagen.t2" vehicleCategory="car">
<ParameterDeclarations/>
<Performance maxSpeed="69.444" maxAcceleration="200" maxDeceleration="10.0"/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2.1" length="4.5" height="1.8"/>
</BoundingBox>
<Axles>
<FrontAxle maxSteering="0.5" wheelDiameter="0.6" trackWidth="1.8" positionX="3.1" positionZ="0.3"/>
<RearAxle maxSteering="0.0" wheelDiameter="0.6" trackWidth="1.8" positionX="0.0" positionZ="0.3"/>
</Axles>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Vehicle>
</ScenarioObject>
<ScenarioObject name="pedestrian_close_to_adversary_10043">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_close_to_standing_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>
<ScenarioObject name="pedestrian_w_transform_10045">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_w_transform_10046">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_close_to_standing_10047">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
</Entities>
<Storyboard>
<Init>
<Actions>
<GlobalAction>
<EnvironmentAction>
<Environment name="Environment1">
<TimeOfDay animation="false" dateTime="2019-06-25T12:00:00"/>
<Weather cloudState="free">
<Sun intensity="0.85" azimuth="0" elevation="1.31"/>
<Fog visualRange="100000.0"/>
<Precipitation precipitationType="dry" intensity="0.0"/>
</Weather>
<RoadCondition frictionScaleFactor="1.0"/>
</Environment>
</EnvironmentAction>
</GlobalAction>
<Private entityRef="hero">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-9.4" y="-152.8" z="0.5" h="1.57079632679"/>
</Position>
</TeleportAction>
</PrivateAction>
<PrivateAction>
<ControllerAction>
<AssignControllerAction>
<Controller name="HeroAgent">
<Properties>
<Property name="module" value="external_control"/>
</Properties>
</Controller>
</AssignControllerAction>
<OverrideControllerValueAction>
<Throttle value="0" active="false"/>
<Brake value="0" active="false"/>
<Clutch value="0" active="false"/>
<ParkingBrake value="0" active="false"/>
<SteeringWheel value="0" active="false"/>
<Gear number="0" active="false"/>
</OverrideControllerValueAction>
</ControllerAction>
</PrivateAction>
</Private>
<Private entityRef="adversary">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-9.4" y="-71.0" z="0.5" h="1.57079632679"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="standing">
<PrivateAction>
<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_10043">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-5.210448741912842" y="-73.2973861694336" z="0.03381187468767166"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_close_to_standing_10044">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-3.0726521015167236" y="25.738208770751953" z="0.0030700683128088713"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_w_transform_10045">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-38.11513900756836" y="62.08302307128906" z="0.5"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_w_transform_10046">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="98.89494323730469" y="-36.27470016479492" z="0.5"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_close_to_standing_10047">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-8.748420715332031" y="22.73910140991211" z="0.003030052175745368"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
</Actions>
</Init>
<Story name="MyStory">
<Act name="Behavior">
<ManeuverGroup maximumExecutionCount="1" name="ManeuverSequence">
<Actors selectTriggeringEntities="false">
<EntityRef entityRef="adversary"/>
</Actors>
<Maneuver name="LaneChangeSimpleManeuver">
<Event name="AdversaryAccelerates" priority="overwrite">
<Action name="AdversaryAccelerates">
<PrivateAction>
<LongitudinalAction>
<SpeedAction>
<SpeedActionDynamics dynamicsShape="step" value="50" dynamicsDimension="distance"/>
<SpeedActionTarget>
<AbsoluteTargetSpeed value="5.0"/>
</SpeedActionTarget>
</SpeedAction>
</LongitudinalAction>
</PrivateAction>
</Action>
<StartTrigger>
<ConditionGroup>
<Condition name="StartCondition" delay="0" conditionEdge="rising">
<ByEntityCondition>
<TriggeringEntities triggeringEntitiesRule="any">
<EntityRef entityRef="hero"/>
</TriggeringEntities>
<EntityCondition>
<RelativeDistanceCondition entityRef="adversary" relativeDistanceType="cartesianDistance" value="40.0" freespace="false" rule="lessThan"/>
</EntityCondition>
</ByEntityCondition>
</Condition>
</ConditionGroup>
</StartTrigger>
</Event>
<Event name="AdversaryChangesLane" priority="overwrite">
<Action name="AdversaryChangesLane">
<PrivateAction>
<LateralAction>
<LaneChangeAction>
<LaneChangeActionDynamics dynamicsShape="linear" value="25" dynamicsDimension="distance"/>
<LaneChangeTarget>
<RelativeTargetLane entityRef="adversary" value="-1"/>
</LaneChangeTarget>
</LaneChangeAction>
</LateralAction>
</PrivateAction>
</Action>
<StartTrigger>
<ConditionGroup>
<Condition name="AfterAdversaryAccelerates" delay="0" conditionEdge="rising">
<ByValueCondition>
<StoryboardElementStateCondition storyboardElementType="action" storyboardElementRef="AdversaryAccelerates" state="completeState"/>
</ByValueCondition>
</Condition>
</ConditionGroup>
</StartTrigger>
</Event>
</Maneuver>
</ManeuverGroup>
<StartTrigger>
<ConditionGroup>
<Condition name="OverallStartCondition" delay="0" conditionEdge="rising">
<ByEntityCondition>
<TriggeringEntities triggeringEntitiesRule="any">
<EntityRef entityRef="hero"/>
</TriggeringEntities>
<EntityCondition>
<TraveledDistanceCondition value="1.0"/>
</EntityCondition>
</ByEntityCondition>
</Condition>
<Condition name="StartTime" delay="0" conditionEdge="rising">
<ByValueCondition>
<SimulationTimeCondition value="0" rule="equalTo"/>
</ByValueCondition>
</Condition>
</ConditionGroup>
</StartTrigger>
<StopTrigger>
<ConditionGroup>
<Condition name="EndCondition" delay="0" conditionEdge="rising">
<ByEntityCondition>
<TriggeringEntities triggeringEntitiesRule="any">
<EntityRef entityRef="hero"/>
</TriggeringEntities>
<EntityCondition>
<TraveledDistanceCondition value="200.0"/>
</EntityCondition>
</ByEntityCondition>
</Condition>
</ConditionGroup>
</StopTrigger>
</Act>
</Story>
<StopTrigger>
<ConditionGroup>
<Condition name="criteria_RunningStopTest" delay="0" conditionEdge="rising">
<ByValueCondition>
<ParameterCondition parameterRef="" value="" rule="lessThan"/>
</ByValueCondition>
</Condition>
<Condition name="criteria_RunningRedLightTest" delay="0" conditionEdge="rising">
<ByValueCondition>
<ParameterCondition parameterRef="" value="" rule="lessThan"/>
</ByValueCondition>
</Condition>
<Condition name="criteria_WrongLaneTest" delay="0" conditionEdge="rising">
<ByValueCondition>
<ParameterCondition parameterRef="" value="" rule="lessThan"/>
</ByValueCondition>
</Condition>
<Condition name="criteria_OnSidewalkTest" delay="0" conditionEdge="rising">
<ByValueCondition>
<ParameterCondition parameterRef="" value="" rule="lessThan"/>
</ByValueCondition>
</Condition>
<Condition name="criteria_KeepLaneTest" delay="0" conditionEdge="rising">
<ByValueCondition>
<ParameterCondition parameterRef="" value="" rule="lessThan"/>
</ByValueCondition>
</Condition>
<Condition name="criteria_CollisionTest" delay="0" conditionEdge="rising">
<ByValueCondition>
<ParameterCondition parameterRef="" value="" rule="lessThan"/>
</ByValueCondition>
</Condition>
<Condition name="criteria_DrivenDistanceTest" delay="0" conditionEdge="rising">
<ByValueCondition>
<ParameterCondition parameterRef="distance_success" value="100" rule="lessThan"/>
</ByValueCondition>
</Condition>
</ConditionGroup>
</StopTrigger>
</Storyboard>
</OpenSCENARIO>
``` | Here is the result:
```
<?xml version="1.0" ?>
<OpenSCENARIO>
<FileHeader revMajor="1" revMinor="0" date="2020-03-24T12:00:00" description="CARLA:LaneChangeSimple" author=""/>
<ParameterDeclarations/>
<CatalogLocations/>
<RoadNetwork>
<LogicFile filepath="Town04"/>
<SceneGraphFile filepath=""/>
</RoadNetwork>
<Entities>
<ScenarioObject name="hero">
<Vehicle name="vehicle.tesla.model3" vehicleCategory="car">
<ParameterDeclarations/>
<Performance maxSpeed="69.444" maxAcceleration="200" maxDeceleration="10.0"/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2.1" length="4.5" height="1.8"/>
</BoundingBox>
<Axles>
<FrontAxle maxSteering="0.5" wheelDiameter="0.6" trackWidth="1.8" positionX="3.1" positionZ="0.3"/>
<RearAxle maxSteering="0.0" wheelDiameter="0.6" trackWidth="1.8" positionX="0.0" positionZ="0.3"/>
</Axles>
<Properties>
<Property name="type" value="ego_vehicle"/>
</Properties>
</Vehicle>
</ScenarioObject>
<ScenarioObject name="adversary">
<Vehicle name="vehicle.lincoln.mkz_2017" vehicleCategory="car">
<ParameterDeclarations/>
<Performance maxSpeed="69.444" maxAcceleration="200" maxDeceleration="10.0"/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2.1" length="4.5" height="1.8"/>
</BoundingBox>
<Axles>
<FrontAxle maxSteering="0.5" wheelDiameter="0.6" trackWidth="1.8" positionX="3.1" positionZ="0.3"/>
<RearAxle maxSteering="0.0" wheelDiameter="0.6" trackWidth="1.8" positionX="0.0" positionZ="0.3"/>
</Axles>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Vehicle>
</ScenarioObject>
<ScenarioObject name="standing">
<Vehicle name="vehicle.volkswagen.t2" vehicleCategory="car">
<ParameterDeclarations/>
<Performance maxSpeed="69.444" maxAcceleration="200" maxDeceleration="10.0"/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2.1" length="4.5" height="1.8"/>
</BoundingBox>
<Axles>
<FrontAxle maxSteering="0.5" wheelDiameter="0.6" trackWidth="1.8" positionX="3.1" positionZ="0.3"/>
<RearAxle maxSteering="0.0" wheelDiameter="0.6" 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_10043">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_close_to_standing_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>
<ScenarioObject name="pedestrian_w_transform_10045">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_w_transform_10046">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_close_to_standing_10047">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_close_to_hero_10048">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
</Entities>
<Storyboard>
<Init>
<Actions>
<GlobalAction>
<EnvironmentAction>
<Environment name="Environment1">
<TimeOfDay animation="false" dateTime="2019-06-25T12:00:00"/>
<Weather cloudState="free">
<Sun intensity="0.85" azimuth="0" elevation="1.31"/>
<Fog visualRange="100000.0"/>
<Precipitation precipitationType="dry" intensity="0.0"/>
</Weather>
<RoadCondition frictionScaleFactor="1.0"/>
</Environment>
</EnvironmentAction>
</GlobalAction>
<Private entityRef="hero">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-9.4" y="-152.8" z="0.5" h="1.57079632679"/>
</Position>
</TeleportAction>
</PrivateAction>
<PrivateAction>
<ControllerAction>
<AssignControllerAction>
<Controller name="HeroAgent">
<Properties>
<Property name="module" value="external_control"/>
</Properties>
</Controller>
</AssignControllerAction>
<OverrideControllerValueAction>
<Throttle value="0" active="false"/>
<Brake value="0" active="false"/>
<Clutch value="0" active="false"/>
<ParkingBrake value="0" active="false"/>
<SteeringWheel value="0" active="false"/>
<Gear number="0" active="false"/>
</OverrideControllerValueAction>
</ControllerAction>
</PrivateAction>
</Private>
<Private entityRef="adversary">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-9.4" y="-71.0" z="0.5" h="1.57079632679"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="standing">
<PrivateAction>
<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_10043">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-5.210448741912842" y="-73.2973861694336" z="0.03381187468767166"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_close_to_standing_10044">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-3.0726521015167236" y="25.738208770751953" z="0.0030700683128088713"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_w_transform_10045">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-38.11513900756836" y="62.08302307128906" z="0.5"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_w_transform_10046">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="98.89494323730469" y="-36.27470016479492" z="0.5"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_close_to_standing_10047">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-8.748420715332031" y="22.73910140991211" z="0.003030052175745368"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_close_to_hero_10048">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="4.77431058883667" y="-154.4894256591797" z="0.0014286803780123591"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
</Actions>
</Init>
<Story name="MyStory">
<Act name="Behavior">
<ManeuverGroup maximumExecutionCount="1" name="ManeuverSequence">
<Actors selectTriggeringEntities="false">
<EntityRef entityRef="adversary"/>
</Actors>
<Maneuver name="LaneChangeSimpleManeuver">
<Event name="AdversaryAccelerates" priority="overwrite">
<Action name="AdversaryAccelerates">
<PrivateAction>
<LongitudinalAction>
<SpeedAction>
<SpeedActionDynamics dynamicsShape="step" value="50" dynamicsDimension="distance"/>
<SpeedActionTarget>
<AbsoluteTargetSpeed value="5.0"/>
</SpeedActionTarget>
</SpeedAction>
</LongitudinalAction>
</PrivateAction>
</Action>
<StartTrigger>
<ConditionGroup>
<Condition name="StartCondition" delay="0" conditionEdge="rising">
<ByEntityCondition>
<TriggeringEntities triggeringEntitiesRule="any">
<EntityRef entityRef="hero"/>
</TriggeringEntities>
<EntityCondition>
<RelativeDistanceCondition entityRef="adversary" relativeDistanceType="cartesianDistance" value="40.0" freespace="false" rule="lessThan"/>
</EntityCondition>
</ByEntityCondition>
</Condition>
</ConditionGroup>
</StartTrigger>
</Event>
<Event name="AdversaryChangesLane" priority="overwrite">
<Action name="AdversaryChangesLane">
<PrivateAction>
<LateralAction>
<LaneChangeAction>
<LaneChangeActionDynamics dynamicsShape="linear" value="25" dynamicsDimension="distance"/>
<LaneChangeTarget>
<RelativeTargetLane entityRef="adversary" value="-1"/>
</LaneChangeTarget>
</LaneChangeAction>
</LateralAction>
</PrivateAction>
</Action>
<StartTrigger>
<ConditionGroup>
<Condition name="AfterAdversaryAccelerates" delay="0" conditionEdge="rising">
<ByValueCondition>
<StoryboardElementStateCondition storyboardElementType="action" storyboardElementRef="AdversaryAccelerates" state="completeState"/>
</ByValueCondition>
</Condition>
</ConditionGroup>
</StartTrigger>
</Event>
</Maneuver>
</ManeuverGroup>
<StartTrigger>
<ConditionGroup>
<Condition name="OverallStartCondition" delay="0" conditionEdge="rising">
<ByEntityCondition>
<TriggeringEntities triggeringEntitiesRule="any">
<EntityRef entityRef="hero"/>
</TriggeringEntities>
<EntityCondition>
<TraveledDistanceCondition value="1.0"/>
</EntityCondition>
</ByEntityCondition>
</Condition>
<Condition name="StartTime" delay="0" conditionEdge="rising">
<ByValueCondition>
<SimulationTimeCondition value="0" rule="equalTo"/>
</ByValueCondition>
</Condition>
</ConditionGroup>
</StartTrigger>
<StopTrigger>
<ConditionGroup>
<Condition name="EndCondition" delay="0" conditionEdge="rising">
<ByEntityCondition>
<TriggeringEntities triggeringEntitiesRule="any">
<EntityRef entityRef="hero"/>
</TriggeringEntities>
<EntityCondition>
<TraveledDistanceCondition value="200.0"/>
</EntityCondition>
</ByEntityCondition>
</Condition>
</ConditionGroup>
</StopTrigger>
</Act>
</Story>
<StopTrigger>
<ConditionGroup>
<Condition name="criteria_RunningStopTest" delay="0" conditionEdge="rising">
<ByValueCondition>
<ParameterCondition parameterRef="" value="" rule="lessThan"/>
</ByValueCondition>
</Condition>
<Condition name="criteria_RunningRedLightTest" delay="0" conditionEdge="rising">
<ByValueCondition>
<ParameterCondition parameterRef="" value="" rule="lessThan"/>
</ByValueCondition>
</Condition>
<Condition name="criteria_WrongLaneTest" delay="0" conditionEdge="rising">
<ByValueCondition>
<ParameterCondition parameterRef="" value="" rule="lessThan"/>
</ByValueCondition>
</Condition>
<Condition name="criteria_OnSidewalkTest" delay="0" conditionEdge="rising">
<ByValueCondition>
<ParameterCondition parameterRef="" value="" rule="lessThan"/>
</ByValueCondition>
</Condition>
<Condition name="criteria_KeepLaneTest" delay="0" conditionEdge="rising">
<ByValueCondition>
<ParameterCondition parameterRef="" value="" rule="lessThan"/>
</ByValueCondition>
</Condition>
<Condition name="criteria_CollisionTest" delay="0" conditionEdge="rising">
<ByValueCondition>
<ParameterCondition parameterRef="" value="" rule="lessThan"/>
</ByValueCondition>
</Condition>
<Condition name="criteria_DrivenDistanceTest" delay="0" conditionEdge="rising">
<ByValueCondition>
<ParameterCondition parameterRef="distance_success" value="100" rule="lessThan"/>
</ByValueCondition>
</Condition>
</ConditionGroup>
</StopTrigger>
</Storyboard>
</OpenSCENARIO>
``` |
i would like to order you to add pedestrian close to adversary?
```
<?xml version="1.0" ?>
<OpenSCENARIO>
<FileHeader revMajor="1" revMinor="0" date="2020-03-24T12:00:00" description="CARLA:LaneChangeSimple" author=""/>
<ParameterDeclarations/>
<CatalogLocations/>
<RoadNetwork>
<LogicFile filepath="Town04"/>
<SceneGraphFile filepath=""/>
</RoadNetwork>
<Entities>
<ScenarioObject name="hero">
<Vehicle name="vehicle.tesla.model3" vehicleCategory="car">
<ParameterDeclarations/>
<Performance maxSpeed="69.444" maxAcceleration="200" maxDeceleration="10.0"/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2.1" length="4.5" height="1.8"/>
</BoundingBox>
<Axles>
<FrontAxle maxSteering="0.5" wheelDiameter="0.6" trackWidth="1.8" positionX="3.1" positionZ="0.3"/>
<RearAxle maxSteering="0.0" wheelDiameter="0.6" trackWidth="1.8" positionX="0.0" positionZ="0.3"/>
</Axles>
<Properties>
<Property name="type" value="ego_vehicle"/>
</Properties>
</Vehicle>
</ScenarioObject>
<ScenarioObject name="adversary">
<Vehicle name="vehicle.lincoln.mkz_2017" vehicleCategory="car">
<ParameterDeclarations/>
<Performance maxSpeed="69.444" maxAcceleration="200" maxDeceleration="10.0"/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2.1" length="4.5" height="1.8"/>
</BoundingBox>
<Axles>
<FrontAxle maxSteering="0.5" wheelDiameter="0.6" trackWidth="1.8" positionX="3.1" positionZ="0.3"/>
<RearAxle maxSteering="0.0" wheelDiameter="0.6" trackWidth="1.8" positionX="0.0" positionZ="0.3"/>
</Axles>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Vehicle>
</ScenarioObject>
<ScenarioObject name="standing">
<Vehicle name="vehicle.volkswagen.t2" vehicleCategory="car">
<ParameterDeclarations/>
<Performance maxSpeed="69.444" maxAcceleration="200" maxDeceleration="10.0"/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2.1" length="4.5" height="1.8"/>
</BoundingBox>
<Axles>
<FrontAxle maxSteering="0.5" wheelDiameter="0.6" trackWidth="1.8" positionX="3.1" positionZ="0.3"/>
<RearAxle maxSteering="0.0" wheelDiameter="0.6" trackWidth="1.8" positionX="0.0" positionZ="0.3"/>
</Axles>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Vehicle>
</ScenarioObject>
<ScenarioObject name="pedestrian_close_to_hero_10070">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_close_to_standing_10071">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_w_transform_10072">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_close_to_adversary_10073">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_w_transform_10074">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_w_transform_10075">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
</Entities>
<Storyboard>
<Init>
<Actions>
<GlobalAction>
<EnvironmentAction>
<Environment name="Environment1">
<TimeOfDay animation="false" dateTime="2019-06-25T12:00:00"/>
<Weather cloudState="free">
<Sun intensity="0.85" azimuth="0" elevation="1.31"/>
<Fog visualRange="100000.0"/>
<Precipitation precipitationType="dry" intensity="0.0"/>
</Weather>
<RoadCondition frictionScaleFactor="1.0"/>
</Environment>
</EnvironmentAction>
</GlobalAction>
<Private entityRef="hero">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-9.4" y="-152.8" z="0.5" h="1.57079632679"/>
</Position>
</TeleportAction>
</PrivateAction>
<PrivateAction>
<ControllerAction>
<AssignControllerAction>
<Controller name="HeroAgent">
<Properties>
<Property name="module" value="external_control"/>
</Properties>
</Controller>
</AssignControllerAction>
<OverrideControllerValueAction>
<Throttle value="0" active="false"/>
<Brake value="0" active="false"/>
<Clutch value="0" active="false"/>
<ParkingBrake value="0" active="false"/>
<SteeringWheel value="0" active="false"/>
<Gear number="0" active="false"/>
</OverrideControllerValueAction>
</ControllerAction>
</PrivateAction>
</Private>
<Private entityRef="adversary">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-9.4" y="-71.0" z="0.5" h="1.57079632679"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="standing">
<PrivateAction>
<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_10070">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-3.142770767211914" y="-156.89845275878906" z="0.0014286803780123591"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_close_to_standing_10071">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-6.560156345367432" y="27.955469131469727" z="0.0030325697734951973"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_w_transform_10072">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-10.586792945861816" y="32.231868743896484" z="0.5"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_close_to_adversary_10073">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-7.6339006423950195" y="-62.956790924072266" z="0.033804092556238174"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_w_transform_10074">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-55.9902458190918" y="-61.108097076416016" z="0.5"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_w_transform_10075">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="99.83757019042969" y="-46.93645477294922" z="0.5"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
</Actions>
</Init>
<Story name="MyStory">
<Act name="Behavior">
<ManeuverGroup maximumExecutionCount="1" name="ManeuverSequence">
<Actors selectTriggeringEntities="false">
<EntityRef entityRef="adversary"/>
</Actors>
<Maneuver name="LaneChangeSimpleManeuver">
<Event name="AdversaryAccelerates" priority="overwrite">
<Action name="AdversaryAccelerates">
<PrivateAction>
<LongitudinalAction>
<SpeedAction>
<SpeedActionDynamics dynamicsShape="step" value="50" dynamicsDimension="distance"/>
<SpeedActionTarget>
<AbsoluteTargetSpeed value="5.0"/>
</SpeedActionTarget>
</SpeedAction>
</LongitudinalAction>
</PrivateAction>
</Action>
<StartTrigger>
<ConditionGroup>
<Condition name="StartCondition" delay="0" conditionEdge="rising">
<ByEntityCondition>
<TriggeringEntities triggeringEntitiesRule="any">
<EntityRef entityRef="hero"/>
</TriggeringEntities>
<EntityCondition>
<RelativeDistanceCondition entityRef="adversary" relativeDistanceType="cartesianDistance" value="40.0" freespace="false" rule="lessThan"/>
</EntityCondition>
</ByEntityCondition>
</Condition>
</ConditionGroup>
</StartTrigger>
</Event>
<Event name="AdversaryChangesLane" priority="overwrite">
<Action name="AdversaryChangesLane">
<PrivateAction>
<LateralAction>
<LaneChangeAction>
<LaneChangeActionDynamics dynamicsShape="linear" value="25" dynamicsDimension="distance"/>
<LaneChangeTarget>
<RelativeTargetLane entityRef="adversary" value="-1"/>
</LaneChangeTarget>
</LaneChangeAction>
</LateralAction>
</PrivateAction>
</Action>
<StartTrigger>
<ConditionGroup>
<Condition name="AfterAdversaryAccelerates" delay="0" conditionEdge="rising">
<ByValueCondition>
<StoryboardElementStateCondition storyboardElementType="action" storyboardElementRef="AdversaryAccelerates" state="completeState"/>
</ByValueCondition>
</Condition>
</ConditionGroup>
</StartTrigger>
</Event>
</Maneuver>
</ManeuverGroup>
<StartTrigger>
<ConditionGroup>
<Condition name="OverallStartCondition" delay="0" conditionEdge="rising">
<ByEntityCondition>
<TriggeringEntities triggeringEntitiesRule="any">
<EntityRef entityRef="hero"/>
</TriggeringEntities>
<EntityCondition>
<TraveledDistanceCondition value="1.0"/>
</EntityCondition>
</ByEntityCondition>
</Condition>
<Condition name="StartTime" delay="0" conditionEdge="rising">
<ByValueCondition>
<SimulationTimeCondition value="0" rule="equalTo"/>
</ByValueCondition>
</Condition>
</ConditionGroup>
</StartTrigger>
<StopTrigger>
<ConditionGroup>
<Condition name="EndCondition" delay="0" conditionEdge="rising">
<ByEntityCondition>
<TriggeringEntities triggeringEntitiesRule="any">
<EntityRef entityRef="hero"/>
</TriggeringEntities>
<EntityCondition>
<TraveledDistanceCondition value="200.0"/>
</EntityCondition>
</ByEntityCondition>
</Condition>
</ConditionGroup>
</StopTrigger>
</Act>
</Story>
<StopTrigger>
<ConditionGroup>
<Condition name="criteria_RunningStopTest" delay="0" conditionEdge="rising">
<ByValueCondition>
<ParameterCondition parameterRef="" value="" rule="lessThan"/>
</ByValueCondition>
</Condition>
<Condition name="criteria_RunningRedLightTest" delay="0" conditionEdge="rising">
<ByValueCondition>
<ParameterCondition parameterRef="" value="" rule="lessThan"/>
</ByValueCondition>
</Condition>
<Condition name="criteria_WrongLaneTest" delay="0" conditionEdge="rising">
<ByValueCondition>
<ParameterCondition parameterRef="" value="" rule="lessThan"/>
</ByValueCondition>
</Condition>
<Condition name="criteria_OnSidewalkTest" delay="0" conditionEdge="rising">
<ByValueCondition>
<ParameterCondition parameterRef="" value="" rule="lessThan"/>
</ByValueCondition>
</Condition>
<Condition name="criteria_KeepLaneTest" delay="0" conditionEdge="rising">
<ByValueCondition>
<ParameterCondition parameterRef="" value="" rule="lessThan"/>
</ByValueCondition>
</Condition>
<Condition name="criteria_CollisionTest" delay="0" conditionEdge="rising">
<ByValueCondition>
<ParameterCondition parameterRef="" value="" rule="lessThan"/>
</ByValueCondition>
</Condition>
<Condition name="criteria_DrivenDistanceTest" delay="0" conditionEdge="rising">
<ByValueCondition>
<ParameterCondition parameterRef="distance_success" value="100" rule="lessThan"/>
</ByValueCondition>
</Condition>
</ConditionGroup>
</StopTrigger>
</Storyboard>
</OpenSCENARIO>
``` | Here is the result:
```
<?xml version="1.0" ?>
<OpenSCENARIO>
<FileHeader revMajor="1" revMinor="0" date="2020-03-24T12:00:00" description="CARLA:LaneChangeSimple" author=""/>
<ParameterDeclarations/>
<CatalogLocations/>
<RoadNetwork>
<LogicFile filepath="Town04"/>
<SceneGraphFile filepath=""/>
</RoadNetwork>
<Entities>
<ScenarioObject name="hero">
<Vehicle name="vehicle.tesla.model3" vehicleCategory="car">
<ParameterDeclarations/>
<Performance maxSpeed="69.444" maxAcceleration="200" maxDeceleration="10.0"/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2.1" length="4.5" height="1.8"/>
</BoundingBox>
<Axles>
<FrontAxle maxSteering="0.5" wheelDiameter="0.6" trackWidth="1.8" positionX="3.1" positionZ="0.3"/>
<RearAxle maxSteering="0.0" wheelDiameter="0.6" trackWidth="1.8" positionX="0.0" positionZ="0.3"/>
</Axles>
<Properties>
<Property name="type" value="ego_vehicle"/>
</Properties>
</Vehicle>
</ScenarioObject>
<ScenarioObject name="adversary">
<Vehicle name="vehicle.lincoln.mkz_2017" vehicleCategory="car">
<ParameterDeclarations/>
<Performance maxSpeed="69.444" maxAcceleration="200" maxDeceleration="10.0"/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2.1" length="4.5" height="1.8"/>
</BoundingBox>
<Axles>
<FrontAxle maxSteering="0.5" wheelDiameter="0.6" trackWidth="1.8" positionX="3.1" positionZ="0.3"/>
<RearAxle maxSteering="0.0" wheelDiameter="0.6" trackWidth="1.8" positionX="0.0" positionZ="0.3"/>
</Axles>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Vehicle>
</ScenarioObject>
<ScenarioObject name="standing">
<Vehicle name="vehicle.volkswagen.t2" vehicleCategory="car">
<ParameterDeclarations/>
<Performance maxSpeed="69.444" maxAcceleration="200" maxDeceleration="10.0"/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2.1" length="4.5" height="1.8"/>
</BoundingBox>
<Axles>
<FrontAxle maxSteering="0.5" wheelDiameter="0.6" trackWidth="1.8" positionX="3.1" positionZ="0.3"/>
<RearAxle maxSteering="0.0" wheelDiameter="0.6" 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_10070">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_close_to_standing_10071">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_w_transform_10072">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_close_to_adversary_10073">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_w_transform_10074">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_w_transform_10075">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_close_to_adversary_10076">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
</Entities>
<Storyboard>
<Init>
<Actions>
<GlobalAction>
<EnvironmentAction>
<Environment name="Environment1">
<TimeOfDay animation="false" dateTime="2019-06-25T12:00:00"/>
<Weather cloudState="free">
<Sun intensity="0.85" azimuth="0" elevation="1.31"/>
<Fog visualRange="100000.0"/>
<Precipitation precipitationType="dry" intensity="0.0"/>
</Weather>
<RoadCondition frictionScaleFactor="1.0"/>
</Environment>
</EnvironmentAction>
</GlobalAction>
<Private entityRef="hero">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-9.4" y="-152.8" z="0.5" h="1.57079632679"/>
</Position>
</TeleportAction>
</PrivateAction>
<PrivateAction>
<ControllerAction>
<AssignControllerAction>
<Controller name="HeroAgent">
<Properties>
<Property name="module" value="external_control"/>
</Properties>
</Controller>
</AssignControllerAction>
<OverrideControllerValueAction>
<Throttle value="0" active="false"/>
<Brake value="0" active="false"/>
<Clutch value="0" active="false"/>
<ParkingBrake value="0" active="false"/>
<SteeringWheel value="0" active="false"/>
<Gear number="0" active="false"/>
</OverrideControllerValueAction>
</ControllerAction>
</PrivateAction>
</Private>
<Private entityRef="adversary">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-9.4" y="-71.0" z="0.5" h="1.57079632679"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="standing">
<PrivateAction>
<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_10070">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-3.142770767211914" y="-156.89845275878906" z="0.0014286803780123591"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_close_to_standing_10071">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-6.560156345367432" y="27.955469131469727" z="0.0030325697734951973"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_w_transform_10072">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-10.586792945861816" y="32.231868743896484" z="0.5"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_close_to_adversary_10073">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-7.6339006423950195" y="-62.956790924072266" z="0.033804092556238174"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_w_transform_10074">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-55.9902458190918" y="-61.108097076416016" z="0.5"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_w_transform_10075">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="99.83757019042969" y="-46.93645477294922" z="0.5"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_close_to_adversary_10076">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-13.16989517211914" y="-72.42720031738281" z="0.03375530242919922"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
</Actions>
</Init>
<Story name="MyStory">
<Act name="Behavior">
<ManeuverGroup maximumExecutionCount="1" name="ManeuverSequence">
<Actors selectTriggeringEntities="false">
<EntityRef entityRef="adversary"/>
</Actors>
<Maneuver name="LaneChangeSimpleManeuver">
<Event name="AdversaryAccelerates" priority="overwrite">
<Action name="AdversaryAccelerates">
<PrivateAction>
<LongitudinalAction>
<SpeedAction>
<SpeedActionDynamics dynamicsShape="step" value="50" dynamicsDimension="distance"/>
<SpeedActionTarget>
<AbsoluteTargetSpeed value="5.0"/>
</SpeedActionTarget>
</SpeedAction>
</LongitudinalAction>
</PrivateAction>
</Action>
<StartTrigger>
<ConditionGroup>
<Condition name="StartCondition" delay="0" conditionEdge="rising">
<ByEntityCondition>
<TriggeringEntities triggeringEntitiesRule="any">
<EntityRef entityRef="hero"/>
</TriggeringEntities>
<EntityCondition>
<RelativeDistanceCondition entityRef="adversary" relativeDistanceType="cartesianDistance" value="40.0" freespace="false" rule="lessThan"/>
</EntityCondition>
</ByEntityCondition>
</Condition>
</ConditionGroup>
</StartTrigger>
</Event>
<Event name="AdversaryChangesLane" priority="overwrite">
<Action name="AdversaryChangesLane">
<PrivateAction>
<LateralAction>
<LaneChangeAction>
<LaneChangeActionDynamics dynamicsShape="linear" value="25" dynamicsDimension="distance"/>
<LaneChangeTarget>
<RelativeTargetLane entityRef="adversary" value="-1"/>
</LaneChangeTarget>
</LaneChangeAction>
</LateralAction>
</PrivateAction>
</Action>
<StartTrigger>
<ConditionGroup>
<Condition name="AfterAdversaryAccelerates" delay="0" conditionEdge="rising">
<ByValueCondition>
<StoryboardElementStateCondition storyboardElementType="action" storyboardElementRef="AdversaryAccelerates" state="completeState"/>
</ByValueCondition>
</Condition>
</ConditionGroup>
</StartTrigger>
</Event>
</Maneuver>
</ManeuverGroup>
<StartTrigger>
<ConditionGroup>
<Condition name="OverallStartCondition" delay="0" conditionEdge="rising">
<ByEntityCondition>
<TriggeringEntities triggeringEntitiesRule="any">
<EntityRef entityRef="hero"/>
</TriggeringEntities>
<EntityCondition>
<TraveledDistanceCondition value="1.0"/>
</EntityCondition>
</ByEntityCondition>
</Condition>
<Condition name="StartTime" delay="0" conditionEdge="rising">
<ByValueCondition>
<SimulationTimeCondition value="0" rule="equalTo"/>
</ByValueCondition>
</Condition>
</ConditionGroup>
</StartTrigger>
<StopTrigger>
<ConditionGroup>
<Condition name="EndCondition" delay="0" conditionEdge="rising">
<ByEntityCondition>
<TriggeringEntities triggeringEntitiesRule="any">
<EntityRef entityRef="hero"/>
</TriggeringEntities>
<EntityCondition>
<TraveledDistanceCondition value="200.0"/>
</EntityCondition>
</ByEntityCondition>
</Condition>
</ConditionGroup>
</StopTrigger>
</Act>
</Story>
<StopTrigger>
<ConditionGroup>
<Condition name="criteria_RunningStopTest" delay="0" conditionEdge="rising">
<ByValueCondition>
<ParameterCondition parameterRef="" value="" rule="lessThan"/>
</ByValueCondition>
</Condition>
<Condition name="criteria_RunningRedLightTest" delay="0" conditionEdge="rising">
<ByValueCondition>
<ParameterCondition parameterRef="" value="" rule="lessThan"/>
</ByValueCondition>
</Condition>
<Condition name="criteria_WrongLaneTest" delay="0" conditionEdge="rising">
<ByValueCondition>
<ParameterCondition parameterRef="" value="" rule="lessThan"/>
</ByValueCondition>
</Condition>
<Condition name="criteria_OnSidewalkTest" delay="0" conditionEdge="rising">
<ByValueCondition>
<ParameterCondition parameterRef="" value="" rule="lessThan"/>
</ByValueCondition>
</Condition>
<Condition name="criteria_KeepLaneTest" delay="0" conditionEdge="rising">
<ByValueCondition>
<ParameterCondition parameterRef="" value="" rule="lessThan"/>
</ByValueCondition>
</Condition>
<Condition name="criteria_CollisionTest" delay="0" conditionEdge="rising">
<ByValueCondition>
<ParameterCondition parameterRef="" value="" rule="lessThan"/>
</ByValueCondition>
</Condition>
<Condition name="criteria_DrivenDistanceTest" delay="0" conditionEdge="rising">
<ByValueCondition>
<ParameterCondition parameterRef="distance_success" value="100" rule="lessThan"/>
</ByValueCondition>
</Condition>
</ConditionGroup>
</StopTrigger>
</Storyboard>
</OpenSCENARIO>
``` |
can you add pedestrian close to hero?
```
<?xml version="1.0" ?>
<OpenSCENARIO>
<FileHeader revMajor="1" revMinor="0" date="2020-03-24T12:00:00" description="CARLA:LaneChangeSimple" author=""/>
<ParameterDeclarations/>
<CatalogLocations/>
<RoadNetwork>
<LogicFile filepath="Town04"/>
<SceneGraphFile filepath=""/>
</RoadNetwork>
<Entities>
<ScenarioObject name="hero">
<Vehicle name="vehicle.tesla.model3" vehicleCategory="car">
<ParameterDeclarations/>
<Performance maxSpeed="69.444" maxAcceleration="200" maxDeceleration="10.0"/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2.1" length="4.5" height="1.8"/>
</BoundingBox>
<Axles>
<FrontAxle maxSteering="0.5" wheelDiameter="0.6" trackWidth="1.8" positionX="3.1" positionZ="0.3"/>
<RearAxle maxSteering="0.0" wheelDiameter="0.6" trackWidth="1.8" positionX="0.0" positionZ="0.3"/>
</Axles>
<Properties>
<Property name="type" value="ego_vehicle"/>
</Properties>
</Vehicle>
</ScenarioObject>
<ScenarioObject name="adversary">
<Vehicle name="vehicle.lincoln.mkz_2017" vehicleCategory="car">
<ParameterDeclarations/>
<Performance maxSpeed="69.444" maxAcceleration="200" maxDeceleration="10.0"/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2.1" length="4.5" height="1.8"/>
</BoundingBox>
<Axles>
<FrontAxle maxSteering="0.5" wheelDiameter="0.6" trackWidth="1.8" positionX="3.1" positionZ="0.3"/>
<RearAxle maxSteering="0.0" wheelDiameter="0.6" trackWidth="1.8" positionX="0.0" positionZ="0.3"/>
</Axles>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Vehicle>
</ScenarioObject>
<ScenarioObject name="standing">
<Vehicle name="vehicle.volkswagen.t2" vehicleCategory="car">
<ParameterDeclarations/>
<Performance maxSpeed="69.444" maxAcceleration="200" maxDeceleration="10.0"/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2.1" length="4.5" height="1.8"/>
</BoundingBox>
<Axles>
<FrontAxle maxSteering="0.5" wheelDiameter="0.6" trackWidth="1.8" positionX="3.1" positionZ="0.3"/>
<RearAxle maxSteering="0.0" wheelDiameter="0.6" trackWidth="1.8" positionX="0.0" positionZ="0.3"/>
</Axles>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Vehicle>
</ScenarioObject>
<ScenarioObject name="pedestrian_close_to_adversary_6562">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_close_to_standing_6563">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_close_to_adversary_6564">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_close_to_standing_6565">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_close_to_standing_6566">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_w_transform_6567">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_w_transform_6568">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_close_to_adversary_6569">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_close_to_adversary_6570">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_w_transform_6571">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_w_transform_6572">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_close_to_adversary_6573">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_w_transform_6574">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
</Entities>
<Storyboard>
<Init>
<Actions>
<GlobalAction>
<EnvironmentAction>
<Environment name="Environment1">
<TimeOfDay animation="false" dateTime="2019-06-25T12:00:00"/>
<Weather cloudState="free">
<Sun intensity="0.85" azimuth="0" elevation="1.31"/>
<Fog visualRange="100000.0"/>
<Precipitation precipitationType="dry" intensity="0.0"/>
</Weather>
<RoadCondition frictionScaleFactor="1.0"/>
</Environment>
</EnvironmentAction>
</GlobalAction>
<Private entityRef="hero">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-9.4" y="-152.8" z="0.5" h="1.57079632679"/>
</Position>
</TeleportAction>
</PrivateAction>
<PrivateAction>
<ControllerAction>
<AssignControllerAction>
<Controller name="HeroAgent">
<Properties>
<Property name="module" value="external_control"/>
</Properties>
</Controller>
</AssignControllerAction>
<OverrideControllerValueAction>
<Throttle value="0" active="false"/>
<Brake value="0" active="false"/>
<Clutch value="0" active="false"/>
<ParkingBrake value="0" active="false"/>
<SteeringWheel value="0" active="false"/>
<Gear number="0" active="false"/>
</OverrideControllerValueAction>
</ControllerAction>
</PrivateAction>
</Private>
<Private entityRef="adversary">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-9.4" y="-71.0" z="0.5" h="1.57079632679"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="standing">
<PrivateAction>
<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_6562">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-6.4909987449646" y="-63.78474426269531" z="0.03381938859820366"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_close_to_standing_6563">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-4.746228218078613" y="28.951555252075195" z="0.003080024616792798"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_close_to_adversary_6564">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-1.8321250677108765" y="-67.25621032714844" z="0.033838387578725815"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_close_to_standing_6565">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="4.726082801818848" y="30.803321838378906" z="0.00308055873028934"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_close_to_standing_6566">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-7.197421550750732" y="21.865121841430664" z="0.003116607666015625"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_w_transform_6567">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-23.967853546142578" y="-39.48740768432617" z="0.5"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_w_transform_6568">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-38.18790054321289" y="9.469022750854492" z="0.5"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_close_to_adversary_6569">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-12.035502433776855" y="-80.85067749023438" z="0.033780213445425034"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_close_to_adversary_6570">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-24.35599136352539" y="-76.18401336669922" z="0.03381141647696495"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_w_transform_6571">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="5.211484432220459" y="-67.6588134765625" z="0.5"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_w_transform_6572">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-53.08042907714844" y="-54.080204010009766" z="0.5"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_close_to_adversary_6573">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-12.704272270202637" y="-74.81842041015625" z="0.03381133824586868"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_w_transform_6574">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="47.052005767822266" y="84.05553436279297" 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>
``` | Here is the result:
```
<?xml version="1.0" ?>
<OpenSCENARIO>
<FileHeader revMajor="1" revMinor="0" date="2020-03-24T12:00:00" description="CARLA:LaneChangeSimple" author=""/>
<ParameterDeclarations/>
<CatalogLocations/>
<RoadNetwork>
<LogicFile filepath="Town04"/>
<SceneGraphFile filepath=""/>
</RoadNetwork>
<Entities>
<ScenarioObject name="hero">
<Vehicle name="vehicle.tesla.model3" vehicleCategory="car">
<ParameterDeclarations/>
<Performance maxSpeed="69.444" maxAcceleration="200" maxDeceleration="10.0"/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2.1" length="4.5" height="1.8"/>
</BoundingBox>
<Axles>
<FrontAxle maxSteering="0.5" wheelDiameter="0.6" trackWidth="1.8" positionX="3.1" positionZ="0.3"/>
<RearAxle maxSteering="0.0" wheelDiameter="0.6" trackWidth="1.8" positionX="0.0" positionZ="0.3"/>
</Axles>
<Properties>
<Property name="type" value="ego_vehicle"/>
</Properties>
</Vehicle>
</ScenarioObject>
<ScenarioObject name="adversary">
<Vehicle name="vehicle.lincoln.mkz_2017" vehicleCategory="car">
<ParameterDeclarations/>
<Performance maxSpeed="69.444" maxAcceleration="200" maxDeceleration="10.0"/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2.1" length="4.5" height="1.8"/>
</BoundingBox>
<Axles>
<FrontAxle maxSteering="0.5" wheelDiameter="0.6" trackWidth="1.8" positionX="3.1" positionZ="0.3"/>
<RearAxle maxSteering="0.0" wheelDiameter="0.6" trackWidth="1.8" positionX="0.0" positionZ="0.3"/>
</Axles>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Vehicle>
</ScenarioObject>
<ScenarioObject name="standing">
<Vehicle name="vehicle.volkswagen.t2" vehicleCategory="car">
<ParameterDeclarations/>
<Performance maxSpeed="69.444" maxAcceleration="200" maxDeceleration="10.0"/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2.1" length="4.5" height="1.8"/>
</BoundingBox>
<Axles>
<FrontAxle maxSteering="0.5" wheelDiameter="0.6" trackWidth="1.8" positionX="3.1" positionZ="0.3"/>
<RearAxle maxSteering="0.0" wheelDiameter="0.6" 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_6562">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_close_to_standing_6563">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_close_to_adversary_6564">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_close_to_standing_6565">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_close_to_standing_6566">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_w_transform_6567">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_w_transform_6568">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_close_to_adversary_6569">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_close_to_adversary_6570">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_w_transform_6571">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_w_transform_6572">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_close_to_adversary_6573">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_w_transform_6574">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_close_to_hero_6575">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
</Entities>
<Storyboard>
<Init>
<Actions>
<GlobalAction>
<EnvironmentAction>
<Environment name="Environment1">
<TimeOfDay animation="false" dateTime="2019-06-25T12:00:00"/>
<Weather cloudState="free">
<Sun intensity="0.85" azimuth="0" elevation="1.31"/>
<Fog visualRange="100000.0"/>
<Precipitation precipitationType="dry" intensity="0.0"/>
</Weather>
<RoadCondition frictionScaleFactor="1.0"/>
</Environment>
</EnvironmentAction>
</GlobalAction>
<Private entityRef="hero">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-9.4" y="-152.8" z="0.5" h="1.57079632679"/>
</Position>
</TeleportAction>
</PrivateAction>
<PrivateAction>
<ControllerAction>
<AssignControllerAction>
<Controller name="HeroAgent">
<Properties>
<Property name="module" value="external_control"/>
</Properties>
</Controller>
</AssignControllerAction>
<OverrideControllerValueAction>
<Throttle value="0" active="false"/>
<Brake value="0" active="false"/>
<Clutch value="0" active="false"/>
<ParkingBrake value="0" active="false"/>
<SteeringWheel value="0" active="false"/>
<Gear number="0" active="false"/>
</OverrideControllerValueAction>
</ControllerAction>
</PrivateAction>
</Private>
<Private entityRef="adversary">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-9.4" y="-71.0" z="0.5" h="1.57079632679"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="standing">
<PrivateAction>
<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_6562">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-6.4909987449646" y="-63.78474426269531" z="0.03381938859820366"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_close_to_standing_6563">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-4.746228218078613" y="28.951555252075195" z="0.003080024616792798"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_close_to_adversary_6564">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-1.8321250677108765" y="-67.25621032714844" z="0.033838387578725815"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_close_to_standing_6565">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="4.726082801818848" y="30.803321838378906" z="0.00308055873028934"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_close_to_standing_6566">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-7.197421550750732" y="21.865121841430664" z="0.003116607666015625"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_w_transform_6567">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-23.967853546142578" y="-39.48740768432617" z="0.5"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_w_transform_6568">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-38.18790054321289" y="9.469022750854492" z="0.5"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_close_to_adversary_6569">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-12.035502433776855" y="-80.85067749023438" z="0.033780213445425034"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_close_to_adversary_6570">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-24.35599136352539" y="-76.18401336669922" z="0.03381141647696495"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_w_transform_6571">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="5.211484432220459" y="-67.6588134765625" z="0.5"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_w_transform_6572">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-53.08042907714844" y="-54.080204010009766" z="0.5"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_close_to_adversary_6573">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-12.704272270202637" y="-74.81842041015625" z="0.03381133824586868"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_w_transform_6574">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="47.052005767822266" y="84.05553436279297" z="0.5"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_close_to_hero_6575">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-17.399307250976562" y="-149.12673950195312" z="0.0014286803780123591"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
</Actions>
</Init>
<Story name="MyStory">
<Act name="Behavior">
<ManeuverGroup maximumExecutionCount="1" name="ManeuverSequence">
<Actors selectTriggeringEntities="false">
<EntityRef entityRef="adversary"/>
</Actors>
<Maneuver name="LaneChangeSimpleManeuver">
<Event name="AdversaryAccelerates" priority="overwrite">
<Action name="AdversaryAccelerates">
<PrivateAction>
<LongitudinalAction>
<SpeedAction>
<SpeedActionDynamics dynamicsShape="step" value="50" dynamicsDimension="distance"/>
<SpeedActionTarget>
<AbsoluteTargetSpeed value="5.0"/>
</SpeedActionTarget>
</SpeedAction>
</LongitudinalAction>
</PrivateAction>
</Action>
<StartTrigger>
<ConditionGroup>
<Condition name="StartCondition" delay="0" conditionEdge="rising">
<ByEntityCondition>
<TriggeringEntities triggeringEntitiesRule="any">
<EntityRef entityRef="hero"/>
</TriggeringEntities>
<EntityCondition>
<RelativeDistanceCondition entityRef="adversary" relativeDistanceType="cartesianDistance" value="40.0" freespace="false" rule="lessThan"/>
</EntityCondition>
</ByEntityCondition>
</Condition>
</ConditionGroup>
</StartTrigger>
</Event>
<Event name="AdversaryChangesLane" priority="overwrite">
<Action name="AdversaryChangesLane">
<PrivateAction>
<LateralAction>
<LaneChangeAction>
<LaneChangeActionDynamics dynamicsShape="linear" value="25" dynamicsDimension="distance"/>
<LaneChangeTarget>
<RelativeTargetLane entityRef="adversary" value="-1"/>
</LaneChangeTarget>
</LaneChangeAction>
</LateralAction>
</PrivateAction>
</Action>
<StartTrigger>
<ConditionGroup>
<Condition name="AfterAdversaryAccelerates" delay="0" conditionEdge="rising">
<ByValueCondition>
<StoryboardElementStateCondition storyboardElementType="action" storyboardElementRef="AdversaryAccelerates" state="completeState"/>
</ByValueCondition>
</Condition>
</ConditionGroup>
</StartTrigger>
</Event>
</Maneuver>
</ManeuverGroup>
<StartTrigger>
<ConditionGroup>
<Condition name="OverallStartCondition" delay="0" conditionEdge="rising">
<ByEntityCondition>
<TriggeringEntities triggeringEntitiesRule="any">
<EntityRef entityRef="hero"/>
</TriggeringEntities>
<EntityCondition>
<TraveledDistanceCondition value="1.0"/>
</EntityCondition>
</ByEntityCondition>
</Condition>
<Condition name="StartTime" delay="0" conditionEdge="rising">
<ByValueCondition>
<SimulationTimeCondition value="0" rule="equalTo"/>
</ByValueCondition>
</Condition>
</ConditionGroup>
</StartTrigger>
<StopTrigger>
<ConditionGroup>
<Condition name="EndCondition" delay="0" conditionEdge="rising">
<ByEntityCondition>
<TriggeringEntities triggeringEntitiesRule="any">
<EntityRef entityRef="hero"/>
</TriggeringEntities>
<EntityCondition>
<TraveledDistanceCondition value="200.0"/>
</EntityCondition>
</ByEntityCondition>
</Condition>
</ConditionGroup>
</StopTrigger>
</Act>
</Story>
<StopTrigger>
<ConditionGroup>
<Condition name="criteria_RunningStopTest" delay="0" conditionEdge="rising">
<ByValueCondition>
<ParameterCondition parameterRef="" value="" rule="lessThan"/>
</ByValueCondition>
</Condition>
<Condition name="criteria_RunningRedLightTest" delay="0" conditionEdge="rising">
<ByValueCondition>
<ParameterCondition parameterRef="" value="" rule="lessThan"/>
</ByValueCondition>
</Condition>
<Condition name="criteria_WrongLaneTest" delay="0" conditionEdge="rising">
<ByValueCondition>
<ParameterCondition parameterRef="" value="" rule="lessThan"/>
</ByValueCondition>
</Condition>
<Condition name="criteria_OnSidewalkTest" delay="0" conditionEdge="rising">
<ByValueCondition>
<ParameterCondition parameterRef="" value="" rule="lessThan"/>
</ByValueCondition>
</Condition>
<Condition name="criteria_KeepLaneTest" delay="0" conditionEdge="rising">
<ByValueCondition>
<ParameterCondition parameterRef="" value="" rule="lessThan"/>
</ByValueCondition>
</Condition>
<Condition name="criteria_CollisionTest" delay="0" conditionEdge="rising">
<ByValueCondition>
<ParameterCondition parameterRef="" value="" rule="lessThan"/>
</ByValueCondition>
</Condition>
<Condition name="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 (-44.06, -52.14, 0.5)?
```
<?xml version="1.0" ?>
<OpenSCENARIO>
<FileHeader revMajor="1" revMinor="0" date="2020-03-24T12:00:00" description="CARLA:LaneChangeSimple" author=""/>
<ParameterDeclarations/>
<CatalogLocations/>
<RoadNetwork>
<LogicFile filepath="Town04"/>
<SceneGraphFile filepath=""/>
</RoadNetwork>
<Entities>
<ScenarioObject name="hero">
<Vehicle name="vehicle.tesla.model3" vehicleCategory="car">
<ParameterDeclarations/>
<Performance maxSpeed="69.444" maxAcceleration="200" maxDeceleration="10.0"/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2.1" length="4.5" height="1.8"/>
</BoundingBox>
<Axles>
<FrontAxle maxSteering="0.5" wheelDiameter="0.6" trackWidth="1.8" positionX="3.1" positionZ="0.3"/>
<RearAxle maxSteering="0.0" wheelDiameter="0.6" trackWidth="1.8" positionX="0.0" positionZ="0.3"/>
</Axles>
<Properties>
<Property name="type" value="ego_vehicle"/>
</Properties>
</Vehicle>
</ScenarioObject>
<ScenarioObject name="adversary">
<Vehicle name="vehicle.lincoln.mkz_2017" vehicleCategory="car">
<ParameterDeclarations/>
<Performance maxSpeed="69.444" maxAcceleration="200" maxDeceleration="10.0"/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2.1" length="4.5" height="1.8"/>
</BoundingBox>
<Axles>
<FrontAxle maxSteering="0.5" wheelDiameter="0.6" trackWidth="1.8" positionX="3.1" positionZ="0.3"/>
<RearAxle maxSteering="0.0" wheelDiameter="0.6" trackWidth="1.8" positionX="0.0" positionZ="0.3"/>
</Axles>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Vehicle>
</ScenarioObject>
<ScenarioObject name="standing">
<Vehicle name="vehicle.volkswagen.t2" vehicleCategory="car">
<ParameterDeclarations/>
<Performance maxSpeed="69.444" maxAcceleration="200" maxDeceleration="10.0"/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2.1" length="4.5" height="1.8"/>
</BoundingBox>
<Axles>
<FrontAxle maxSteering="0.5" wheelDiameter="0.6" trackWidth="1.8" positionX="3.1" positionZ="0.3"/>
<RearAxle maxSteering="0.0" wheelDiameter="0.6" trackWidth="1.8" positionX="0.0" positionZ="0.3"/>
</Axles>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Vehicle>
</ScenarioObject>
<ScenarioObject name="pedestrian_close_to_standing_21672">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_close_to_adversary_21673">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_close_to_standing_21674">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_close_to_standing_21675">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_w_transform_21676">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_w_transform_21677">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_close_to_hero_21678">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_close_to_adversary_21679">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
</Entities>
<Storyboard>
<Init>
<Actions>
<GlobalAction>
<EnvironmentAction>
<Environment name="Environment1">
<TimeOfDay animation="false" dateTime="2019-06-25T12:00:00"/>
<Weather cloudState="free">
<Sun intensity="0.85" azimuth="0" elevation="1.31"/>
<Fog visualRange="100000.0"/>
<Precipitation precipitationType="dry" intensity="0.0"/>
</Weather>
<RoadCondition frictionScaleFactor="1.0"/>
</Environment>
</EnvironmentAction>
</GlobalAction>
<Private entityRef="hero">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-9.4" y="-152.8" z="0.5" h="1.57079632679"/>
</Position>
</TeleportAction>
</PrivateAction>
<PrivateAction>
<ControllerAction>
<AssignControllerAction>
<Controller name="HeroAgent">
<Properties>
<Property name="module" value="external_control"/>
</Properties>
</Controller>
</AssignControllerAction>
<OverrideControllerValueAction>
<Throttle value="0" active="false"/>
<Brake value="0" active="false"/>
<Clutch value="0" active="false"/>
<ParkingBrake value="0" active="false"/>
<SteeringWheel value="0" active="false"/>
<Gear number="0" active="false"/>
</OverrideControllerValueAction>
</ControllerAction>
</PrivateAction>
</Private>
<Private entityRef="adversary">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-9.4" y="-71.0" z="0.5" h="1.57079632679"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="standing">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-8.2" y="29.2" z="0.5" h="1.57079632679"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_close_to_standing_21672">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="1.5266587734222412" y="19.91124725341797" z="0.0030429076869040728"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_close_to_adversary_21673">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-11.13465404510498" y="-79.56987762451172" z="0.03380271792411804"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_close_to_standing_21674">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-14.993762016296387" y="25.65596580505371" z="0.0030602645128965378"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_close_to_standing_21675">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-5.462593078613281" y="22.250377655029297" z="0.0030193328857421875"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_w_transform_21676">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="87.33857727050781" y="53.56413650512695" z="0.5"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_w_transform_21677">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-9.090191841125488" y="-56.668067932128906" z="0.5"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_close_to_hero_21678">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-17.730688095092773" y="-148.40013122558594" z="0.0014286803780123591"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_close_to_adversary_21679">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-6.074114799499512" y="-68.57508850097656" z="0.03377654775977135"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
</Actions>
</Init>
<Story name="MyStory">
<Act name="Behavior">
<ManeuverGroup maximumExecutionCount="1" name="ManeuverSequence">
<Actors selectTriggeringEntities="false">
<EntityRef entityRef="adversary"/>
</Actors>
<Maneuver name="LaneChangeSimpleManeuver">
<Event name="AdversaryAccelerates" priority="overwrite">
<Action name="AdversaryAccelerates">
<PrivateAction>
<LongitudinalAction>
<SpeedAction>
<SpeedActionDynamics dynamicsShape="step" value="50" dynamicsDimension="distance"/>
<SpeedActionTarget>
<AbsoluteTargetSpeed value="5.0"/>
</SpeedActionTarget>
</SpeedAction>
</LongitudinalAction>
</PrivateAction>
</Action>
<StartTrigger>
<ConditionGroup>
<Condition name="StartCondition" delay="0" conditionEdge="rising">
<ByEntityCondition>
<TriggeringEntities triggeringEntitiesRule="any">
<EntityRef entityRef="hero"/>
</TriggeringEntities>
<EntityCondition>
<RelativeDistanceCondition entityRef="adversary" relativeDistanceType="cartesianDistance" value="40.0" freespace="false" rule="lessThan"/>
</EntityCondition>
</ByEntityCondition>
</Condition>
</ConditionGroup>
</StartTrigger>
</Event>
<Event name="AdversaryChangesLane" priority="overwrite">
<Action name="AdversaryChangesLane">
<PrivateAction>
<LateralAction>
<LaneChangeAction>
<LaneChangeActionDynamics dynamicsShape="linear" value="25" dynamicsDimension="distance"/>
<LaneChangeTarget>
<RelativeTargetLane entityRef="adversary" value="-1"/>
</LaneChangeTarget>
</LaneChangeAction>
</LateralAction>
</PrivateAction>
</Action>
<StartTrigger>
<ConditionGroup>
<Condition name="AfterAdversaryAccelerates" delay="0" conditionEdge="rising">
<ByValueCondition>
<StoryboardElementStateCondition storyboardElementType="action" storyboardElementRef="AdversaryAccelerates" state="completeState"/>
</ByValueCondition>
</Condition>
</ConditionGroup>
</StartTrigger>
</Event>
</Maneuver>
</ManeuverGroup>
<StartTrigger>
<ConditionGroup>
<Condition name="OverallStartCondition" delay="0" conditionEdge="rising">
<ByEntityCondition>
<TriggeringEntities triggeringEntitiesRule="any">
<EntityRef entityRef="hero"/>
</TriggeringEntities>
<EntityCondition>
<TraveledDistanceCondition value="1.0"/>
</EntityCondition>
</ByEntityCondition>
</Condition>
<Condition name="StartTime" delay="0" conditionEdge="rising">
<ByValueCondition>
<SimulationTimeCondition value="0" rule="equalTo"/>
</ByValueCondition>
</Condition>
</ConditionGroup>
</StartTrigger>
<StopTrigger>
<ConditionGroup>
<Condition name="EndCondition" delay="0" conditionEdge="rising">
<ByEntityCondition>
<TriggeringEntities triggeringEntitiesRule="any">
<EntityRef entityRef="hero"/>
</TriggeringEntities>
<EntityCondition>
<TraveledDistanceCondition value="200.0"/>
</EntityCondition>
</ByEntityCondition>
</Condition>
</ConditionGroup>
</StopTrigger>
</Act>
</Story>
<StopTrigger>
<ConditionGroup>
<Condition name="criteria_RunningStopTest" delay="0" conditionEdge="rising">
<ByValueCondition>
<ParameterCondition parameterRef="" value="" rule="lessThan"/>
</ByValueCondition>
</Condition>
<Condition name="criteria_RunningRedLightTest" delay="0" conditionEdge="rising">
<ByValueCondition>
<ParameterCondition parameterRef="" value="" rule="lessThan"/>
</ByValueCondition>
</Condition>
<Condition name="criteria_WrongLaneTest" delay="0" conditionEdge="rising">
<ByValueCondition>
<ParameterCondition parameterRef="" value="" rule="lessThan"/>
</ByValueCondition>
</Condition>
<Condition name="criteria_OnSidewalkTest" delay="0" conditionEdge="rising">
<ByValueCondition>
<ParameterCondition parameterRef="" value="" rule="lessThan"/>
</ByValueCondition>
</Condition>
<Condition name="criteria_KeepLaneTest" delay="0" conditionEdge="rising">
<ByValueCondition>
<ParameterCondition parameterRef="" value="" rule="lessThan"/>
</ByValueCondition>
</Condition>
<Condition name="criteria_CollisionTest" delay="0" conditionEdge="rising">
<ByValueCondition>
<ParameterCondition parameterRef="" value="" rule="lessThan"/>
</ByValueCondition>
</Condition>
<Condition name="criteria_DrivenDistanceTest" delay="0" conditionEdge="rising">
<ByValueCondition>
<ParameterCondition parameterRef="distance_success" value="100" rule="lessThan"/>
</ByValueCondition>
</Condition>
</ConditionGroup>
</StopTrigger>
</Storyboard>
</OpenSCENARIO>
``` | Here is the result:
```
<?xml version="1.0" ?>
<OpenSCENARIO>
<FileHeader revMajor="1" revMinor="0" date="2020-03-24T12:00:00" description="CARLA:LaneChangeSimple" author=""/>
<ParameterDeclarations/>
<CatalogLocations/>
<RoadNetwork>
<LogicFile filepath="Town04"/>
<SceneGraphFile filepath=""/>
</RoadNetwork>
<Entities>
<ScenarioObject name="hero">
<Vehicle name="vehicle.tesla.model3" vehicleCategory="car">
<ParameterDeclarations/>
<Performance maxSpeed="69.444" maxAcceleration="200" maxDeceleration="10.0"/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2.1" length="4.5" height="1.8"/>
</BoundingBox>
<Axles>
<FrontAxle maxSteering="0.5" wheelDiameter="0.6" trackWidth="1.8" positionX="3.1" positionZ="0.3"/>
<RearAxle maxSteering="0.0" wheelDiameter="0.6" trackWidth="1.8" positionX="0.0" positionZ="0.3"/>
</Axles>
<Properties>
<Property name="type" value="ego_vehicle"/>
</Properties>
</Vehicle>
</ScenarioObject>
<ScenarioObject name="adversary">
<Vehicle name="vehicle.lincoln.mkz_2017" vehicleCategory="car">
<ParameterDeclarations/>
<Performance maxSpeed="69.444" maxAcceleration="200" maxDeceleration="10.0"/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2.1" length="4.5" height="1.8"/>
</BoundingBox>
<Axles>
<FrontAxle maxSteering="0.5" wheelDiameter="0.6" trackWidth="1.8" positionX="3.1" positionZ="0.3"/>
<RearAxle maxSteering="0.0" wheelDiameter="0.6" trackWidth="1.8" positionX="0.0" positionZ="0.3"/>
</Axles>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Vehicle>
</ScenarioObject>
<ScenarioObject name="standing">
<Vehicle name="vehicle.volkswagen.t2" vehicleCategory="car">
<ParameterDeclarations/>
<Performance maxSpeed="69.444" maxAcceleration="200" maxDeceleration="10.0"/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2.1" length="4.5" height="1.8"/>
</BoundingBox>
<Axles>
<FrontAxle maxSteering="0.5" wheelDiameter="0.6" trackWidth="1.8" positionX="3.1" positionZ="0.3"/>
<RearAxle maxSteering="0.0" wheelDiameter="0.6" trackWidth="1.8" positionX="0.0" positionZ="0.3"/>
</Axles>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Vehicle>
</ScenarioObject>
<ScenarioObject name="pedestrian_close_to_standing_21672">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_close_to_adversary_21673">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_close_to_standing_21674">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_close_to_standing_21675">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_w_transform_21676">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_w_transform_21677">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_close_to_hero_21678">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_close_to_adversary_21679">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_w_transform_21680">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
</Entities>
<Storyboard>
<Init>
<Actions>
<GlobalAction>
<EnvironmentAction>
<Environment name="Environment1">
<TimeOfDay animation="false" dateTime="2019-06-25T12:00:00"/>
<Weather cloudState="free">
<Sun intensity="0.85" azimuth="0" elevation="1.31"/>
<Fog visualRange="100000.0"/>
<Precipitation precipitationType="dry" intensity="0.0"/>
</Weather>
<RoadCondition frictionScaleFactor="1.0"/>
</Environment>
</EnvironmentAction>
</GlobalAction>
<Private entityRef="hero">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-9.4" y="-152.8" z="0.5" h="1.57079632679"/>
</Position>
</TeleportAction>
</PrivateAction>
<PrivateAction>
<ControllerAction>
<AssignControllerAction>
<Controller name="HeroAgent">
<Properties>
<Property name="module" value="external_control"/>
</Properties>
</Controller>
</AssignControllerAction>
<OverrideControllerValueAction>
<Throttle value="0" active="false"/>
<Brake value="0" active="false"/>
<Clutch value="0" active="false"/>
<ParkingBrake value="0" active="false"/>
<SteeringWheel value="0" active="false"/>
<Gear number="0" active="false"/>
</OverrideControllerValueAction>
</ControllerAction>
</PrivateAction>
</Private>
<Private entityRef="adversary">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-9.4" y="-71.0" z="0.5" h="1.57079632679"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="standing">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-8.2" y="29.2" z="0.5" h="1.57079632679"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_close_to_standing_21672">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="1.5266587734222412" y="19.91124725341797" z="0.0030429076869040728"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_close_to_adversary_21673">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-11.13465404510498" y="-79.56987762451172" z="0.03380271792411804"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_close_to_standing_21674">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-14.993762016296387" y="25.65596580505371" z="0.0030602645128965378"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_close_to_standing_21675">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-5.462593078613281" y="22.250377655029297" z="0.0030193328857421875"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_w_transform_21676">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="87.33857727050781" y="53.56413650512695" z="0.5"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_w_transform_21677">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-9.090191841125488" y="-56.668067932128906" z="0.5"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_close_to_hero_21678">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-17.730688095092773" y="-148.40013122558594" z="0.0014286803780123591"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_close_to_adversary_21679">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-6.074114799499512" y="-68.57508850097656" z="0.03377654775977135"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_w_transform_21680">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-44.055580139160156" y="-52.14427947998047" z="0.5"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
</Actions>
</Init>
<Story name="MyStory">
<Act name="Behavior">
<ManeuverGroup maximumExecutionCount="1" name="ManeuverSequence">
<Actors selectTriggeringEntities="false">
<EntityRef entityRef="adversary"/>
</Actors>
<Maneuver name="LaneChangeSimpleManeuver">
<Event name="AdversaryAccelerates" priority="overwrite">
<Action name="AdversaryAccelerates">
<PrivateAction>
<LongitudinalAction>
<SpeedAction>
<SpeedActionDynamics dynamicsShape="step" value="50" dynamicsDimension="distance"/>
<SpeedActionTarget>
<AbsoluteTargetSpeed value="5.0"/>
</SpeedActionTarget>
</SpeedAction>
</LongitudinalAction>
</PrivateAction>
</Action>
<StartTrigger>
<ConditionGroup>
<Condition name="StartCondition" delay="0" conditionEdge="rising">
<ByEntityCondition>
<TriggeringEntities triggeringEntitiesRule="any">
<EntityRef entityRef="hero"/>
</TriggeringEntities>
<EntityCondition>
<RelativeDistanceCondition entityRef="adversary" relativeDistanceType="cartesianDistance" value="40.0" freespace="false" rule="lessThan"/>
</EntityCondition>
</ByEntityCondition>
</Condition>
</ConditionGroup>
</StartTrigger>
</Event>
<Event name="AdversaryChangesLane" priority="overwrite">
<Action name="AdversaryChangesLane">
<PrivateAction>
<LateralAction>
<LaneChangeAction>
<LaneChangeActionDynamics dynamicsShape="linear" value="25" dynamicsDimension="distance"/>
<LaneChangeTarget>
<RelativeTargetLane entityRef="adversary" value="-1"/>
</LaneChangeTarget>
</LaneChangeAction>
</LateralAction>
</PrivateAction>
</Action>
<StartTrigger>
<ConditionGroup>
<Condition name="AfterAdversaryAccelerates" delay="0" conditionEdge="rising">
<ByValueCondition>
<StoryboardElementStateCondition storyboardElementType="action" storyboardElementRef="AdversaryAccelerates" state="completeState"/>
</ByValueCondition>
</Condition>
</ConditionGroup>
</StartTrigger>
</Event>
</Maneuver>
</ManeuverGroup>
<StartTrigger>
<ConditionGroup>
<Condition name="OverallStartCondition" delay="0" conditionEdge="rising">
<ByEntityCondition>
<TriggeringEntities triggeringEntitiesRule="any">
<EntityRef entityRef="hero"/>
</TriggeringEntities>
<EntityCondition>
<TraveledDistanceCondition value="1.0"/>
</EntityCondition>
</ByEntityCondition>
</Condition>
<Condition name="StartTime" delay="0" conditionEdge="rising">
<ByValueCondition>
<SimulationTimeCondition value="0" rule="equalTo"/>
</ByValueCondition>
</Condition>
</ConditionGroup>
</StartTrigger>
<StopTrigger>
<ConditionGroup>
<Condition name="EndCondition" delay="0" conditionEdge="rising">
<ByEntityCondition>
<TriggeringEntities triggeringEntitiesRule="any">
<EntityRef entityRef="hero"/>
</TriggeringEntities>
<EntityCondition>
<TraveledDistanceCondition value="200.0"/>
</EntityCondition>
</ByEntityCondition>
</Condition>
</ConditionGroup>
</StopTrigger>
</Act>
</Story>
<StopTrigger>
<ConditionGroup>
<Condition name="criteria_RunningStopTest" delay="0" conditionEdge="rising">
<ByValueCondition>
<ParameterCondition parameterRef="" value="" rule="lessThan"/>
</ByValueCondition>
</Condition>
<Condition name="criteria_RunningRedLightTest" delay="0" conditionEdge="rising">
<ByValueCondition>
<ParameterCondition parameterRef="" value="" rule="lessThan"/>
</ByValueCondition>
</Condition>
<Condition name="criteria_WrongLaneTest" delay="0" conditionEdge="rising">
<ByValueCondition>
<ParameterCondition parameterRef="" value="" rule="lessThan"/>
</ByValueCondition>
</Condition>
<Condition name="criteria_OnSidewalkTest" delay="0" conditionEdge="rising">
<ByValueCondition>
<ParameterCondition parameterRef="" value="" rule="lessThan"/>
</ByValueCondition>
</Condition>
<Condition name="criteria_KeepLaneTest" delay="0" conditionEdge="rising">
<ByValueCondition>
<ParameterCondition parameterRef="" value="" rule="lessThan"/>
</ByValueCondition>
</Condition>
<Condition name="criteria_CollisionTest" delay="0" conditionEdge="rising">
<ByValueCondition>
<ParameterCondition parameterRef="" value="" rule="lessThan"/>
</ByValueCondition>
</Condition>
<Condition name="criteria_DrivenDistanceTest" delay="0" conditionEdge="rising">
<ByValueCondition>
<ParameterCondition parameterRef="distance_success" value="100" rule="lessThan"/>
</ByValueCondition>
</Condition>
</ConditionGroup>
</StopTrigger>
</Storyboard>
</OpenSCENARIO>
``` |
could you remove pedestrian actor named pedestrian_w_transform_15814?
```
<?xml version="1.0" ?>
<OpenSCENARIO>
<FileHeader revMajor="1" revMinor="0" date="2020-03-24T12:00:00" description="CARLA:LaneChangeSimple" author=""/>
<ParameterDeclarations/>
<CatalogLocations/>
<RoadNetwork>
<LogicFile filepath="Town04"/>
<SceneGraphFile filepath=""/>
</RoadNetwork>
<Entities>
<ScenarioObject name="hero">
<Vehicle name="vehicle.tesla.model3" vehicleCategory="car">
<ParameterDeclarations/>
<Performance maxSpeed="69.444" maxAcceleration="200" maxDeceleration="10.0"/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2.1" length="4.5" height="1.8"/>
</BoundingBox>
<Axles>
<FrontAxle maxSteering="0.5" wheelDiameter="0.6" trackWidth="1.8" positionX="3.1" positionZ="0.3"/>
<RearAxle maxSteering="0.0" wheelDiameter="0.6" trackWidth="1.8" positionX="0.0" positionZ="0.3"/>
</Axles>
<Properties>
<Property name="type" value="ego_vehicle"/>
</Properties>
</Vehicle>
</ScenarioObject>
<ScenarioObject name="adversary">
<Vehicle name="vehicle.lincoln.mkz_2017" vehicleCategory="car">
<ParameterDeclarations/>
<Performance maxSpeed="69.444" maxAcceleration="200" maxDeceleration="10.0"/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2.1" length="4.5" height="1.8"/>
</BoundingBox>
<Axles>
<FrontAxle maxSteering="0.5" wheelDiameter="0.6" trackWidth="1.8" positionX="3.1" positionZ="0.3"/>
<RearAxle maxSteering="0.0" wheelDiameter="0.6" trackWidth="1.8" positionX="0.0" positionZ="0.3"/>
</Axles>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Vehicle>
</ScenarioObject>
<ScenarioObject name="standing">
<Vehicle name="vehicle.volkswagen.t2" vehicleCategory="car">
<ParameterDeclarations/>
<Performance maxSpeed="69.444" maxAcceleration="200" maxDeceleration="10.0"/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2.1" length="4.5" height="1.8"/>
</BoundingBox>
<Axles>
<FrontAxle maxSteering="0.5" wheelDiameter="0.6" trackWidth="1.8" positionX="3.1" positionZ="0.3"/>
<RearAxle maxSteering="0.0" wheelDiameter="0.6" 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_15809">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_w_transform_15810">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_w_transform_15813">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_w_transform_15814">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_w_transform_15816">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_w_transform_15818">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_w_transform_15819">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_w_transform_15820">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_w_transform_15822">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_close_to_hero_15825">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
</Entities>
<Storyboard>
<Init>
<Actions>
<GlobalAction>
<EnvironmentAction>
<Environment name="Environment1">
<TimeOfDay animation="false" dateTime="2019-06-25T12:00:00"/>
<Weather cloudState="free">
<Sun intensity="0.85" azimuth="0" elevation="1.31"/>
<Fog visualRange="100000.0"/>
<Precipitation precipitationType="dry" intensity="0.0"/>
</Weather>
<RoadCondition frictionScaleFactor="1.0"/>
</Environment>
</EnvironmentAction>
</GlobalAction>
<Private entityRef="hero">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-9.4" y="-152.8" z="0.5" h="1.57079632679"/>
</Position>
</TeleportAction>
</PrivateAction>
<PrivateAction>
<ControllerAction>
<AssignControllerAction>
<Controller name="HeroAgent">
<Properties>
<Property name="module" value="external_control"/>
</Properties>
</Controller>
</AssignControllerAction>
<OverrideControllerValueAction>
<Throttle value="0" active="false"/>
<Brake value="0" active="false"/>
<Clutch value="0" active="false"/>
<ParkingBrake value="0" active="false"/>
<SteeringWheel value="0" active="false"/>
<Gear number="0" active="false"/>
</OverrideControllerValueAction>
</ControllerAction>
</PrivateAction>
</Private>
<Private entityRef="adversary">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-9.4" y="-71.0" z="0.5" h="1.57079632679"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="standing">
<PrivateAction>
<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_15809">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-9.657844543457031" y="-148.01856994628906" z="0.0014286803780123591"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_w_transform_15810">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-54.73360824584961" y="19.71324920654297" z="0.5"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_w_transform_15813">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="60.796409606933594" y="-19.093490600585938" z="0.5"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_w_transform_15814">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="74.72612762451172" y="2.4515278339385986" z="0.5"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_w_transform_15816">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="39.02396011352539" y="-44.169769287109375" z="0.5"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_w_transform_15818">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="0.7480888962745667" y="3.7304277420043945" z="0.5"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_w_transform_15819">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="2.6251511573791504" y="54.015594482421875" z="0.5"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_w_transform_15820">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="64.6969223022461" y="-61.2536506652832" z="0.5"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_w_transform_15822">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="33.52689743041992" y="83.83265686035156" z="0.5"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_close_to_hero_15825">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-2.176062822341919" y="-144.48056030273438" z="0.0014286803780123591"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
</Actions>
</Init>
<Story name="MyStory">
<Act name="Behavior">
<ManeuverGroup maximumExecutionCount="1" name="ManeuverSequence">
<Actors selectTriggeringEntities="false">
<EntityRef entityRef="adversary"/>
</Actors>
<Maneuver name="LaneChangeSimpleManeuver">
<Event name="AdversaryAccelerates" priority="overwrite">
<Action name="AdversaryAccelerates">
<PrivateAction>
<LongitudinalAction>
<SpeedAction>
<SpeedActionDynamics dynamicsShape="step" value="50" dynamicsDimension="distance"/>
<SpeedActionTarget>
<AbsoluteTargetSpeed value="5.0"/>
</SpeedActionTarget>
</SpeedAction>
</LongitudinalAction>
</PrivateAction>
</Action>
<StartTrigger>
<ConditionGroup>
<Condition name="StartCondition" delay="0" conditionEdge="rising">
<ByEntityCondition>
<TriggeringEntities triggeringEntitiesRule="any">
<EntityRef entityRef="hero"/>
</TriggeringEntities>
<EntityCondition>
<RelativeDistanceCondition entityRef="adversary" relativeDistanceType="cartesianDistance" value="40.0" freespace="false" rule="lessThan"/>
</EntityCondition>
</ByEntityCondition>
</Condition>
</ConditionGroup>
</StartTrigger>
</Event>
<Event name="AdversaryChangesLane" priority="overwrite">
<Action name="AdversaryChangesLane">
<PrivateAction>
<LateralAction>
<LaneChangeAction>
<LaneChangeActionDynamics dynamicsShape="linear" value="25" dynamicsDimension="distance"/>
<LaneChangeTarget>
<RelativeTargetLane entityRef="adversary" value="-1"/>
</LaneChangeTarget>
</LaneChangeAction>
</LateralAction>
</PrivateAction>
</Action>
<StartTrigger>
<ConditionGroup>
<Condition name="AfterAdversaryAccelerates" delay="0" conditionEdge="rising">
<ByValueCondition>
<StoryboardElementStateCondition storyboardElementType="action" storyboardElementRef="AdversaryAccelerates" state="completeState"/>
</ByValueCondition>
</Condition>
</ConditionGroup>
</StartTrigger>
</Event>
</Maneuver>
</ManeuverGroup>
<StartTrigger>
<ConditionGroup>
<Condition name="OverallStartCondition" delay="0" conditionEdge="rising">
<ByEntityCondition>
<TriggeringEntities triggeringEntitiesRule="any">
<EntityRef entityRef="hero"/>
</TriggeringEntities>
<EntityCondition>
<TraveledDistanceCondition value="1.0"/>
</EntityCondition>
</ByEntityCondition>
</Condition>
<Condition name="StartTime" delay="0" conditionEdge="rising">
<ByValueCondition>
<SimulationTimeCondition value="0" rule="equalTo"/>
</ByValueCondition>
</Condition>
</ConditionGroup>
</StartTrigger>
<StopTrigger>
<ConditionGroup>
<Condition name="EndCondition" delay="0" conditionEdge="rising">
<ByEntityCondition>
<TriggeringEntities triggeringEntitiesRule="any">
<EntityRef entityRef="hero"/>
</TriggeringEntities>
<EntityCondition>
<TraveledDistanceCondition value="200.0"/>
</EntityCondition>
</ByEntityCondition>
</Condition>
</ConditionGroup>
</StopTrigger>
</Act>
</Story>
<StopTrigger>
<ConditionGroup>
<Condition name="criteria_RunningStopTest" delay="0" conditionEdge="rising">
<ByValueCondition>
<ParameterCondition parameterRef="" value="" rule="lessThan"/>
</ByValueCondition>
</Condition>
<Condition name="criteria_RunningRedLightTest" delay="0" conditionEdge="rising">
<ByValueCondition>
<ParameterCondition parameterRef="" value="" rule="lessThan"/>
</ByValueCondition>
</Condition>
<Condition name="criteria_WrongLaneTest" delay="0" conditionEdge="rising">
<ByValueCondition>
<ParameterCondition parameterRef="" value="" rule="lessThan"/>
</ByValueCondition>
</Condition>
<Condition name="criteria_OnSidewalkTest" delay="0" conditionEdge="rising">
<ByValueCondition>
<ParameterCondition parameterRef="" value="" rule="lessThan"/>
</ByValueCondition>
</Condition>
<Condition name="criteria_KeepLaneTest" delay="0" conditionEdge="rising">
<ByValueCondition>
<ParameterCondition parameterRef="" value="" rule="lessThan"/>
</ByValueCondition>
</Condition>
<Condition name="criteria_CollisionTest" delay="0" conditionEdge="rising">
<ByValueCondition>
<ParameterCondition parameterRef="" value="" rule="lessThan"/>
</ByValueCondition>
</Condition>
<Condition name="criteria_DrivenDistanceTest" delay="0" conditionEdge="rising">
<ByValueCondition>
<ParameterCondition parameterRef="distance_success" value="100" rule="lessThan"/>
</ByValueCondition>
</Condition>
</ConditionGroup>
</StopTrigger>
</Storyboard>
</OpenSCENARIO>
``` | Here is the result:
```
<?xml version="1.0" ?>
<OpenSCENARIO>
<FileHeader revMajor="1" revMinor="0" date="2020-03-24T12:00:00" description="CARLA:LaneChangeSimple" author=""/>
<ParameterDeclarations/>
<CatalogLocations/>
<RoadNetwork>
<LogicFile filepath="Town04"/>
<SceneGraphFile filepath=""/>
</RoadNetwork>
<Entities>
<ScenarioObject name="hero">
<Vehicle name="vehicle.tesla.model3" vehicleCategory="car">
<ParameterDeclarations/>
<Performance maxSpeed="69.444" maxAcceleration="200" maxDeceleration="10.0"/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2.1" length="4.5" height="1.8"/>
</BoundingBox>
<Axles>
<FrontAxle maxSteering="0.5" wheelDiameter="0.6" trackWidth="1.8" positionX="3.1" positionZ="0.3"/>
<RearAxle maxSteering="0.0" wheelDiameter="0.6" trackWidth="1.8" positionX="0.0" positionZ="0.3"/>
</Axles>
<Properties>
<Property name="type" value="ego_vehicle"/>
</Properties>
</Vehicle>
</ScenarioObject>
<ScenarioObject name="adversary">
<Vehicle name="vehicle.lincoln.mkz_2017" vehicleCategory="car">
<ParameterDeclarations/>
<Performance maxSpeed="69.444" maxAcceleration="200" maxDeceleration="10.0"/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2.1" length="4.5" height="1.8"/>
</BoundingBox>
<Axles>
<FrontAxle maxSteering="0.5" wheelDiameter="0.6" trackWidth="1.8" positionX="3.1" positionZ="0.3"/>
<RearAxle maxSteering="0.0" wheelDiameter="0.6" trackWidth="1.8" positionX="0.0" positionZ="0.3"/>
</Axles>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Vehicle>
</ScenarioObject>
<ScenarioObject name="standing">
<Vehicle name="vehicle.volkswagen.t2" vehicleCategory="car">
<ParameterDeclarations/>
<Performance maxSpeed="69.444" maxAcceleration="200" maxDeceleration="10.0"/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2.1" length="4.5" height="1.8"/>
</BoundingBox>
<Axles>
<FrontAxle maxSteering="0.5" wheelDiameter="0.6" trackWidth="1.8" positionX="3.1" positionZ="0.3"/>
<RearAxle maxSteering="0.0" wheelDiameter="0.6" 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_15809">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_w_transform_15810">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_w_transform_15813">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_w_transform_15816">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_w_transform_15818">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_w_transform_15819">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_w_transform_15820">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_w_transform_15822">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_close_to_hero_15825">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
</Entities>
<Storyboard>
<Init>
<Actions>
<GlobalAction>
<EnvironmentAction>
<Environment name="Environment1">
<TimeOfDay animation="false" dateTime="2019-06-25T12:00:00"/>
<Weather cloudState="free">
<Sun intensity="0.85" azimuth="0" elevation="1.31"/>
<Fog visualRange="100000.0"/>
<Precipitation precipitationType="dry" intensity="0.0"/>
</Weather>
<RoadCondition frictionScaleFactor="1.0"/>
</Environment>
</EnvironmentAction>
</GlobalAction>
<Private entityRef="hero">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-9.4" y="-152.8" z="0.5" h="1.57079632679"/>
</Position>
</TeleportAction>
</PrivateAction>
<PrivateAction>
<ControllerAction>
<AssignControllerAction>
<Controller name="HeroAgent">
<Properties>
<Property name="module" value="external_control"/>
</Properties>
</Controller>
</AssignControllerAction>
<OverrideControllerValueAction>
<Throttle value="0" active="false"/>
<Brake value="0" active="false"/>
<Clutch value="0" active="false"/>
<ParkingBrake value="0" active="false"/>
<SteeringWheel value="0" active="false"/>
<Gear number="0" active="false"/>
</OverrideControllerValueAction>
</ControllerAction>
</PrivateAction>
</Private>
<Private entityRef="adversary">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-9.4" y="-71.0" z="0.5" h="1.57079632679"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="standing">
<PrivateAction>
<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_15809">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-9.657844543457031" y="-148.01856994628906" z="0.0014286803780123591"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_w_transform_15810">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-54.73360824584961" y="19.71324920654297" z="0.5"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_w_transform_15813">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="60.796409606933594" y="-19.093490600585938" z="0.5"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_w_transform_15816">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="39.02396011352539" y="-44.169769287109375" z="0.5"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_w_transform_15818">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="0.7480888962745667" y="3.7304277420043945" z="0.5"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_w_transform_15819">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="2.6251511573791504" y="54.015594482421875" z="0.5"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_w_transform_15820">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="64.6969223022461" y="-61.2536506652832" z="0.5"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_w_transform_15822">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="33.52689743041992" y="83.83265686035156" z="0.5"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_close_to_hero_15825">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-2.176062822341919" y="-144.48056030273438" z="0.0014286803780123591"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
</Actions>
</Init>
<Story name="MyStory">
<Act name="Behavior">
<ManeuverGroup maximumExecutionCount="1" name="ManeuverSequence">
<Actors selectTriggeringEntities="false">
<EntityRef entityRef="adversary"/>
</Actors>
<Maneuver name="LaneChangeSimpleManeuver">
<Event name="AdversaryAccelerates" priority="overwrite">
<Action name="AdversaryAccelerates">
<PrivateAction>
<LongitudinalAction>
<SpeedAction>
<SpeedActionDynamics dynamicsShape="step" value="50" dynamicsDimension="distance"/>
<SpeedActionTarget>
<AbsoluteTargetSpeed value="5.0"/>
</SpeedActionTarget>
</SpeedAction>
</LongitudinalAction>
</PrivateAction>
</Action>
<StartTrigger>
<ConditionGroup>
<Condition name="StartCondition" delay="0" conditionEdge="rising">
<ByEntityCondition>
<TriggeringEntities triggeringEntitiesRule="any">
<EntityRef entityRef="hero"/>
</TriggeringEntities>
<EntityCondition>
<RelativeDistanceCondition entityRef="adversary" relativeDistanceType="cartesianDistance" value="40.0" freespace="false" rule="lessThan"/>
</EntityCondition>
</ByEntityCondition>
</Condition>
</ConditionGroup>
</StartTrigger>
</Event>
<Event name="AdversaryChangesLane" priority="overwrite">
<Action name="AdversaryChangesLane">
<PrivateAction>
<LateralAction>
<LaneChangeAction>
<LaneChangeActionDynamics dynamicsShape="linear" value="25" dynamicsDimension="distance"/>
<LaneChangeTarget>
<RelativeTargetLane entityRef="adversary" value="-1"/>
</LaneChangeTarget>
</LaneChangeAction>
</LateralAction>
</PrivateAction>
</Action>
<StartTrigger>
<ConditionGroup>
<Condition name="AfterAdversaryAccelerates" delay="0" conditionEdge="rising">
<ByValueCondition>
<StoryboardElementStateCondition storyboardElementType="action" storyboardElementRef="AdversaryAccelerates" state="completeState"/>
</ByValueCondition>
</Condition>
</ConditionGroup>
</StartTrigger>
</Event>
</Maneuver>
</ManeuverGroup>
<StartTrigger>
<ConditionGroup>
<Condition name="OverallStartCondition" delay="0" conditionEdge="rising">
<ByEntityCondition>
<TriggeringEntities triggeringEntitiesRule="any">
<EntityRef entityRef="hero"/>
</TriggeringEntities>
<EntityCondition>
<TraveledDistanceCondition value="1.0"/>
</EntityCondition>
</ByEntityCondition>
</Condition>
<Condition name="StartTime" delay="0" conditionEdge="rising">
<ByValueCondition>
<SimulationTimeCondition value="0" rule="equalTo"/>
</ByValueCondition>
</Condition>
</ConditionGroup>
</StartTrigger>
<StopTrigger>
<ConditionGroup>
<Condition name="EndCondition" delay="0" conditionEdge="rising">
<ByEntityCondition>
<TriggeringEntities triggeringEntitiesRule="any">
<EntityRef entityRef="hero"/>
</TriggeringEntities>
<EntityCondition>
<TraveledDistanceCondition value="200.0"/>
</EntityCondition>
</ByEntityCondition>
</Condition>
</ConditionGroup>
</StopTrigger>
</Act>
</Story>
<StopTrigger>
<ConditionGroup>
<Condition name="criteria_RunningStopTest" delay="0" conditionEdge="rising">
<ByValueCondition>
<ParameterCondition parameterRef="" value="" rule="lessThan"/>
</ByValueCondition>
</Condition>
<Condition name="criteria_RunningRedLightTest" delay="0" conditionEdge="rising">
<ByValueCondition>
<ParameterCondition parameterRef="" value="" rule="lessThan"/>
</ByValueCondition>
</Condition>
<Condition name="criteria_WrongLaneTest" delay="0" conditionEdge="rising">
<ByValueCondition>
<ParameterCondition parameterRef="" value="" rule="lessThan"/>
</ByValueCondition>
</Condition>
<Condition name="criteria_OnSidewalkTest" delay="0" conditionEdge="rising">
<ByValueCondition>
<ParameterCondition parameterRef="" value="" rule="lessThan"/>
</ByValueCondition>
</Condition>
<Condition name="criteria_KeepLaneTest" delay="0" conditionEdge="rising">
<ByValueCondition>
<ParameterCondition parameterRef="" value="" rule="lessThan"/>
</ByValueCondition>
</Condition>
<Condition name="criteria_CollisionTest" delay="0" conditionEdge="rising">
<ByValueCondition>
<ParameterCondition parameterRef="" value="" rule="lessThan"/>
</ByValueCondition>
</Condition>
<Condition name="criteria_DrivenDistanceTest" delay="0" conditionEdge="rising">
<ByValueCondition>
<ParameterCondition parameterRef="distance_success" value="100" rule="lessThan"/>
</ByValueCondition>
</Condition>
</ConditionGroup>
</StopTrigger>
</Storyboard>
</OpenSCENARIO>
``` |
i would like to instruct you to add pedestrian close to adversary?
```
<?xml version="1.0" ?>
<OpenSCENARIO>
<FileHeader revMajor="1" revMinor="0" date="2020-03-24T12:00:00" description="CARLA:LaneChangeSimple" author=""/>
<ParameterDeclarations/>
<CatalogLocations/>
<RoadNetwork>
<LogicFile filepath="Town04"/>
<SceneGraphFile filepath=""/>
</RoadNetwork>
<Entities>
<ScenarioObject name="hero">
<Vehicle name="vehicle.tesla.model3" vehicleCategory="car">
<ParameterDeclarations/>
<Performance maxSpeed="69.444" maxAcceleration="200" maxDeceleration="10.0"/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2.1" length="4.5" height="1.8"/>
</BoundingBox>
<Axles>
<FrontAxle maxSteering="0.5" wheelDiameter="0.6" trackWidth="1.8" positionX="3.1" positionZ="0.3"/>
<RearAxle maxSteering="0.0" wheelDiameter="0.6" trackWidth="1.8" positionX="0.0" positionZ="0.3"/>
</Axles>
<Properties>
<Property name="type" value="ego_vehicle"/>
</Properties>
</Vehicle>
</ScenarioObject>
<ScenarioObject name="adversary">
<Vehicle name="vehicle.lincoln.mkz_2017" vehicleCategory="car">
<ParameterDeclarations/>
<Performance maxSpeed="69.444" maxAcceleration="200" maxDeceleration="10.0"/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2.1" length="4.5" height="1.8"/>
</BoundingBox>
<Axles>
<FrontAxle maxSteering="0.5" wheelDiameter="0.6" trackWidth="1.8" positionX="3.1" positionZ="0.3"/>
<RearAxle maxSteering="0.0" wheelDiameter="0.6" trackWidth="1.8" positionX="0.0" positionZ="0.3"/>
</Axles>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Vehicle>
</ScenarioObject>
<ScenarioObject name="standing">
<Vehicle name="vehicle.volkswagen.t2" vehicleCategory="car">
<ParameterDeclarations/>
<Performance maxSpeed="69.444" maxAcceleration="200" maxDeceleration="10.0"/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2.1" length="4.5" height="1.8"/>
</BoundingBox>
<Axles>
<FrontAxle maxSteering="0.5" wheelDiameter="0.6" trackWidth="1.8" positionX="3.1" positionZ="0.3"/>
<RearAxle maxSteering="0.0" wheelDiameter="0.6" trackWidth="1.8" positionX="0.0" positionZ="0.3"/>
</Axles>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Vehicle>
</ScenarioObject>
<ScenarioObject name="pedestrian_close_to_adversary_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_w_transform_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_close_to_adversary_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_2924">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="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_w_transform_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>
</Entities>
<Storyboard>
<Init>
<Actions>
<GlobalAction>
<EnvironmentAction>
<Environment name="Environment1">
<TimeOfDay animation="false" dateTime="2019-06-25T12:00:00"/>
<Weather cloudState="free">
<Sun intensity="0.85" azimuth="0" elevation="1.31"/>
<Fog visualRange="100000.0"/>
<Precipitation precipitationType="dry" intensity="0.0"/>
</Weather>
<RoadCondition frictionScaleFactor="1.0"/>
</Environment>
</EnvironmentAction>
</GlobalAction>
<Private entityRef="hero">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-9.4" y="-152.8" z="0.5" h="1.57079632679"/>
</Position>
</TeleportAction>
</PrivateAction>
<PrivateAction>
<ControllerAction>
<AssignControllerAction>
<Controller name="HeroAgent">
<Properties>
<Property name="module" value="external_control"/>
</Properties>
</Controller>
</AssignControllerAction>
<OverrideControllerValueAction>
<Throttle value="0" active="false"/>
<Brake value="0" active="false"/>
<Clutch value="0" active="false"/>
<ParkingBrake value="0" active="false"/>
<SteeringWheel value="0" active="false"/>
<Gear number="0" active="false"/>
</OverrideControllerValueAction>
</ControllerAction>
</PrivateAction>
</Private>
<Private entityRef="adversary">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-9.4" y="-71.0" z="0.5" h="1.57079632679"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="standing">
<PrivateAction>
<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_2920">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-4.813758850097656" y="-70.54711151123047" z="0.03383602201938629"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_w_transform_2922">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-2.6751482486724854" y="66.56273651123047" z="0.5"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_close_to_adversary_2923">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-6.642816066741943" y="-65.53434753417969" z="0.033819884061813354"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_w_transform_2924">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="25.489906311035156" y="-19.627689361572266" z="0.5"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_w_transform_2925">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-94.83949279785156" y="-84.39360046386719" z="0.5"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_w_transform_2926">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="71.60427856445312" y="48.34296417236328" z="0.5"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
</Actions>
</Init>
<Story name="MyStory">
<Act name="Behavior">
<ManeuverGroup maximumExecutionCount="1" name="ManeuverSequence">
<Actors selectTriggeringEntities="false">
<EntityRef entityRef="adversary"/>
</Actors>
<Maneuver name="LaneChangeSimpleManeuver">
<Event name="AdversaryAccelerates" priority="overwrite">
<Action name="AdversaryAccelerates">
<PrivateAction>
<LongitudinalAction>
<SpeedAction>
<SpeedActionDynamics dynamicsShape="step" value="50" dynamicsDimension="distance"/>
<SpeedActionTarget>
<AbsoluteTargetSpeed value="5.0"/>
</SpeedActionTarget>
</SpeedAction>
</LongitudinalAction>
</PrivateAction>
</Action>
<StartTrigger>
<ConditionGroup>
<Condition name="StartCondition" delay="0" conditionEdge="rising">
<ByEntityCondition>
<TriggeringEntities triggeringEntitiesRule="any">
<EntityRef entityRef="hero"/>
</TriggeringEntities>
<EntityCondition>
<RelativeDistanceCondition entityRef="adversary" relativeDistanceType="cartesianDistance" value="40.0" freespace="false" rule="lessThan"/>
</EntityCondition>
</ByEntityCondition>
</Condition>
</ConditionGroup>
</StartTrigger>
</Event>
<Event name="AdversaryChangesLane" priority="overwrite">
<Action name="AdversaryChangesLane">
<PrivateAction>
<LateralAction>
<LaneChangeAction>
<LaneChangeActionDynamics dynamicsShape="linear" value="25" dynamicsDimension="distance"/>
<LaneChangeTarget>
<RelativeTargetLane entityRef="adversary" value="-1"/>
</LaneChangeTarget>
</LaneChangeAction>
</LateralAction>
</PrivateAction>
</Action>
<StartTrigger>
<ConditionGroup>
<Condition name="AfterAdversaryAccelerates" delay="0" conditionEdge="rising">
<ByValueCondition>
<StoryboardElementStateCondition storyboardElementType="action" storyboardElementRef="AdversaryAccelerates" state="completeState"/>
</ByValueCondition>
</Condition>
</ConditionGroup>
</StartTrigger>
</Event>
</Maneuver>
</ManeuverGroup>
<StartTrigger>
<ConditionGroup>
<Condition name="OverallStartCondition" delay="0" conditionEdge="rising">
<ByEntityCondition>
<TriggeringEntities triggeringEntitiesRule="any">
<EntityRef entityRef="hero"/>
</TriggeringEntities>
<EntityCondition>
<TraveledDistanceCondition value="1.0"/>
</EntityCondition>
</ByEntityCondition>
</Condition>
<Condition name="StartTime" delay="0" conditionEdge="rising">
<ByValueCondition>
<SimulationTimeCondition value="0" rule="equalTo"/>
</ByValueCondition>
</Condition>
</ConditionGroup>
</StartTrigger>
<StopTrigger>
<ConditionGroup>
<Condition name="EndCondition" delay="0" conditionEdge="rising">
<ByEntityCondition>
<TriggeringEntities triggeringEntitiesRule="any">
<EntityRef entityRef="hero"/>
</TriggeringEntities>
<EntityCondition>
<TraveledDistanceCondition value="200.0"/>
</EntityCondition>
</ByEntityCondition>
</Condition>
</ConditionGroup>
</StopTrigger>
</Act>
</Story>
<StopTrigger>
<ConditionGroup>
<Condition name="criteria_RunningStopTest" delay="0" conditionEdge="rising">
<ByValueCondition>
<ParameterCondition parameterRef="" value="" rule="lessThan"/>
</ByValueCondition>
</Condition>
<Condition name="criteria_RunningRedLightTest" delay="0" conditionEdge="rising">
<ByValueCondition>
<ParameterCondition parameterRef="" value="" rule="lessThan"/>
</ByValueCondition>
</Condition>
<Condition name="criteria_WrongLaneTest" delay="0" conditionEdge="rising">
<ByValueCondition>
<ParameterCondition parameterRef="" value="" rule="lessThan"/>
</ByValueCondition>
</Condition>
<Condition name="criteria_OnSidewalkTest" delay="0" conditionEdge="rising">
<ByValueCondition>
<ParameterCondition parameterRef="" value="" rule="lessThan"/>
</ByValueCondition>
</Condition>
<Condition name="criteria_KeepLaneTest" delay="0" conditionEdge="rising">
<ByValueCondition>
<ParameterCondition parameterRef="" value="" rule="lessThan"/>
</ByValueCondition>
</Condition>
<Condition name="criteria_CollisionTest" delay="0" conditionEdge="rising">
<ByValueCondition>
<ParameterCondition parameterRef="" value="" rule="lessThan"/>
</ByValueCondition>
</Condition>
<Condition name="criteria_DrivenDistanceTest" delay="0" conditionEdge="rising">
<ByValueCondition>
<ParameterCondition parameterRef="distance_success" value="100" rule="lessThan"/>
</ByValueCondition>
</Condition>
</ConditionGroup>
</StopTrigger>
</Storyboard>
</OpenSCENARIO>
``` | Here is the result:
```
<?xml version="1.0" ?>
<OpenSCENARIO>
<FileHeader revMajor="1" revMinor="0" date="2020-03-24T12:00:00" description="CARLA:LaneChangeSimple" author=""/>
<ParameterDeclarations/>
<CatalogLocations/>
<RoadNetwork>
<LogicFile filepath="Town04"/>
<SceneGraphFile filepath=""/>
</RoadNetwork>
<Entities>
<ScenarioObject name="hero">
<Vehicle name="vehicle.tesla.model3" vehicleCategory="car">
<ParameterDeclarations/>
<Performance maxSpeed="69.444" maxAcceleration="200" maxDeceleration="10.0"/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2.1" length="4.5" height="1.8"/>
</BoundingBox>
<Axles>
<FrontAxle maxSteering="0.5" wheelDiameter="0.6" trackWidth="1.8" positionX="3.1" positionZ="0.3"/>
<RearAxle maxSteering="0.0" wheelDiameter="0.6" trackWidth="1.8" positionX="0.0" positionZ="0.3"/>
</Axles>
<Properties>
<Property name="type" value="ego_vehicle"/>
</Properties>
</Vehicle>
</ScenarioObject>
<ScenarioObject name="adversary">
<Vehicle name="vehicle.lincoln.mkz_2017" vehicleCategory="car">
<ParameterDeclarations/>
<Performance maxSpeed="69.444" maxAcceleration="200" maxDeceleration="10.0"/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2.1" length="4.5" height="1.8"/>
</BoundingBox>
<Axles>
<FrontAxle maxSteering="0.5" wheelDiameter="0.6" trackWidth="1.8" positionX="3.1" positionZ="0.3"/>
<RearAxle maxSteering="0.0" wheelDiameter="0.6" trackWidth="1.8" positionX="0.0" positionZ="0.3"/>
</Axles>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Vehicle>
</ScenarioObject>
<ScenarioObject name="standing">
<Vehicle name="vehicle.volkswagen.t2" vehicleCategory="car">
<ParameterDeclarations/>
<Performance maxSpeed="69.444" maxAcceleration="200" maxDeceleration="10.0"/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2.1" length="4.5" height="1.8"/>
</BoundingBox>
<Axles>
<FrontAxle maxSteering="0.5" wheelDiameter="0.6" trackWidth="1.8" positionX="3.1" positionZ="0.3"/>
<RearAxle maxSteering="0.0" wheelDiameter="0.6" 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_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_w_transform_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_close_to_adversary_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_2924">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="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_w_transform_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>
</Entities>
<Storyboard>
<Init>
<Actions>
<GlobalAction>
<EnvironmentAction>
<Environment name="Environment1">
<TimeOfDay animation="false" dateTime="2019-06-25T12:00:00"/>
<Weather cloudState="free">
<Sun intensity="0.85" azimuth="0" elevation="1.31"/>
<Fog visualRange="100000.0"/>
<Precipitation precipitationType="dry" intensity="0.0"/>
</Weather>
<RoadCondition frictionScaleFactor="1.0"/>
</Environment>
</EnvironmentAction>
</GlobalAction>
<Private entityRef="hero">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-9.4" y="-152.8" z="0.5" h="1.57079632679"/>
</Position>
</TeleportAction>
</PrivateAction>
<PrivateAction>
<ControllerAction>
<AssignControllerAction>
<Controller name="HeroAgent">
<Properties>
<Property name="module" value="external_control"/>
</Properties>
</Controller>
</AssignControllerAction>
<OverrideControllerValueAction>
<Throttle value="0" active="false"/>
<Brake value="0" active="false"/>
<Clutch value="0" active="false"/>
<ParkingBrake value="0" active="false"/>
<SteeringWheel value="0" active="false"/>
<Gear number="0" active="false"/>
</OverrideControllerValueAction>
</ControllerAction>
</PrivateAction>
</Private>
<Private entityRef="adversary">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-9.4" y="-71.0" z="0.5" h="1.57079632679"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="standing">
<PrivateAction>
<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_2920">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-4.813758850097656" y="-70.54711151123047" z="0.03383602201938629"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_w_transform_2922">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-2.6751482486724854" y="66.56273651123047" z="0.5"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_close_to_adversary_2923">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-6.642816066741943" y="-65.53434753417969" z="0.033819884061813354"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_w_transform_2924">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="25.489906311035156" y="-19.627689361572266" z="0.5"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_w_transform_2925">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-94.83949279785156" y="-84.39360046386719" z="0.5"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_w_transform_2926">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="71.60427856445312" y="48.34296417236328" z="0.5"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_close_to_adversary_2927">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-16.762676239013672" y="-77.61457824707031" z="0.03381210193037987"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
</Actions>
</Init>
<Story name="MyStory">
<Act name="Behavior">
<ManeuverGroup maximumExecutionCount="1" name="ManeuverSequence">
<Actors selectTriggeringEntities="false">
<EntityRef entityRef="adversary"/>
</Actors>
<Maneuver name="LaneChangeSimpleManeuver">
<Event name="AdversaryAccelerates" priority="overwrite">
<Action name="AdversaryAccelerates">
<PrivateAction>
<LongitudinalAction>
<SpeedAction>
<SpeedActionDynamics dynamicsShape="step" value="50" dynamicsDimension="distance"/>
<SpeedActionTarget>
<AbsoluteTargetSpeed value="5.0"/>
</SpeedActionTarget>
</SpeedAction>
</LongitudinalAction>
</PrivateAction>
</Action>
<StartTrigger>
<ConditionGroup>
<Condition name="StartCondition" delay="0" conditionEdge="rising">
<ByEntityCondition>
<TriggeringEntities triggeringEntitiesRule="any">
<EntityRef entityRef="hero"/>
</TriggeringEntities>
<EntityCondition>
<RelativeDistanceCondition entityRef="adversary" relativeDistanceType="cartesianDistance" value="40.0" freespace="false" rule="lessThan"/>
</EntityCondition>
</ByEntityCondition>
</Condition>
</ConditionGroup>
</StartTrigger>
</Event>
<Event name="AdversaryChangesLane" priority="overwrite">
<Action name="AdversaryChangesLane">
<PrivateAction>
<LateralAction>
<LaneChangeAction>
<LaneChangeActionDynamics dynamicsShape="linear" value="25" dynamicsDimension="distance"/>
<LaneChangeTarget>
<RelativeTargetLane entityRef="adversary" value="-1"/>
</LaneChangeTarget>
</LaneChangeAction>
</LateralAction>
</PrivateAction>
</Action>
<StartTrigger>
<ConditionGroup>
<Condition name="AfterAdversaryAccelerates" delay="0" conditionEdge="rising">
<ByValueCondition>
<StoryboardElementStateCondition storyboardElementType="action" storyboardElementRef="AdversaryAccelerates" state="completeState"/>
</ByValueCondition>
</Condition>
</ConditionGroup>
</StartTrigger>
</Event>
</Maneuver>
</ManeuverGroup>
<StartTrigger>
<ConditionGroup>
<Condition name="OverallStartCondition" delay="0" conditionEdge="rising">
<ByEntityCondition>
<TriggeringEntities triggeringEntitiesRule="any">
<EntityRef entityRef="hero"/>
</TriggeringEntities>
<EntityCondition>
<TraveledDistanceCondition value="1.0"/>
</EntityCondition>
</ByEntityCondition>
</Condition>
<Condition name="StartTime" delay="0" conditionEdge="rising">
<ByValueCondition>
<SimulationTimeCondition value="0" rule="equalTo"/>
</ByValueCondition>
</Condition>
</ConditionGroup>
</StartTrigger>
<StopTrigger>
<ConditionGroup>
<Condition name="EndCondition" delay="0" conditionEdge="rising">
<ByEntityCondition>
<TriggeringEntities triggeringEntitiesRule="any">
<EntityRef entityRef="hero"/>
</TriggeringEntities>
<EntityCondition>
<TraveledDistanceCondition value="200.0"/>
</EntityCondition>
</ByEntityCondition>
</Condition>
</ConditionGroup>
</StopTrigger>
</Act>
</Story>
<StopTrigger>
<ConditionGroup>
<Condition name="criteria_RunningStopTest" delay="0" conditionEdge="rising">
<ByValueCondition>
<ParameterCondition parameterRef="" value="" rule="lessThan"/>
</ByValueCondition>
</Condition>
<Condition name="criteria_RunningRedLightTest" delay="0" conditionEdge="rising">
<ByValueCondition>
<ParameterCondition parameterRef="" value="" rule="lessThan"/>
</ByValueCondition>
</Condition>
<Condition name="criteria_WrongLaneTest" delay="0" conditionEdge="rising">
<ByValueCondition>
<ParameterCondition parameterRef="" value="" rule="lessThan"/>
</ByValueCondition>
</Condition>
<Condition name="criteria_OnSidewalkTest" delay="0" conditionEdge="rising">
<ByValueCondition>
<ParameterCondition parameterRef="" value="" rule="lessThan"/>
</ByValueCondition>
</Condition>
<Condition name="criteria_KeepLaneTest" delay="0" conditionEdge="rising">
<ByValueCondition>
<ParameterCondition parameterRef="" value="" rule="lessThan"/>
</ByValueCondition>
</Condition>
<Condition name="criteria_CollisionTest" delay="0" conditionEdge="rising">
<ByValueCondition>
<ParameterCondition parameterRef="" value="" rule="lessThan"/>
</ByValueCondition>
</Condition>
<Condition name="criteria_DrivenDistanceTest" delay="0" conditionEdge="rising">
<ByValueCondition>
<ParameterCondition parameterRef="distance_success" value="100" rule="lessThan"/>
</ByValueCondition>
</Condition>
</ConditionGroup>
</StopTrigger>
</Storyboard>
</OpenSCENARIO>
``` |
i would like to ask you to remove pedestrian close to standing?
```
<?xml version="1.0" ?>
<OpenSCENARIO>
<FileHeader revMajor="1" revMinor="0" date="2020-03-24T12:00:00" description="CARLA:LaneChangeSimple" author=""/>
<ParameterDeclarations/>
<CatalogLocations/>
<RoadNetwork>
<LogicFile filepath="Town04"/>
<SceneGraphFile filepath=""/>
</RoadNetwork>
<Entities>
<ScenarioObject name="hero">
<Vehicle name="vehicle.tesla.model3" vehicleCategory="car">
<ParameterDeclarations/>
<Performance maxSpeed="69.444" maxAcceleration="200" maxDeceleration="10.0"/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2.1" length="4.5" height="1.8"/>
</BoundingBox>
<Axles>
<FrontAxle maxSteering="0.5" wheelDiameter="0.6" trackWidth="1.8" positionX="3.1" positionZ="0.3"/>
<RearAxle maxSteering="0.0" wheelDiameter="0.6" trackWidth="1.8" positionX="0.0" positionZ="0.3"/>
</Axles>
<Properties>
<Property name="type" value="ego_vehicle"/>
</Properties>
</Vehicle>
</ScenarioObject>
<ScenarioObject name="adversary">
<Vehicle name="vehicle.lincoln.mkz_2017" vehicleCategory="car">
<ParameterDeclarations/>
<Performance maxSpeed="69.444" maxAcceleration="200" maxDeceleration="10.0"/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2.1" length="4.5" height="1.8"/>
</BoundingBox>
<Axles>
<FrontAxle maxSteering="0.5" wheelDiameter="0.6" trackWidth="1.8" positionX="3.1" positionZ="0.3"/>
<RearAxle maxSteering="0.0" wheelDiameter="0.6" trackWidth="1.8" positionX="0.0" positionZ="0.3"/>
</Axles>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Vehicle>
</ScenarioObject>
<ScenarioObject name="standing">
<Vehicle name="vehicle.volkswagen.t2" vehicleCategory="car">
<ParameterDeclarations/>
<Performance maxSpeed="69.444" maxAcceleration="200" maxDeceleration="10.0"/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2.1" length="4.5" height="1.8"/>
</BoundingBox>
<Axles>
<FrontAxle maxSteering="0.5" wheelDiameter="0.6" trackWidth="1.8" positionX="3.1" positionZ="0.3"/>
<RearAxle maxSteering="0.0" wheelDiameter="0.6" trackWidth="1.8" positionX="0.0" positionZ="0.3"/>
</Axles>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Vehicle>
</ScenarioObject>
<ScenarioObject name="pedestrian_close_to_hero_1">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_close_to_hero_2">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_w_transform_3">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_w_transform_6">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_close_to_standing_8">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_w_transform_9">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_w_transform_10">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_close_to_standing_13">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_close_to_adversary_15">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_close_to_standing_16">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_w_transform_17">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_w_transform_19">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_w_transform_20">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
</Entities>
<Storyboard>
<Init>
<Actions>
<GlobalAction>
<EnvironmentAction>
<Environment name="Environment1">
<TimeOfDay animation="false" dateTime="2019-06-25T12:00:00"/>
<Weather cloudState="free">
<Sun intensity="0.85" azimuth="0" elevation="1.31"/>
<Fog visualRange="100000.0"/>
<Precipitation precipitationType="dry" intensity="0.0"/>
</Weather>
<RoadCondition frictionScaleFactor="1.0"/>
</Environment>
</EnvironmentAction>
</GlobalAction>
<Private entityRef="hero">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-9.4" y="-152.8" z="0.5" h="1.57079632679"/>
</Position>
</TeleportAction>
</PrivateAction>
<PrivateAction>
<ControllerAction>
<AssignControllerAction>
<Controller name="HeroAgent">
<Properties>
<Property name="module" value="external_control"/>
</Properties>
</Controller>
</AssignControllerAction>
<OverrideControllerValueAction>
<Throttle value="0" active="false"/>
<Brake value="0" active="false"/>
<Clutch value="0" active="false"/>
<ParkingBrake value="0" active="false"/>
<SteeringWheel value="0" active="false"/>
<Gear number="0" active="false"/>
</OverrideControllerValueAction>
</ControllerAction>
</PrivateAction>
</Private>
<Private entityRef="adversary">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-9.4" y="-71.0" z="0.5" h="1.57079632679"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="standing">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-8.2" y="29.2" z="0.5" h="1.57079632679"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_close_to_hero_1">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-14.103339195251465" y="-161.1573486328125" z="0.0014286803780123591"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_close_to_hero_2">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-15.039438247680664" y="-160.006591796875" z="0.0014286803780123591"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_w_transform_3">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-74.83283233642578" y="9.437728881835938" z="0.5"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_w_transform_6">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="86.65913391113281" y="77.057861328125" z="0.5"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_close_to_standing_8">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-6.420050621032715" y="23.948335647583008" z="0.0030487061012536287"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_w_transform_9">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="66.226806640625" y="44.42420959472656" z="0.5"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_w_transform_10">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-46.74367904663086" y="93.07289123535156" z="0.5"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_close_to_standing_13">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-15.687203407287598" y="28.009450912475586" z="0.0031018448062241077"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_close_to_adversary_15">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-12.977431297302246" y="-80.55435180664062" z="0.03385181352496147"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_close_to_standing_16">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-5.231132507324219" y="19.388427734375" z="0.0031037521548569202"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_w_transform_17">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="9.70907974243164" y="17.00224494934082" z="0.5"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_w_transform_19">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="53.5956916809082" y="21.204221725463867" z="0.5"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_w_transform_20">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="38.13471603393555" y="-38.29864501953125" z="0.5"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
</Actions>
</Init>
<Story name="MyStory">
<Act name="Behavior">
<ManeuverGroup maximumExecutionCount="1" name="ManeuverSequence">
<Actors selectTriggeringEntities="false">
<EntityRef entityRef="adversary"/>
</Actors>
<Maneuver name="LaneChangeSimpleManeuver">
<Event name="AdversaryAccelerates" priority="overwrite">
<Action name="AdversaryAccelerates">
<PrivateAction>
<LongitudinalAction>
<SpeedAction>
<SpeedActionDynamics dynamicsShape="step" value="50" dynamicsDimension="distance"/>
<SpeedActionTarget>
<AbsoluteTargetSpeed value="5.0"/>
</SpeedActionTarget>
</SpeedAction>
</LongitudinalAction>
</PrivateAction>
</Action>
<StartTrigger>
<ConditionGroup>
<Condition name="StartCondition" delay="0" conditionEdge="rising">
<ByEntityCondition>
<TriggeringEntities triggeringEntitiesRule="any">
<EntityRef entityRef="hero"/>
</TriggeringEntities>
<EntityCondition>
<RelativeDistanceCondition entityRef="adversary" relativeDistanceType="cartesianDistance" value="40.0" freespace="false" rule="lessThan"/>
</EntityCondition>
</ByEntityCondition>
</Condition>
</ConditionGroup>
</StartTrigger>
</Event>
<Event name="AdversaryChangesLane" priority="overwrite">
<Action name="AdversaryChangesLane">
<PrivateAction>
<LateralAction>
<LaneChangeAction>
<LaneChangeActionDynamics dynamicsShape="linear" value="25" dynamicsDimension="distance"/>
<LaneChangeTarget>
<RelativeTargetLane entityRef="adversary" value="-1"/>
</LaneChangeTarget>
</LaneChangeAction>
</LateralAction>
</PrivateAction>
</Action>
<StartTrigger>
<ConditionGroup>
<Condition name="AfterAdversaryAccelerates" delay="0" conditionEdge="rising">
<ByValueCondition>
<StoryboardElementStateCondition storyboardElementType="action" storyboardElementRef="AdversaryAccelerates" state="completeState"/>
</ByValueCondition>
</Condition>
</ConditionGroup>
</StartTrigger>
</Event>
</Maneuver>
</ManeuverGroup>
<StartTrigger>
<ConditionGroup>
<Condition name="OverallStartCondition" delay="0" conditionEdge="rising">
<ByEntityCondition>
<TriggeringEntities triggeringEntitiesRule="any">
<EntityRef entityRef="hero"/>
</TriggeringEntities>
<EntityCondition>
<TraveledDistanceCondition value="1.0"/>
</EntityCondition>
</ByEntityCondition>
</Condition>
<Condition name="StartTime" delay="0" conditionEdge="rising">
<ByValueCondition>
<SimulationTimeCondition value="0" rule="equalTo"/>
</ByValueCondition>
</Condition>
</ConditionGroup>
</StartTrigger>
<StopTrigger>
<ConditionGroup>
<Condition name="EndCondition" delay="0" conditionEdge="rising">
<ByEntityCondition>
<TriggeringEntities triggeringEntitiesRule="any">
<EntityRef entityRef="hero"/>
</TriggeringEntities>
<EntityCondition>
<TraveledDistanceCondition value="200.0"/>
</EntityCondition>
</ByEntityCondition>
</Condition>
</ConditionGroup>
</StopTrigger>
</Act>
</Story>
<StopTrigger>
<ConditionGroup>
<Condition name="criteria_RunningStopTest" delay="0" conditionEdge="rising">
<ByValueCondition>
<ParameterCondition parameterRef="" value="" rule="lessThan"/>
</ByValueCondition>
</Condition>
<Condition name="criteria_RunningRedLightTest" delay="0" conditionEdge="rising">
<ByValueCondition>
<ParameterCondition parameterRef="" value="" rule="lessThan"/>
</ByValueCondition>
</Condition>
<Condition name="criteria_WrongLaneTest" delay="0" conditionEdge="rising">
<ByValueCondition>
<ParameterCondition parameterRef="" value="" rule="lessThan"/>
</ByValueCondition>
</Condition>
<Condition name="criteria_OnSidewalkTest" delay="0" conditionEdge="rising">
<ByValueCondition>
<ParameterCondition parameterRef="" value="" rule="lessThan"/>
</ByValueCondition>
</Condition>
<Condition name="criteria_KeepLaneTest" delay="0" conditionEdge="rising">
<ByValueCondition>
<ParameterCondition parameterRef="" value="" rule="lessThan"/>
</ByValueCondition>
</Condition>
<Condition name="criteria_CollisionTest" delay="0" conditionEdge="rising">
<ByValueCondition>
<ParameterCondition parameterRef="" value="" rule="lessThan"/>
</ByValueCondition>
</Condition>
<Condition name="criteria_DrivenDistanceTest" delay="0" conditionEdge="rising">
<ByValueCondition>
<ParameterCondition parameterRef="distance_success" value="100" rule="lessThan"/>
</ByValueCondition>
</Condition>
</ConditionGroup>
</StopTrigger>
</Storyboard>
</OpenSCENARIO>
``` | Here is the result:
```
<?xml version="1.0" ?>
<OpenSCENARIO>
<FileHeader revMajor="1" revMinor="0" date="2020-03-24T12:00:00" description="CARLA:LaneChangeSimple" author=""/>
<ParameterDeclarations/>
<CatalogLocations/>
<RoadNetwork>
<LogicFile filepath="Town04"/>
<SceneGraphFile filepath=""/>
</RoadNetwork>
<Entities>
<ScenarioObject name="hero">
<Vehicle name="vehicle.tesla.model3" vehicleCategory="car">
<ParameterDeclarations/>
<Performance maxSpeed="69.444" maxAcceleration="200" maxDeceleration="10.0"/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2.1" length="4.5" height="1.8"/>
</BoundingBox>
<Axles>
<FrontAxle maxSteering="0.5" wheelDiameter="0.6" trackWidth="1.8" positionX="3.1" positionZ="0.3"/>
<RearAxle maxSteering="0.0" wheelDiameter="0.6" trackWidth="1.8" positionX="0.0" positionZ="0.3"/>
</Axles>
<Properties>
<Property name="type" value="ego_vehicle"/>
</Properties>
</Vehicle>
</ScenarioObject>
<ScenarioObject name="adversary">
<Vehicle name="vehicle.lincoln.mkz_2017" vehicleCategory="car">
<ParameterDeclarations/>
<Performance maxSpeed="69.444" maxAcceleration="200" maxDeceleration="10.0"/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2.1" length="4.5" height="1.8"/>
</BoundingBox>
<Axles>
<FrontAxle maxSteering="0.5" wheelDiameter="0.6" trackWidth="1.8" positionX="3.1" positionZ="0.3"/>
<RearAxle maxSteering="0.0" wheelDiameter="0.6" trackWidth="1.8" positionX="0.0" positionZ="0.3"/>
</Axles>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Vehicle>
</ScenarioObject>
<ScenarioObject name="standing">
<Vehicle name="vehicle.volkswagen.t2" vehicleCategory="car">
<ParameterDeclarations/>
<Performance maxSpeed="69.444" maxAcceleration="200" maxDeceleration="10.0"/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2.1" length="4.5" height="1.8"/>
</BoundingBox>
<Axles>
<FrontAxle maxSteering="0.5" wheelDiameter="0.6" trackWidth="1.8" positionX="3.1" positionZ="0.3"/>
<RearAxle maxSteering="0.0" wheelDiameter="0.6" trackWidth="1.8" positionX="0.0" positionZ="0.3"/>
</Axles>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Vehicle>
</ScenarioObject>
<ScenarioObject name="pedestrian_close_to_hero_1">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_close_to_hero_2">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_w_transform_3">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_w_transform_6">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_close_to_standing_8">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_w_transform_9">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_w_transform_10">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_close_to_adversary_15">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_close_to_standing_16">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_w_transform_17">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_w_transform_19">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_w_transform_20">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
</Entities>
<Storyboard>
<Init>
<Actions>
<GlobalAction>
<EnvironmentAction>
<Environment name="Environment1">
<TimeOfDay animation="false" dateTime="2019-06-25T12:00:00"/>
<Weather cloudState="free">
<Sun intensity="0.85" azimuth="0" elevation="1.31"/>
<Fog visualRange="100000.0"/>
<Precipitation precipitationType="dry" intensity="0.0"/>
</Weather>
<RoadCondition frictionScaleFactor="1.0"/>
</Environment>
</EnvironmentAction>
</GlobalAction>
<Private entityRef="hero">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-9.4" y="-152.8" z="0.5" h="1.57079632679"/>
</Position>
</TeleportAction>
</PrivateAction>
<PrivateAction>
<ControllerAction>
<AssignControllerAction>
<Controller name="HeroAgent">
<Properties>
<Property name="module" value="external_control"/>
</Properties>
</Controller>
</AssignControllerAction>
<OverrideControllerValueAction>
<Throttle value="0" active="false"/>
<Brake value="0" active="false"/>
<Clutch value="0" active="false"/>
<ParkingBrake value="0" active="false"/>
<SteeringWheel value="0" active="false"/>
<Gear number="0" active="false"/>
</OverrideControllerValueAction>
</ControllerAction>
</PrivateAction>
</Private>
<Private entityRef="adversary">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-9.4" y="-71.0" z="0.5" h="1.57079632679"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="standing">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-8.2" y="29.2" z="0.5" h="1.57079632679"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_close_to_hero_1">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-14.103339195251465" y="-161.1573486328125" z="0.0014286803780123591"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_close_to_hero_2">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-15.039438247680664" y="-160.006591796875" z="0.0014286803780123591"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_w_transform_3">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-74.83283233642578" y="9.437728881835938" z="0.5"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_w_transform_6">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="86.65913391113281" y="77.057861328125" z="0.5"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_close_to_standing_8">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-6.420050621032715" y="23.948335647583008" z="0.0030487061012536287"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_w_transform_9">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="66.226806640625" y="44.42420959472656" z="0.5"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_w_transform_10">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-46.74367904663086" y="93.07289123535156" z="0.5"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_close_to_adversary_15">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-12.977431297302246" y="-80.55435180664062" z="0.03385181352496147"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_close_to_standing_16">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-5.231132507324219" y="19.388427734375" z="0.0031037521548569202"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_w_transform_17">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="9.70907974243164" y="17.00224494934082" z="0.5"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_w_transform_19">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="53.5956916809082" y="21.204221725463867" z="0.5"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_w_transform_20">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="38.13471603393555" y="-38.29864501953125" z="0.5"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
</Actions>
</Init>
<Story name="MyStory">
<Act name="Behavior">
<ManeuverGroup maximumExecutionCount="1" name="ManeuverSequence">
<Actors selectTriggeringEntities="false">
<EntityRef entityRef="adversary"/>
</Actors>
<Maneuver name="LaneChangeSimpleManeuver">
<Event name="AdversaryAccelerates" priority="overwrite">
<Action name="AdversaryAccelerates">
<PrivateAction>
<LongitudinalAction>
<SpeedAction>
<SpeedActionDynamics dynamicsShape="step" value="50" dynamicsDimension="distance"/>
<SpeedActionTarget>
<AbsoluteTargetSpeed value="5.0"/>
</SpeedActionTarget>
</SpeedAction>
</LongitudinalAction>
</PrivateAction>
</Action>
<StartTrigger>
<ConditionGroup>
<Condition name="StartCondition" delay="0" conditionEdge="rising">
<ByEntityCondition>
<TriggeringEntities triggeringEntitiesRule="any">
<EntityRef entityRef="hero"/>
</TriggeringEntities>
<EntityCondition>
<RelativeDistanceCondition entityRef="adversary" relativeDistanceType="cartesianDistance" value="40.0" freespace="false" rule="lessThan"/>
</EntityCondition>
</ByEntityCondition>
</Condition>
</ConditionGroup>
</StartTrigger>
</Event>
<Event name="AdversaryChangesLane" priority="overwrite">
<Action name="AdversaryChangesLane">
<PrivateAction>
<LateralAction>
<LaneChangeAction>
<LaneChangeActionDynamics dynamicsShape="linear" value="25" dynamicsDimension="distance"/>
<LaneChangeTarget>
<RelativeTargetLane entityRef="adversary" value="-1"/>
</LaneChangeTarget>
</LaneChangeAction>
</LateralAction>
</PrivateAction>
</Action>
<StartTrigger>
<ConditionGroup>
<Condition name="AfterAdversaryAccelerates" delay="0" conditionEdge="rising">
<ByValueCondition>
<StoryboardElementStateCondition storyboardElementType="action" storyboardElementRef="AdversaryAccelerates" state="completeState"/>
</ByValueCondition>
</Condition>
</ConditionGroup>
</StartTrigger>
</Event>
</Maneuver>
</ManeuverGroup>
<StartTrigger>
<ConditionGroup>
<Condition name="OverallStartCondition" delay="0" conditionEdge="rising">
<ByEntityCondition>
<TriggeringEntities triggeringEntitiesRule="any">
<EntityRef entityRef="hero"/>
</TriggeringEntities>
<EntityCondition>
<TraveledDistanceCondition value="1.0"/>
</EntityCondition>
</ByEntityCondition>
</Condition>
<Condition name="StartTime" delay="0" conditionEdge="rising">
<ByValueCondition>
<SimulationTimeCondition value="0" rule="equalTo"/>
</ByValueCondition>
</Condition>
</ConditionGroup>
</StartTrigger>
<StopTrigger>
<ConditionGroup>
<Condition name="EndCondition" delay="0" conditionEdge="rising">
<ByEntityCondition>
<TriggeringEntities triggeringEntitiesRule="any">
<EntityRef entityRef="hero"/>
</TriggeringEntities>
<EntityCondition>
<TraveledDistanceCondition value="200.0"/>
</EntityCondition>
</ByEntityCondition>
</Condition>
</ConditionGroup>
</StopTrigger>
</Act>
</Story>
<StopTrigger>
<ConditionGroup>
<Condition name="criteria_RunningStopTest" delay="0" conditionEdge="rising">
<ByValueCondition>
<ParameterCondition parameterRef="" value="" rule="lessThan"/>
</ByValueCondition>
</Condition>
<Condition name="criteria_RunningRedLightTest" delay="0" conditionEdge="rising">
<ByValueCondition>
<ParameterCondition parameterRef="" value="" rule="lessThan"/>
</ByValueCondition>
</Condition>
<Condition name="criteria_WrongLaneTest" delay="0" conditionEdge="rising">
<ByValueCondition>
<ParameterCondition parameterRef="" value="" rule="lessThan"/>
</ByValueCondition>
</Condition>
<Condition name="criteria_OnSidewalkTest" delay="0" conditionEdge="rising">
<ByValueCondition>
<ParameterCondition parameterRef="" value="" rule="lessThan"/>
</ByValueCondition>
</Condition>
<Condition name="criteria_KeepLaneTest" delay="0" conditionEdge="rising">
<ByValueCondition>
<ParameterCondition parameterRef="" value="" rule="lessThan"/>
</ByValueCondition>
</Condition>
<Condition name="criteria_CollisionTest" delay="0" conditionEdge="rising">
<ByValueCondition>
<ParameterCondition parameterRef="" value="" rule="lessThan"/>
</ByValueCondition>
</Condition>
<Condition name="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 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_17512">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_w_transform_17513">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_w_transform_17516">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_close_to_hero_17517">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_w_transform_17519">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_w_transform_17522">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_w_transform_17523">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_w_transform_17524">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_close_to_standing_17525">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_close_to_adversary_17526">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_close_to_adversary_17528">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
</Entities>
<Storyboard>
<Init>
<Actions>
<GlobalAction>
<EnvironmentAction>
<Environment name="Environment1">
<TimeOfDay animation="false" dateTime="2019-06-25T12:00:00"/>
<Weather cloudState="free">
<Sun intensity="0.85" azimuth="0" elevation="1.31"/>
<Fog visualRange="100000.0"/>
<Precipitation precipitationType="dry" intensity="0.0"/>
</Weather>
<RoadCondition frictionScaleFactor="1.0"/>
</Environment>
</EnvironmentAction>
</GlobalAction>
<Private entityRef="hero">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-9.4" y="-152.8" z="0.5" h="1.57079632679"/>
</Position>
</TeleportAction>
</PrivateAction>
<PrivateAction>
<ControllerAction>
<AssignControllerAction>
<Controller name="HeroAgent">
<Properties>
<Property name="module" value="external_control"/>
</Properties>
</Controller>
</AssignControllerAction>
<OverrideControllerValueAction>
<Throttle value="0" active="false"/>
<Brake value="0" active="false"/>
<Clutch value="0" active="false"/>
<ParkingBrake value="0" active="false"/>
<SteeringWheel value="0" active="false"/>
<Gear number="0" active="false"/>
</OverrideControllerValueAction>
</ControllerAction>
</PrivateAction>
</Private>
<Private entityRef="adversary">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-9.4" y="-71.0" z="0.5" h="1.57079632679"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="standing">
<PrivateAction>
<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_17512">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-13.584798812866211" y="-80.08839416503906" z="0.0338335782289505"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_w_transform_17513">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="33.07072830200195" y="25.221019744873047" z="0.5"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_w_transform_17516">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="97.34074401855469" y="-80.74504852294922" z="0.5"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_close_to_hero_17517">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-3.212998390197754" y="-150.97787475585938" z="0.0014286803780123591"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_w_transform_17519">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="28.569416046142578" y="-79.79795837402344" z="0.5"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_w_transform_17522">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-44.10700225830078" y="-33.447574615478516" z="0.5"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_w_transform_17523">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-34.5179557800293" y="62.93933868408203" z="0.5"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_w_transform_17524">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-59.7000732421875" y="46.20915222167969" z="0.5"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_close_to_standing_17525">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="1.3909369707107544" y="35.0963134765625" z="0.003035964909940958"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_close_to_adversary_17526">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-18.742551803588867" y="-78.06906127929688" z="0.03377845510840416"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_close_to_adversary_17528">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-12.33841609954834" y="-60.84602737426758" z="0.03377216309309006"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
</Actions>
</Init>
<Story name="MyStory">
<Act name="Behavior">
<ManeuverGroup maximumExecutionCount="1" name="ManeuverSequence">
<Actors selectTriggeringEntities="false">
<EntityRef entityRef="adversary"/>
</Actors>
<Maneuver name="LaneChangeSimpleManeuver">
<Event name="AdversaryAccelerates" priority="overwrite">
<Action name="AdversaryAccelerates">
<PrivateAction>
<LongitudinalAction>
<SpeedAction>
<SpeedActionDynamics dynamicsShape="step" value="50" dynamicsDimension="distance"/>
<SpeedActionTarget>
<AbsoluteTargetSpeed value="5.0"/>
</SpeedActionTarget>
</SpeedAction>
</LongitudinalAction>
</PrivateAction>
</Action>
<StartTrigger>
<ConditionGroup>
<Condition name="StartCondition" delay="0" conditionEdge="rising">
<ByEntityCondition>
<TriggeringEntities triggeringEntitiesRule="any">
<EntityRef entityRef="hero"/>
</TriggeringEntities>
<EntityCondition>
<RelativeDistanceCondition entityRef="adversary" relativeDistanceType="cartesianDistance" value="40.0" freespace="false" rule="lessThan"/>
</EntityCondition>
</ByEntityCondition>
</Condition>
</ConditionGroup>
</StartTrigger>
</Event>
<Event name="AdversaryChangesLane" priority="overwrite">
<Action name="AdversaryChangesLane">
<PrivateAction>
<LateralAction>
<LaneChangeAction>
<LaneChangeActionDynamics dynamicsShape="linear" value="25" dynamicsDimension="distance"/>
<LaneChangeTarget>
<RelativeTargetLane entityRef="adversary" value="-1"/>
</LaneChangeTarget>
</LaneChangeAction>
</LateralAction>
</PrivateAction>
</Action>
<StartTrigger>
<ConditionGroup>
<Condition name="AfterAdversaryAccelerates" delay="0" conditionEdge="rising">
<ByValueCondition>
<StoryboardElementStateCondition storyboardElementType="action" storyboardElementRef="AdversaryAccelerates" state="completeState"/>
</ByValueCondition>
</Condition>
</ConditionGroup>
</StartTrigger>
</Event>
</Maneuver>
</ManeuverGroup>
<StartTrigger>
<ConditionGroup>
<Condition name="OverallStartCondition" delay="0" conditionEdge="rising">
<ByEntityCondition>
<TriggeringEntities triggeringEntitiesRule="any">
<EntityRef entityRef="hero"/>
</TriggeringEntities>
<EntityCondition>
<TraveledDistanceCondition value="1.0"/>
</EntityCondition>
</ByEntityCondition>
</Condition>
<Condition name="StartTime" delay="0" conditionEdge="rising">
<ByValueCondition>
<SimulationTimeCondition value="0" rule="equalTo"/>
</ByValueCondition>
</Condition>
</ConditionGroup>
</StartTrigger>
<StopTrigger>
<ConditionGroup>
<Condition name="EndCondition" delay="0" conditionEdge="rising">
<ByEntityCondition>
<TriggeringEntities triggeringEntitiesRule="any">
<EntityRef entityRef="hero"/>
</TriggeringEntities>
<EntityCondition>
<TraveledDistanceCondition value="200.0"/>
</EntityCondition>
</ByEntityCondition>
</Condition>
</ConditionGroup>
</StopTrigger>
</Act>
</Story>
<StopTrigger>
<ConditionGroup>
<Condition name="criteria_RunningStopTest" delay="0" conditionEdge="rising">
<ByValueCondition>
<ParameterCondition parameterRef="" value="" rule="lessThan"/>
</ByValueCondition>
</Condition>
<Condition name="criteria_RunningRedLightTest" delay="0" conditionEdge="rising">
<ByValueCondition>
<ParameterCondition parameterRef="" value="" rule="lessThan"/>
</ByValueCondition>
</Condition>
<Condition name="criteria_WrongLaneTest" delay="0" conditionEdge="rising">
<ByValueCondition>
<ParameterCondition parameterRef="" value="" rule="lessThan"/>
</ByValueCondition>
</Condition>
<Condition name="criteria_OnSidewalkTest" delay="0" conditionEdge="rising">
<ByValueCondition>
<ParameterCondition parameterRef="" value="" rule="lessThan"/>
</ByValueCondition>
</Condition>
<Condition name="criteria_KeepLaneTest" delay="0" conditionEdge="rising">
<ByValueCondition>
<ParameterCondition parameterRef="" value="" rule="lessThan"/>
</ByValueCondition>
</Condition>
<Condition name="criteria_CollisionTest" delay="0" conditionEdge="rising">
<ByValueCondition>
<ParameterCondition parameterRef="" value="" rule="lessThan"/>
</ByValueCondition>
</Condition>
<Condition name="criteria_DrivenDistanceTest" delay="0" conditionEdge="rising">
<ByValueCondition>
<ParameterCondition parameterRef="distance_success" value="100" rule="lessThan"/>
</ByValueCondition>
</Condition>
</ConditionGroup>
</StopTrigger>
</Storyboard>
</OpenSCENARIO>
``` | Here is the result:
```
<?xml version="1.0" ?>
<OpenSCENARIO>
<FileHeader revMajor="1" revMinor="0" date="2020-03-24T12:00:00" description="CARLA:LaneChangeSimple" author=""/>
<ParameterDeclarations/>
<CatalogLocations/>
<RoadNetwork>
<LogicFile filepath="Town04"/>
<SceneGraphFile filepath=""/>
</RoadNetwork>
<Entities>
<ScenarioObject name="hero">
<Vehicle name="vehicle.tesla.model3" vehicleCategory="car">
<ParameterDeclarations/>
<Performance maxSpeed="69.444" maxAcceleration="200" maxDeceleration="10.0"/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2.1" length="4.5" height="1.8"/>
</BoundingBox>
<Axles>
<FrontAxle maxSteering="0.5" wheelDiameter="0.6" trackWidth="1.8" positionX="3.1" positionZ="0.3"/>
<RearAxle maxSteering="0.0" wheelDiameter="0.6" trackWidth="1.8" positionX="0.0" positionZ="0.3"/>
</Axles>
<Properties>
<Property name="type" value="ego_vehicle"/>
</Properties>
</Vehicle>
</ScenarioObject>
<ScenarioObject name="adversary">
<Vehicle name="vehicle.lincoln.mkz_2017" vehicleCategory="car">
<ParameterDeclarations/>
<Performance maxSpeed="69.444" maxAcceleration="200" maxDeceleration="10.0"/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2.1" length="4.5" height="1.8"/>
</BoundingBox>
<Axles>
<FrontAxle maxSteering="0.5" wheelDiameter="0.6" trackWidth="1.8" positionX="3.1" positionZ="0.3"/>
<RearAxle maxSteering="0.0" wheelDiameter="0.6" trackWidth="1.8" positionX="0.0" positionZ="0.3"/>
</Axles>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Vehicle>
</ScenarioObject>
<ScenarioObject name="standing">
<Vehicle name="vehicle.volkswagen.t2" vehicleCategory="car">
<ParameterDeclarations/>
<Performance maxSpeed="69.444" maxAcceleration="200" maxDeceleration="10.0"/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2.1" length="4.5" height="1.8"/>
</BoundingBox>
<Axles>
<FrontAxle maxSteering="0.5" wheelDiameter="0.6" trackWidth="1.8" positionX="3.1" positionZ="0.3"/>
<RearAxle maxSteering="0.0" wheelDiameter="0.6" 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_17512">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_w_transform_17513">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_w_transform_17516">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_w_transform_17519">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_w_transform_17522">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_w_transform_17523">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_w_transform_17524">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_close_to_standing_17525">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_close_to_adversary_17526">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_close_to_adversary_17528">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
</Entities>
<Storyboard>
<Init>
<Actions>
<GlobalAction>
<EnvironmentAction>
<Environment name="Environment1">
<TimeOfDay animation="false" dateTime="2019-06-25T12:00:00"/>
<Weather cloudState="free">
<Sun intensity="0.85" azimuth="0" elevation="1.31"/>
<Fog visualRange="100000.0"/>
<Precipitation precipitationType="dry" intensity="0.0"/>
</Weather>
<RoadCondition frictionScaleFactor="1.0"/>
</Environment>
</EnvironmentAction>
</GlobalAction>
<Private entityRef="hero">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-9.4" y="-152.8" z="0.5" h="1.57079632679"/>
</Position>
</TeleportAction>
</PrivateAction>
<PrivateAction>
<ControllerAction>
<AssignControllerAction>
<Controller name="HeroAgent">
<Properties>
<Property name="module" value="external_control"/>
</Properties>
</Controller>
</AssignControllerAction>
<OverrideControllerValueAction>
<Throttle value="0" active="false"/>
<Brake value="0" active="false"/>
<Clutch value="0" active="false"/>
<ParkingBrake value="0" active="false"/>
<SteeringWheel value="0" active="false"/>
<Gear number="0" active="false"/>
</OverrideControllerValueAction>
</ControllerAction>
</PrivateAction>
</Private>
<Private entityRef="adversary">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-9.4" y="-71.0" z="0.5" h="1.57079632679"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="standing">
<PrivateAction>
<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_17512">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-13.584798812866211" y="-80.08839416503906" z="0.0338335782289505"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_w_transform_17513">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="33.07072830200195" y="25.221019744873047" z="0.5"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_w_transform_17516">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="97.34074401855469" y="-80.74504852294922" z="0.5"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_w_transform_17519">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="28.569416046142578" y="-79.79795837402344" z="0.5"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_w_transform_17522">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-44.10700225830078" y="-33.447574615478516" z="0.5"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_w_transform_17523">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-34.5179557800293" y="62.93933868408203" z="0.5"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_w_transform_17524">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-59.7000732421875" y="46.20915222167969" z="0.5"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_close_to_standing_17525">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="1.3909369707107544" y="35.0963134765625" z="0.003035964909940958"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_close_to_adversary_17526">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-18.742551803588867" y="-78.06906127929688" z="0.03377845510840416"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_close_to_adversary_17528">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-12.33841609954834" y="-60.84602737426758" z="0.03377216309309006"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
</Actions>
</Init>
<Story name="MyStory">
<Act name="Behavior">
<ManeuverGroup maximumExecutionCount="1" name="ManeuverSequence">
<Actors selectTriggeringEntities="false">
<EntityRef entityRef="adversary"/>
</Actors>
<Maneuver name="LaneChangeSimpleManeuver">
<Event name="AdversaryAccelerates" priority="overwrite">
<Action name="AdversaryAccelerates">
<PrivateAction>
<LongitudinalAction>
<SpeedAction>
<SpeedActionDynamics dynamicsShape="step" value="50" dynamicsDimension="distance"/>
<SpeedActionTarget>
<AbsoluteTargetSpeed value="5.0"/>
</SpeedActionTarget>
</SpeedAction>
</LongitudinalAction>
</PrivateAction>
</Action>
<StartTrigger>
<ConditionGroup>
<Condition name="StartCondition" delay="0" conditionEdge="rising">
<ByEntityCondition>
<TriggeringEntities triggeringEntitiesRule="any">
<EntityRef entityRef="hero"/>
</TriggeringEntities>
<EntityCondition>
<RelativeDistanceCondition entityRef="adversary" relativeDistanceType="cartesianDistance" value="40.0" freespace="false" rule="lessThan"/>
</EntityCondition>
</ByEntityCondition>
</Condition>
</ConditionGroup>
</StartTrigger>
</Event>
<Event name="AdversaryChangesLane" priority="overwrite">
<Action name="AdversaryChangesLane">
<PrivateAction>
<LateralAction>
<LaneChangeAction>
<LaneChangeActionDynamics dynamicsShape="linear" value="25" dynamicsDimension="distance"/>
<LaneChangeTarget>
<RelativeTargetLane entityRef="adversary" value="-1"/>
</LaneChangeTarget>
</LaneChangeAction>
</LateralAction>
</PrivateAction>
</Action>
<StartTrigger>
<ConditionGroup>
<Condition name="AfterAdversaryAccelerates" delay="0" conditionEdge="rising">
<ByValueCondition>
<StoryboardElementStateCondition storyboardElementType="action" storyboardElementRef="AdversaryAccelerates" state="completeState"/>
</ByValueCondition>
</Condition>
</ConditionGroup>
</StartTrigger>
</Event>
</Maneuver>
</ManeuverGroup>
<StartTrigger>
<ConditionGroup>
<Condition name="OverallStartCondition" delay="0" conditionEdge="rising">
<ByEntityCondition>
<TriggeringEntities triggeringEntitiesRule="any">
<EntityRef entityRef="hero"/>
</TriggeringEntities>
<EntityCondition>
<TraveledDistanceCondition value="1.0"/>
</EntityCondition>
</ByEntityCondition>
</Condition>
<Condition name="StartTime" delay="0" conditionEdge="rising">
<ByValueCondition>
<SimulationTimeCondition value="0" rule="equalTo"/>
</ByValueCondition>
</Condition>
</ConditionGroup>
</StartTrigger>
<StopTrigger>
<ConditionGroup>
<Condition name="EndCondition" delay="0" conditionEdge="rising">
<ByEntityCondition>
<TriggeringEntities triggeringEntitiesRule="any">
<EntityRef entityRef="hero"/>
</TriggeringEntities>
<EntityCondition>
<TraveledDistanceCondition value="200.0"/>
</EntityCondition>
</ByEntityCondition>
</Condition>
</ConditionGroup>
</StopTrigger>
</Act>
</Story>
<StopTrigger>
<ConditionGroup>
<Condition name="criteria_RunningStopTest" delay="0" conditionEdge="rising">
<ByValueCondition>
<ParameterCondition parameterRef="" value="" rule="lessThan"/>
</ByValueCondition>
</Condition>
<Condition name="criteria_RunningRedLightTest" delay="0" conditionEdge="rising">
<ByValueCondition>
<ParameterCondition parameterRef="" value="" rule="lessThan"/>
</ByValueCondition>
</Condition>
<Condition name="criteria_WrongLaneTest" delay="0" conditionEdge="rising">
<ByValueCondition>
<ParameterCondition parameterRef="" value="" rule="lessThan"/>
</ByValueCondition>
</Condition>
<Condition name="criteria_OnSidewalkTest" delay="0" conditionEdge="rising">
<ByValueCondition>
<ParameterCondition parameterRef="" value="" rule="lessThan"/>
</ByValueCondition>
</Condition>
<Condition name="criteria_KeepLaneTest" delay="0" conditionEdge="rising">
<ByValueCondition>
<ParameterCondition parameterRef="" value="" rule="lessThan"/>
</ByValueCondition>
</Condition>
<Condition name="criteria_CollisionTest" delay="0" conditionEdge="rising">
<ByValueCondition>
<ParameterCondition parameterRef="" value="" rule="lessThan"/>
</ByValueCondition>
</Condition>
<Condition name="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_18195">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_w_transform_18196">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_close_to_adversary_18198">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
</Entities>
<Storyboard>
<Init>
<Actions>
<GlobalAction>
<EnvironmentAction>
<Environment name="Environment1">
<TimeOfDay animation="false" dateTime="2019-06-25T12:00:00"/>
<Weather cloudState="free">
<Sun intensity="0.85" azimuth="0" elevation="1.31"/>
<Fog visualRange="100000.0"/>
<Precipitation precipitationType="dry" intensity="0.0"/>
</Weather>
<RoadCondition frictionScaleFactor="1.0"/>
</Environment>
</EnvironmentAction>
</GlobalAction>
<Private entityRef="hero">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-9.4" y="-152.8" z="0.5" h="1.57079632679"/>
</Position>
</TeleportAction>
</PrivateAction>
<PrivateAction>
<ControllerAction>
<AssignControllerAction>
<Controller name="HeroAgent">
<Properties>
<Property name="module" value="external_control"/>
</Properties>
</Controller>
</AssignControllerAction>
<OverrideControllerValueAction>
<Throttle value="0" active="false"/>
<Brake value="0" active="false"/>
<Clutch value="0" active="false"/>
<ParkingBrake value="0" active="false"/>
<SteeringWheel value="0" active="false"/>
<Gear number="0" active="false"/>
</OverrideControllerValueAction>
</ControllerAction>
</PrivateAction>
</Private>
<Private entityRef="adversary">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-9.4" y="-71.0" z="0.5" h="1.57079632679"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="standing">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-8.2" y="29.2" z="0.5" h="1.57079632679"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_close_to_standing_18195">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-17.894441604614258" y="28.70917320251465" z="0.0030006025917828083"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_w_transform_18196">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="55.58539962768555" y="72.64186096191406" z="0.5"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_close_to_adversary_18198">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-5.994854927062988" y="-71.73989868164062" z="0.033822670578956604"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
</Actions>
</Init>
<Story name="MyStory">
<Act name="Behavior">
<ManeuverGroup maximumExecutionCount="1" name="ManeuverSequence">
<Actors selectTriggeringEntities="false">
<EntityRef entityRef="adversary"/>
</Actors>
<Maneuver name="LaneChangeSimpleManeuver">
<Event name="AdversaryAccelerates" priority="overwrite">
<Action name="AdversaryAccelerates">
<PrivateAction>
<LongitudinalAction>
<SpeedAction>
<SpeedActionDynamics dynamicsShape="step" value="50" dynamicsDimension="distance"/>
<SpeedActionTarget>
<AbsoluteTargetSpeed value="5.0"/>
</SpeedActionTarget>
</SpeedAction>
</LongitudinalAction>
</PrivateAction>
</Action>
<StartTrigger>
<ConditionGroup>
<Condition name="StartCondition" delay="0" conditionEdge="rising">
<ByEntityCondition>
<TriggeringEntities triggeringEntitiesRule="any">
<EntityRef entityRef="hero"/>
</TriggeringEntities>
<EntityCondition>
<RelativeDistanceCondition entityRef="adversary" relativeDistanceType="cartesianDistance" value="40.0" freespace="false" rule="lessThan"/>
</EntityCondition>
</ByEntityCondition>
</Condition>
</ConditionGroup>
</StartTrigger>
</Event>
<Event name="AdversaryChangesLane" priority="overwrite">
<Action name="AdversaryChangesLane">
<PrivateAction>
<LateralAction>
<LaneChangeAction>
<LaneChangeActionDynamics dynamicsShape="linear" value="25" dynamicsDimension="distance"/>
<LaneChangeTarget>
<RelativeTargetLane entityRef="adversary" value="-1"/>
</LaneChangeTarget>
</LaneChangeAction>
</LateralAction>
</PrivateAction>
</Action>
<StartTrigger>
<ConditionGroup>
<Condition name="AfterAdversaryAccelerates" delay="0" conditionEdge="rising">
<ByValueCondition>
<StoryboardElementStateCondition storyboardElementType="action" storyboardElementRef="AdversaryAccelerates" state="completeState"/>
</ByValueCondition>
</Condition>
</ConditionGroup>
</StartTrigger>
</Event>
</Maneuver>
</ManeuverGroup>
<StartTrigger>
<ConditionGroup>
<Condition name="OverallStartCondition" delay="0" conditionEdge="rising">
<ByEntityCondition>
<TriggeringEntities triggeringEntitiesRule="any">
<EntityRef entityRef="hero"/>
</TriggeringEntities>
<EntityCondition>
<TraveledDistanceCondition value="1.0"/>
</EntityCondition>
</ByEntityCondition>
</Condition>
<Condition name="StartTime" delay="0" conditionEdge="rising">
<ByValueCondition>
<SimulationTimeCondition value="0" rule="equalTo"/>
</ByValueCondition>
</Condition>
</ConditionGroup>
</StartTrigger>
<StopTrigger>
<ConditionGroup>
<Condition name="EndCondition" delay="0" conditionEdge="rising">
<ByEntityCondition>
<TriggeringEntities triggeringEntitiesRule="any">
<EntityRef entityRef="hero"/>
</TriggeringEntities>
<EntityCondition>
<TraveledDistanceCondition value="200.0"/>
</EntityCondition>
</ByEntityCondition>
</Condition>
</ConditionGroup>
</StopTrigger>
</Act>
</Story>
<StopTrigger>
<ConditionGroup>
<Condition name="criteria_RunningStopTest" delay="0" conditionEdge="rising">
<ByValueCondition>
<ParameterCondition parameterRef="" value="" rule="lessThan"/>
</ByValueCondition>
</Condition>
<Condition name="criteria_RunningRedLightTest" delay="0" conditionEdge="rising">
<ByValueCondition>
<ParameterCondition parameterRef="" value="" rule="lessThan"/>
</ByValueCondition>
</Condition>
<Condition name="criteria_WrongLaneTest" delay="0" conditionEdge="rising">
<ByValueCondition>
<ParameterCondition parameterRef="" value="" rule="lessThan"/>
</ByValueCondition>
</Condition>
<Condition name="criteria_OnSidewalkTest" delay="0" conditionEdge="rising">
<ByValueCondition>
<ParameterCondition parameterRef="" value="" rule="lessThan"/>
</ByValueCondition>
</Condition>
<Condition name="criteria_KeepLaneTest" delay="0" conditionEdge="rising">
<ByValueCondition>
<ParameterCondition parameterRef="" value="" rule="lessThan"/>
</ByValueCondition>
</Condition>
<Condition name="criteria_CollisionTest" delay="0" conditionEdge="rising">
<ByValueCondition>
<ParameterCondition parameterRef="" value="" rule="lessThan"/>
</ByValueCondition>
</Condition>
<Condition name="criteria_DrivenDistanceTest" delay="0" conditionEdge="rising">
<ByValueCondition>
<ParameterCondition parameterRef="distance_success" value="100" rule="lessThan"/>
</ByValueCondition>
</Condition>
</ConditionGroup>
</StopTrigger>
</Storyboard>
</OpenSCENARIO>
``` | Here is the result:
```
<?xml version="1.0" ?>
<OpenSCENARIO>
<FileHeader revMajor="1" revMinor="0" date="2020-03-24T12:00:00" description="CARLA:LaneChangeSimple" author=""/>
<ParameterDeclarations/>
<CatalogLocations/>
<RoadNetwork>
<LogicFile filepath="Town04"/>
<SceneGraphFile filepath=""/>
</RoadNetwork>
<Entities>
<ScenarioObject name="hero">
<Vehicle name="vehicle.tesla.model3" vehicleCategory="car">
<ParameterDeclarations/>
<Performance maxSpeed="69.444" maxAcceleration="200" maxDeceleration="10.0"/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2.1" length="4.5" height="1.8"/>
</BoundingBox>
<Axles>
<FrontAxle maxSteering="0.5" wheelDiameter="0.6" trackWidth="1.8" positionX="3.1" positionZ="0.3"/>
<RearAxle maxSteering="0.0" wheelDiameter="0.6" trackWidth="1.8" positionX="0.0" positionZ="0.3"/>
</Axles>
<Properties>
<Property name="type" value="ego_vehicle"/>
</Properties>
</Vehicle>
</ScenarioObject>
<ScenarioObject name="adversary">
<Vehicle name="vehicle.lincoln.mkz_2017" vehicleCategory="car">
<ParameterDeclarations/>
<Performance maxSpeed="69.444" maxAcceleration="200" maxDeceleration="10.0"/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2.1" length="4.5" height="1.8"/>
</BoundingBox>
<Axles>
<FrontAxle maxSteering="0.5" wheelDiameter="0.6" trackWidth="1.8" positionX="3.1" positionZ="0.3"/>
<RearAxle maxSteering="0.0" wheelDiameter="0.6" trackWidth="1.8" positionX="0.0" positionZ="0.3"/>
</Axles>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Vehicle>
</ScenarioObject>
<ScenarioObject name="standing">
<Vehicle name="vehicle.volkswagen.t2" vehicleCategory="car">
<ParameterDeclarations/>
<Performance maxSpeed="69.444" maxAcceleration="200" maxDeceleration="10.0"/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2.1" length="4.5" height="1.8"/>
</BoundingBox>
<Axles>
<FrontAxle maxSteering="0.5" wheelDiameter="0.6" trackWidth="1.8" positionX="3.1" positionZ="0.3"/>
<RearAxle maxSteering="0.0" wheelDiameter="0.6" trackWidth="1.8" positionX="0.0" positionZ="0.3"/>
</Axles>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Vehicle>
</ScenarioObject>
<ScenarioObject name="pedestrian_close_to_standing_18195">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_w_transform_18196">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_close_to_adversary_18198">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_close_to_hero_18199">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
</Entities>
<Storyboard>
<Init>
<Actions>
<GlobalAction>
<EnvironmentAction>
<Environment name="Environment1">
<TimeOfDay animation="false" dateTime="2019-06-25T12:00:00"/>
<Weather cloudState="free">
<Sun intensity="0.85" azimuth="0" elevation="1.31"/>
<Fog visualRange="100000.0"/>
<Precipitation precipitationType="dry" intensity="0.0"/>
</Weather>
<RoadCondition frictionScaleFactor="1.0"/>
</Environment>
</EnvironmentAction>
</GlobalAction>
<Private entityRef="hero">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-9.4" y="-152.8" z="0.5" h="1.57079632679"/>
</Position>
</TeleportAction>
</PrivateAction>
<PrivateAction>
<ControllerAction>
<AssignControllerAction>
<Controller name="HeroAgent">
<Properties>
<Property name="module" value="external_control"/>
</Properties>
</Controller>
</AssignControllerAction>
<OverrideControllerValueAction>
<Throttle value="0" active="false"/>
<Brake value="0" active="false"/>
<Clutch value="0" active="false"/>
<ParkingBrake value="0" active="false"/>
<SteeringWheel value="0" active="false"/>
<Gear number="0" active="false"/>
</OverrideControllerValueAction>
</ControllerAction>
</PrivateAction>
</Private>
<Private entityRef="adversary">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-9.4" y="-71.0" z="0.5" h="1.57079632679"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="standing">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-8.2" y="29.2" z="0.5" h="1.57079632679"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_close_to_standing_18195">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-17.894441604614258" y="28.70917320251465" z="0.0030006025917828083"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_w_transform_18196">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="55.58539962768555" y="72.64186096191406" z="0.5"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_close_to_adversary_18198">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-5.994854927062988" y="-71.73989868164062" z="0.033822670578956604"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_close_to_hero_18199">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-12.107022285461426" y="-160.46644592285156" z="0.0014286803780123591"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
</Actions>
</Init>
<Story name="MyStory">
<Act name="Behavior">
<ManeuverGroup maximumExecutionCount="1" name="ManeuverSequence">
<Actors selectTriggeringEntities="false">
<EntityRef entityRef="adversary"/>
</Actors>
<Maneuver name="LaneChangeSimpleManeuver">
<Event name="AdversaryAccelerates" priority="overwrite">
<Action name="AdversaryAccelerates">
<PrivateAction>
<LongitudinalAction>
<SpeedAction>
<SpeedActionDynamics dynamicsShape="step" value="50" dynamicsDimension="distance"/>
<SpeedActionTarget>
<AbsoluteTargetSpeed value="5.0"/>
</SpeedActionTarget>
</SpeedAction>
</LongitudinalAction>
</PrivateAction>
</Action>
<StartTrigger>
<ConditionGroup>
<Condition name="StartCondition" delay="0" conditionEdge="rising">
<ByEntityCondition>
<TriggeringEntities triggeringEntitiesRule="any">
<EntityRef entityRef="hero"/>
</TriggeringEntities>
<EntityCondition>
<RelativeDistanceCondition entityRef="adversary" relativeDistanceType="cartesianDistance" value="40.0" freespace="false" rule="lessThan"/>
</EntityCondition>
</ByEntityCondition>
</Condition>
</ConditionGroup>
</StartTrigger>
</Event>
<Event name="AdversaryChangesLane" priority="overwrite">
<Action name="AdversaryChangesLane">
<PrivateAction>
<LateralAction>
<LaneChangeAction>
<LaneChangeActionDynamics dynamicsShape="linear" value="25" dynamicsDimension="distance"/>
<LaneChangeTarget>
<RelativeTargetLane entityRef="adversary" value="-1"/>
</LaneChangeTarget>
</LaneChangeAction>
</LateralAction>
</PrivateAction>
</Action>
<StartTrigger>
<ConditionGroup>
<Condition name="AfterAdversaryAccelerates" delay="0" conditionEdge="rising">
<ByValueCondition>
<StoryboardElementStateCondition storyboardElementType="action" storyboardElementRef="AdversaryAccelerates" state="completeState"/>
</ByValueCondition>
</Condition>
</ConditionGroup>
</StartTrigger>
</Event>
</Maneuver>
</ManeuverGroup>
<StartTrigger>
<ConditionGroup>
<Condition name="OverallStartCondition" delay="0" conditionEdge="rising">
<ByEntityCondition>
<TriggeringEntities triggeringEntitiesRule="any">
<EntityRef entityRef="hero"/>
</TriggeringEntities>
<EntityCondition>
<TraveledDistanceCondition value="1.0"/>
</EntityCondition>
</ByEntityCondition>
</Condition>
<Condition name="StartTime" delay="0" conditionEdge="rising">
<ByValueCondition>
<SimulationTimeCondition value="0" rule="equalTo"/>
</ByValueCondition>
</Condition>
</ConditionGroup>
</StartTrigger>
<StopTrigger>
<ConditionGroup>
<Condition name="EndCondition" delay="0" conditionEdge="rising">
<ByEntityCondition>
<TriggeringEntities triggeringEntitiesRule="any">
<EntityRef entityRef="hero"/>
</TriggeringEntities>
<EntityCondition>
<TraveledDistanceCondition value="200.0"/>
</EntityCondition>
</ByEntityCondition>
</Condition>
</ConditionGroup>
</StopTrigger>
</Act>
</Story>
<StopTrigger>
<ConditionGroup>
<Condition name="criteria_RunningStopTest" delay="0" conditionEdge="rising">
<ByValueCondition>
<ParameterCondition parameterRef="" value="" rule="lessThan"/>
</ByValueCondition>
</Condition>
<Condition name="criteria_RunningRedLightTest" delay="0" conditionEdge="rising">
<ByValueCondition>
<ParameterCondition parameterRef="" value="" rule="lessThan"/>
</ByValueCondition>
</Condition>
<Condition name="criteria_WrongLaneTest" delay="0" conditionEdge="rising">
<ByValueCondition>
<ParameterCondition parameterRef="" value="" rule="lessThan"/>
</ByValueCondition>
</Condition>
<Condition name="criteria_OnSidewalkTest" delay="0" conditionEdge="rising">
<ByValueCondition>
<ParameterCondition parameterRef="" value="" rule="lessThan"/>
</ByValueCondition>
</Condition>
<Condition name="criteria_KeepLaneTest" delay="0" conditionEdge="rising">
<ByValueCondition>
<ParameterCondition parameterRef="" value="" rule="lessThan"/>
</ByValueCondition>
</Condition>
<Condition name="criteria_CollisionTest" delay="0" conditionEdge="rising">
<ByValueCondition>
<ParameterCondition parameterRef="" value="" rule="lessThan"/>
</ByValueCondition>
</Condition>
<Condition name="criteria_DrivenDistanceTest" delay="0" conditionEdge="rising">
<ByValueCondition>
<ParameterCondition parameterRef="distance_success" value="100" rule="lessThan"/>
</ByValueCondition>
</Condition>
</ConditionGroup>
</StopTrigger>
</Storyboard>
</OpenSCENARIO>
``` |
can you remove pedestrian actor named pedestrian_w_transform_22002?
```
<?xml version="1.0" ?>
<OpenSCENARIO>
<FileHeader revMajor="1" revMinor="0" date="2020-03-24T12:00:00" description="CARLA:LaneChangeSimple" author=""/>
<ParameterDeclarations/>
<CatalogLocations/>
<RoadNetwork>
<LogicFile filepath="Town04"/>
<SceneGraphFile filepath=""/>
</RoadNetwork>
<Entities>
<ScenarioObject name="hero">
<Vehicle name="vehicle.tesla.model3" vehicleCategory="car">
<ParameterDeclarations/>
<Performance maxSpeed="69.444" maxAcceleration="200" maxDeceleration="10.0"/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2.1" length="4.5" height="1.8"/>
</BoundingBox>
<Axles>
<FrontAxle maxSteering="0.5" wheelDiameter="0.6" trackWidth="1.8" positionX="3.1" positionZ="0.3"/>
<RearAxle maxSteering="0.0" wheelDiameter="0.6" trackWidth="1.8" positionX="0.0" positionZ="0.3"/>
</Axles>
<Properties>
<Property name="type" value="ego_vehicle"/>
</Properties>
</Vehicle>
</ScenarioObject>
<ScenarioObject name="adversary">
<Vehicle name="vehicle.lincoln.mkz_2017" vehicleCategory="car">
<ParameterDeclarations/>
<Performance maxSpeed="69.444" maxAcceleration="200" maxDeceleration="10.0"/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2.1" length="4.5" height="1.8"/>
</BoundingBox>
<Axles>
<FrontAxle maxSteering="0.5" wheelDiameter="0.6" trackWidth="1.8" positionX="3.1" positionZ="0.3"/>
<RearAxle maxSteering="0.0" wheelDiameter="0.6" trackWidth="1.8" positionX="0.0" positionZ="0.3"/>
</Axles>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Vehicle>
</ScenarioObject>
<ScenarioObject name="standing">
<Vehicle name="vehicle.volkswagen.t2" vehicleCategory="car">
<ParameterDeclarations/>
<Performance maxSpeed="69.444" maxAcceleration="200" maxDeceleration="10.0"/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2.1" length="4.5" height="1.8"/>
</BoundingBox>
<Axles>
<FrontAxle maxSteering="0.5" wheelDiameter="0.6" trackWidth="1.8" positionX="3.1" positionZ="0.3"/>
<RearAxle maxSteering="0.0" wheelDiameter="0.6" 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_22000">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_w_transform_22002">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_w_transform_22003">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_close_to_hero_22005">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_w_transform_22006">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_w_transform_22007">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_close_to_adversary_22008">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_close_to_standing_22009">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_close_to_adversary_22012">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_close_to_standing_22013">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_close_to_hero_22015">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_w_transform_22016">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_close_to_hero_22017">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_w_transform_22018">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_w_transform_22021">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_close_to_hero_22023">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_w_transform_22024">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_w_transform_22025">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
</Entities>
<Storyboard>
<Init>
<Actions>
<GlobalAction>
<EnvironmentAction>
<Environment name="Environment1">
<TimeOfDay animation="false" dateTime="2019-06-25T12:00:00"/>
<Weather cloudState="free">
<Sun intensity="0.85" azimuth="0" elevation="1.31"/>
<Fog visualRange="100000.0"/>
<Precipitation precipitationType="dry" intensity="0.0"/>
</Weather>
<RoadCondition frictionScaleFactor="1.0"/>
</Environment>
</EnvironmentAction>
</GlobalAction>
<Private entityRef="hero">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-9.4" y="-152.8" z="0.5" h="1.57079632679"/>
</Position>
</TeleportAction>
</PrivateAction>
<PrivateAction>
<ControllerAction>
<AssignControllerAction>
<Controller name="HeroAgent">
<Properties>
<Property name="module" value="external_control"/>
</Properties>
</Controller>
</AssignControllerAction>
<OverrideControllerValueAction>
<Throttle value="0" active="false"/>
<Brake value="0" active="false"/>
<Clutch value="0" active="false"/>
<ParkingBrake value="0" active="false"/>
<SteeringWheel value="0" active="false"/>
<Gear number="0" active="false"/>
</OverrideControllerValueAction>
</ControllerAction>
</PrivateAction>
</Private>
<Private entityRef="adversary">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-9.4" y="-71.0" z="0.5" h="1.57079632679"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="standing">
<PrivateAction>
<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_22000">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-10.779671669006348" y="-71.9875259399414" z="0.0337691493332386"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_w_transform_22002">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-80.93405151367188" y="10.910585403442383" z="0.5"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_w_transform_22003">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-64.48631286621094" y="15.377645492553711" z="0.5"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_close_to_hero_22005">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-14.530200004577637" y="-152.91989135742188" z="0.0014286803780123591"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_w_transform_22006">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="85.53204345703125" y="-24.837888717651367" z="0.5"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_w_transform_22007">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="73.56681823730469" y="20.791173934936523" z="0.5"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_close_to_adversary_22008">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-4.0321736335754395" y="-66.02486419677734" z="0.033792417496442795"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_close_to_standing_22009">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-6.386359691619873" y="42.299068450927734" z="0.0030866239685565233"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_close_to_adversary_22012">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-1.1285481452941895" y="-74.2168197631836" z="0.03379932418465614"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_close_to_standing_22013">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-23.47119140625" y="16.639076232910156" z="0.0030659865587949753"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_close_to_hero_22015">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-9.792757987976074" y="-150.81472778320312" z="0.0014286803780123591"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_w_transform_22016">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="48.6248893737793" y="-42.2073974609375" z="0.5"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_close_to_hero_22017">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-6.788969039916992" y="-150.93832397460938" z="0.0014286803780123591"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_w_transform_22018">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-9.547733306884766" y="-6.589780807495117" z="0.5"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_w_transform_22021">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-81.33476257324219" y="66.71891784667969" z="0.5"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_close_to_hero_22023">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="5.9607672691345215" y="-146.48350524902344" z="0.0014286803780123591"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_w_transform_22024">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="86.75765228271484" y="-5.4883856773376465" z="0.5"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_w_transform_22025">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-69.2537612915039" y="-73.68277740478516" z="0.5"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
</Actions>
</Init>
<Story name="MyStory">
<Act name="Behavior">
<ManeuverGroup maximumExecutionCount="1" name="ManeuverSequence">
<Actors selectTriggeringEntities="false">
<EntityRef entityRef="adversary"/>
</Actors>
<Maneuver name="LaneChangeSimpleManeuver">
<Event name="AdversaryAccelerates" priority="overwrite">
<Action name="AdversaryAccelerates">
<PrivateAction>
<LongitudinalAction>
<SpeedAction>
<SpeedActionDynamics dynamicsShape="step" value="50" dynamicsDimension="distance"/>
<SpeedActionTarget>
<AbsoluteTargetSpeed value="5.0"/>
</SpeedActionTarget>
</SpeedAction>
</LongitudinalAction>
</PrivateAction>
</Action>
<StartTrigger>
<ConditionGroup>
<Condition name="StartCondition" delay="0" conditionEdge="rising">
<ByEntityCondition>
<TriggeringEntities triggeringEntitiesRule="any">
<EntityRef entityRef="hero"/>
</TriggeringEntities>
<EntityCondition>
<RelativeDistanceCondition entityRef="adversary" relativeDistanceType="cartesianDistance" value="40.0" freespace="false" rule="lessThan"/>
</EntityCondition>
</ByEntityCondition>
</Condition>
</ConditionGroup>
</StartTrigger>
</Event>
<Event name="AdversaryChangesLane" priority="overwrite">
<Action name="AdversaryChangesLane">
<PrivateAction>
<LateralAction>
<LaneChangeAction>
<LaneChangeActionDynamics dynamicsShape="linear" value="25" dynamicsDimension="distance"/>
<LaneChangeTarget>
<RelativeTargetLane entityRef="adversary" value="-1"/>
</LaneChangeTarget>
</LaneChangeAction>
</LateralAction>
</PrivateAction>
</Action>
<StartTrigger>
<ConditionGroup>
<Condition name="AfterAdversaryAccelerates" delay="0" conditionEdge="rising">
<ByValueCondition>
<StoryboardElementStateCondition storyboardElementType="action" storyboardElementRef="AdversaryAccelerates" state="completeState"/>
</ByValueCondition>
</Condition>
</ConditionGroup>
</StartTrigger>
</Event>
</Maneuver>
</ManeuverGroup>
<StartTrigger>
<ConditionGroup>
<Condition name="OverallStartCondition" delay="0" conditionEdge="rising">
<ByEntityCondition>
<TriggeringEntities triggeringEntitiesRule="any">
<EntityRef entityRef="hero"/>
</TriggeringEntities>
<EntityCondition>
<TraveledDistanceCondition value="1.0"/>
</EntityCondition>
</ByEntityCondition>
</Condition>
<Condition name="StartTime" delay="0" conditionEdge="rising">
<ByValueCondition>
<SimulationTimeCondition value="0" rule="equalTo"/>
</ByValueCondition>
</Condition>
</ConditionGroup>
</StartTrigger>
<StopTrigger>
<ConditionGroup>
<Condition name="EndCondition" delay="0" conditionEdge="rising">
<ByEntityCondition>
<TriggeringEntities triggeringEntitiesRule="any">
<EntityRef entityRef="hero"/>
</TriggeringEntities>
<EntityCondition>
<TraveledDistanceCondition value="200.0"/>
</EntityCondition>
</ByEntityCondition>
</Condition>
</ConditionGroup>
</StopTrigger>
</Act>
</Story>
<StopTrigger>
<ConditionGroup>
<Condition name="criteria_RunningStopTest" delay="0" conditionEdge="rising">
<ByValueCondition>
<ParameterCondition parameterRef="" value="" rule="lessThan"/>
</ByValueCondition>
</Condition>
<Condition name="criteria_RunningRedLightTest" delay="0" conditionEdge="rising">
<ByValueCondition>
<ParameterCondition parameterRef="" value="" rule="lessThan"/>
</ByValueCondition>
</Condition>
<Condition name="criteria_WrongLaneTest" delay="0" conditionEdge="rising">
<ByValueCondition>
<ParameterCondition parameterRef="" value="" rule="lessThan"/>
</ByValueCondition>
</Condition>
<Condition name="criteria_OnSidewalkTest" delay="0" conditionEdge="rising">
<ByValueCondition>
<ParameterCondition parameterRef="" value="" rule="lessThan"/>
</ByValueCondition>
</Condition>
<Condition name="criteria_KeepLaneTest" delay="0" conditionEdge="rising">
<ByValueCondition>
<ParameterCondition parameterRef="" value="" rule="lessThan"/>
</ByValueCondition>
</Condition>
<Condition name="criteria_CollisionTest" delay="0" conditionEdge="rising">
<ByValueCondition>
<ParameterCondition parameterRef="" value="" rule="lessThan"/>
</ByValueCondition>
</Condition>
<Condition name="criteria_DrivenDistanceTest" delay="0" conditionEdge="rising">
<ByValueCondition>
<ParameterCondition parameterRef="distance_success" value="100" rule="lessThan"/>
</ByValueCondition>
</Condition>
</ConditionGroup>
</StopTrigger>
</Storyboard>
</OpenSCENARIO>
``` | Here is the result:
```
<?xml version="1.0" ?>
<OpenSCENARIO>
<FileHeader revMajor="1" revMinor="0" date="2020-03-24T12:00:00" description="CARLA:LaneChangeSimple" author=""/>
<ParameterDeclarations/>
<CatalogLocations/>
<RoadNetwork>
<LogicFile filepath="Town04"/>
<SceneGraphFile filepath=""/>
</RoadNetwork>
<Entities>
<ScenarioObject name="hero">
<Vehicle name="vehicle.tesla.model3" vehicleCategory="car">
<ParameterDeclarations/>
<Performance maxSpeed="69.444" maxAcceleration="200" maxDeceleration="10.0"/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2.1" length="4.5" height="1.8"/>
</BoundingBox>
<Axles>
<FrontAxle maxSteering="0.5" wheelDiameter="0.6" trackWidth="1.8" positionX="3.1" positionZ="0.3"/>
<RearAxle maxSteering="0.0" wheelDiameter="0.6" trackWidth="1.8" positionX="0.0" positionZ="0.3"/>
</Axles>
<Properties>
<Property name="type" value="ego_vehicle"/>
</Properties>
</Vehicle>
</ScenarioObject>
<ScenarioObject name="adversary">
<Vehicle name="vehicle.lincoln.mkz_2017" vehicleCategory="car">
<ParameterDeclarations/>
<Performance maxSpeed="69.444" maxAcceleration="200" maxDeceleration="10.0"/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2.1" length="4.5" height="1.8"/>
</BoundingBox>
<Axles>
<FrontAxle maxSteering="0.5" wheelDiameter="0.6" trackWidth="1.8" positionX="3.1" positionZ="0.3"/>
<RearAxle maxSteering="0.0" wheelDiameter="0.6" trackWidth="1.8" positionX="0.0" positionZ="0.3"/>
</Axles>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Vehicle>
</ScenarioObject>
<ScenarioObject name="standing">
<Vehicle name="vehicle.volkswagen.t2" vehicleCategory="car">
<ParameterDeclarations/>
<Performance maxSpeed="69.444" maxAcceleration="200" maxDeceleration="10.0"/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2.1" length="4.5" height="1.8"/>
</BoundingBox>
<Axles>
<FrontAxle maxSteering="0.5" wheelDiameter="0.6" trackWidth="1.8" positionX="3.1" positionZ="0.3"/>
<RearAxle maxSteering="0.0" wheelDiameter="0.6" 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_22000">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_w_transform_22003">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_close_to_hero_22005">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_w_transform_22006">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_w_transform_22007">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_close_to_adversary_22008">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_close_to_standing_22009">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_close_to_adversary_22012">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_close_to_standing_22013">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_close_to_hero_22015">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_w_transform_22016">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_close_to_hero_22017">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_w_transform_22018">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_w_transform_22021">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_close_to_hero_22023">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_w_transform_22024">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_w_transform_22025">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
</Entities>
<Storyboard>
<Init>
<Actions>
<GlobalAction>
<EnvironmentAction>
<Environment name="Environment1">
<TimeOfDay animation="false" dateTime="2019-06-25T12:00:00"/>
<Weather cloudState="free">
<Sun intensity="0.85" azimuth="0" elevation="1.31"/>
<Fog visualRange="100000.0"/>
<Precipitation precipitationType="dry" intensity="0.0"/>
</Weather>
<RoadCondition frictionScaleFactor="1.0"/>
</Environment>
</EnvironmentAction>
</GlobalAction>
<Private entityRef="hero">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-9.4" y="-152.8" z="0.5" h="1.57079632679"/>
</Position>
</TeleportAction>
</PrivateAction>
<PrivateAction>
<ControllerAction>
<AssignControllerAction>
<Controller name="HeroAgent">
<Properties>
<Property name="module" value="external_control"/>
</Properties>
</Controller>
</AssignControllerAction>
<OverrideControllerValueAction>
<Throttle value="0" active="false"/>
<Brake value="0" active="false"/>
<Clutch value="0" active="false"/>
<ParkingBrake value="0" active="false"/>
<SteeringWheel value="0" active="false"/>
<Gear number="0" active="false"/>
</OverrideControllerValueAction>
</ControllerAction>
</PrivateAction>
</Private>
<Private entityRef="adversary">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-9.4" y="-71.0" z="0.5" h="1.57079632679"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="standing">
<PrivateAction>
<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_22000">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-10.779671669006348" y="-71.9875259399414" z="0.0337691493332386"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_w_transform_22003">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-64.48631286621094" y="15.377645492553711" z="0.5"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_close_to_hero_22005">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-14.530200004577637" y="-152.91989135742188" z="0.0014286803780123591"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_w_transform_22006">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="85.53204345703125" y="-24.837888717651367" z="0.5"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_w_transform_22007">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="73.56681823730469" y="20.791173934936523" z="0.5"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_close_to_adversary_22008">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-4.0321736335754395" y="-66.02486419677734" z="0.033792417496442795"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_close_to_standing_22009">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-6.386359691619873" y="42.299068450927734" z="0.0030866239685565233"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_close_to_adversary_22012">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-1.1285481452941895" y="-74.2168197631836" z="0.03379932418465614"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_close_to_standing_22013">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-23.47119140625" y="16.639076232910156" z="0.0030659865587949753"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_close_to_hero_22015">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-9.792757987976074" y="-150.81472778320312" z="0.0014286803780123591"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_w_transform_22016">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="48.6248893737793" y="-42.2073974609375" z="0.5"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_close_to_hero_22017">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-6.788969039916992" y="-150.93832397460938" z="0.0014286803780123591"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_w_transform_22018">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-9.547733306884766" y="-6.589780807495117" z="0.5"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_w_transform_22021">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-81.33476257324219" y="66.71891784667969" z="0.5"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_close_to_hero_22023">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="5.9607672691345215" y="-146.48350524902344" z="0.0014286803780123591"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_w_transform_22024">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="86.75765228271484" y="-5.4883856773376465" z="0.5"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_w_transform_22025">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-69.2537612915039" y="-73.68277740478516" z="0.5"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
</Actions>
</Init>
<Story name="MyStory">
<Act name="Behavior">
<ManeuverGroup maximumExecutionCount="1" name="ManeuverSequence">
<Actors selectTriggeringEntities="false">
<EntityRef entityRef="adversary"/>
</Actors>
<Maneuver name="LaneChangeSimpleManeuver">
<Event name="AdversaryAccelerates" priority="overwrite">
<Action name="AdversaryAccelerates">
<PrivateAction>
<LongitudinalAction>
<SpeedAction>
<SpeedActionDynamics dynamicsShape="step" value="50" dynamicsDimension="distance"/>
<SpeedActionTarget>
<AbsoluteTargetSpeed value="5.0"/>
</SpeedActionTarget>
</SpeedAction>
</LongitudinalAction>
</PrivateAction>
</Action>
<StartTrigger>
<ConditionGroup>
<Condition name="StartCondition" delay="0" conditionEdge="rising">
<ByEntityCondition>
<TriggeringEntities triggeringEntitiesRule="any">
<EntityRef entityRef="hero"/>
</TriggeringEntities>
<EntityCondition>
<RelativeDistanceCondition entityRef="adversary" relativeDistanceType="cartesianDistance" value="40.0" freespace="false" rule="lessThan"/>
</EntityCondition>
</ByEntityCondition>
</Condition>
</ConditionGroup>
</StartTrigger>
</Event>
<Event name="AdversaryChangesLane" priority="overwrite">
<Action name="AdversaryChangesLane">
<PrivateAction>
<LateralAction>
<LaneChangeAction>
<LaneChangeActionDynamics dynamicsShape="linear" value="25" dynamicsDimension="distance"/>
<LaneChangeTarget>
<RelativeTargetLane entityRef="adversary" value="-1"/>
</LaneChangeTarget>
</LaneChangeAction>
</LateralAction>
</PrivateAction>
</Action>
<StartTrigger>
<ConditionGroup>
<Condition name="AfterAdversaryAccelerates" delay="0" conditionEdge="rising">
<ByValueCondition>
<StoryboardElementStateCondition storyboardElementType="action" storyboardElementRef="AdversaryAccelerates" state="completeState"/>
</ByValueCondition>
</Condition>
</ConditionGroup>
</StartTrigger>
</Event>
</Maneuver>
</ManeuverGroup>
<StartTrigger>
<ConditionGroup>
<Condition name="OverallStartCondition" delay="0" conditionEdge="rising">
<ByEntityCondition>
<TriggeringEntities triggeringEntitiesRule="any">
<EntityRef entityRef="hero"/>
</TriggeringEntities>
<EntityCondition>
<TraveledDistanceCondition value="1.0"/>
</EntityCondition>
</ByEntityCondition>
</Condition>
<Condition name="StartTime" delay="0" conditionEdge="rising">
<ByValueCondition>
<SimulationTimeCondition value="0" rule="equalTo"/>
</ByValueCondition>
</Condition>
</ConditionGroup>
</StartTrigger>
<StopTrigger>
<ConditionGroup>
<Condition name="EndCondition" delay="0" conditionEdge="rising">
<ByEntityCondition>
<TriggeringEntities triggeringEntitiesRule="any">
<EntityRef entityRef="hero"/>
</TriggeringEntities>
<EntityCondition>
<TraveledDistanceCondition value="200.0"/>
</EntityCondition>
</ByEntityCondition>
</Condition>
</ConditionGroup>
</StopTrigger>
</Act>
</Story>
<StopTrigger>
<ConditionGroup>
<Condition name="criteria_RunningStopTest" delay="0" conditionEdge="rising">
<ByValueCondition>
<ParameterCondition parameterRef="" value="" rule="lessThan"/>
</ByValueCondition>
</Condition>
<Condition name="criteria_RunningRedLightTest" delay="0" conditionEdge="rising">
<ByValueCondition>
<ParameterCondition parameterRef="" value="" rule="lessThan"/>
</ByValueCondition>
</Condition>
<Condition name="criteria_WrongLaneTest" delay="0" conditionEdge="rising">
<ByValueCondition>
<ParameterCondition parameterRef="" value="" rule="lessThan"/>
</ByValueCondition>
</Condition>
<Condition name="criteria_OnSidewalkTest" delay="0" conditionEdge="rising">
<ByValueCondition>
<ParameterCondition parameterRef="" value="" rule="lessThan"/>
</ByValueCondition>
</Condition>
<Condition name="criteria_KeepLaneTest" delay="0" conditionEdge="rising">
<ByValueCondition>
<ParameterCondition parameterRef="" value="" rule="lessThan"/>
</ByValueCondition>
</Condition>
<Condition name="criteria_CollisionTest" delay="0" conditionEdge="rising">
<ByValueCondition>
<ParameterCondition parameterRef="" value="" rule="lessThan"/>
</ByValueCondition>
</Condition>
<Condition name="criteria_DrivenDistanceTest" delay="0" conditionEdge="rising">
<ByValueCondition>
<ParameterCondition parameterRef="distance_success" value="100" rule="lessThan"/>
</ByValueCondition>
</Condition>
</ConditionGroup>
</StopTrigger>
</Storyboard>
</OpenSCENARIO>
``` |
i would like to guide you to add pedestrian close to standing?
```
<?xml version="1.0" ?>
<OpenSCENARIO>
<FileHeader revMajor="1" revMinor="0" date="2020-03-24T12:00:00" description="CARLA:LaneChangeSimple" author=""/>
<ParameterDeclarations/>
<CatalogLocations/>
<RoadNetwork>
<LogicFile filepath="Town04"/>
<SceneGraphFile filepath=""/>
</RoadNetwork>
<Entities>
<ScenarioObject name="hero">
<Vehicle name="vehicle.tesla.model3" vehicleCategory="car">
<ParameterDeclarations/>
<Performance maxSpeed="69.444" maxAcceleration="200" maxDeceleration="10.0"/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2.1" length="4.5" height="1.8"/>
</BoundingBox>
<Axles>
<FrontAxle maxSteering="0.5" wheelDiameter="0.6" trackWidth="1.8" positionX="3.1" positionZ="0.3"/>
<RearAxle maxSteering="0.0" wheelDiameter="0.6" trackWidth="1.8" positionX="0.0" positionZ="0.3"/>
</Axles>
<Properties>
<Property name="type" value="ego_vehicle"/>
</Properties>
</Vehicle>
</ScenarioObject>
<ScenarioObject name="adversary">
<Vehicle name="vehicle.lincoln.mkz_2017" vehicleCategory="car">
<ParameterDeclarations/>
<Performance maxSpeed="69.444" maxAcceleration="200" maxDeceleration="10.0"/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2.1" length="4.5" height="1.8"/>
</BoundingBox>
<Axles>
<FrontAxle maxSteering="0.5" wheelDiameter="0.6" trackWidth="1.8" positionX="3.1" positionZ="0.3"/>
<RearAxle maxSteering="0.0" wheelDiameter="0.6" trackWidth="1.8" positionX="0.0" positionZ="0.3"/>
</Axles>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Vehicle>
</ScenarioObject>
<ScenarioObject name="standing">
<Vehicle name="vehicle.volkswagen.t2" vehicleCategory="car">
<ParameterDeclarations/>
<Performance maxSpeed="69.444" maxAcceleration="200" maxDeceleration="10.0"/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2.1" length="4.5" height="1.8"/>
</BoundingBox>
<Axles>
<FrontAxle maxSteering="0.5" wheelDiameter="0.6" trackWidth="1.8" positionX="3.1" positionZ="0.3"/>
<RearAxle maxSteering="0.0" wheelDiameter="0.6" trackWidth="1.8" positionX="0.0" positionZ="0.3"/>
</Axles>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Vehicle>
</ScenarioObject>
<ScenarioObject name="pedestrian_close_to_standing_11723">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_w_transform_11724">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
</Entities>
<Storyboard>
<Init>
<Actions>
<GlobalAction>
<EnvironmentAction>
<Environment name="Environment1">
<TimeOfDay animation="false" dateTime="2019-06-25T12:00:00"/>
<Weather cloudState="free">
<Sun intensity="0.85" azimuth="0" elevation="1.31"/>
<Fog visualRange="100000.0"/>
<Precipitation precipitationType="dry" intensity="0.0"/>
</Weather>
<RoadCondition frictionScaleFactor="1.0"/>
</Environment>
</EnvironmentAction>
</GlobalAction>
<Private entityRef="hero">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-9.4" y="-152.8" z="0.5" h="1.57079632679"/>
</Position>
</TeleportAction>
</PrivateAction>
<PrivateAction>
<ControllerAction>
<AssignControllerAction>
<Controller name="HeroAgent">
<Properties>
<Property name="module" value="external_control"/>
</Properties>
</Controller>
</AssignControllerAction>
<OverrideControllerValueAction>
<Throttle value="0" active="false"/>
<Brake value="0" active="false"/>
<Clutch value="0" active="false"/>
<ParkingBrake value="0" active="false"/>
<SteeringWheel value="0" active="false"/>
<Gear number="0" active="false"/>
</OverrideControllerValueAction>
</ControllerAction>
</PrivateAction>
</Private>
<Private entityRef="adversary">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-9.4" y="-71.0" z="0.5" h="1.57079632679"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="standing">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-8.2" y="29.2" z="0.5" h="1.57079632679"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_close_to_standing_11723">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-11.495048522949219" y="37.454593658447266" z="0.0030514525715261698"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_w_transform_11724">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-95.72897338867188" y="0.6443825364112854" z="0.5"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
</Actions>
</Init>
<Story name="MyStory">
<Act name="Behavior">
<ManeuverGroup maximumExecutionCount="1" name="ManeuverSequence">
<Actors selectTriggeringEntities="false">
<EntityRef entityRef="adversary"/>
</Actors>
<Maneuver name="LaneChangeSimpleManeuver">
<Event name="AdversaryAccelerates" priority="overwrite">
<Action name="AdversaryAccelerates">
<PrivateAction>
<LongitudinalAction>
<SpeedAction>
<SpeedActionDynamics dynamicsShape="step" value="50" dynamicsDimension="distance"/>
<SpeedActionTarget>
<AbsoluteTargetSpeed value="5.0"/>
</SpeedActionTarget>
</SpeedAction>
</LongitudinalAction>
</PrivateAction>
</Action>
<StartTrigger>
<ConditionGroup>
<Condition name="StartCondition" delay="0" conditionEdge="rising">
<ByEntityCondition>
<TriggeringEntities triggeringEntitiesRule="any">
<EntityRef entityRef="hero"/>
</TriggeringEntities>
<EntityCondition>
<RelativeDistanceCondition entityRef="adversary" relativeDistanceType="cartesianDistance" value="40.0" freespace="false" rule="lessThan"/>
</EntityCondition>
</ByEntityCondition>
</Condition>
</ConditionGroup>
</StartTrigger>
</Event>
<Event name="AdversaryChangesLane" priority="overwrite">
<Action name="AdversaryChangesLane">
<PrivateAction>
<LateralAction>
<LaneChangeAction>
<LaneChangeActionDynamics dynamicsShape="linear" value="25" dynamicsDimension="distance"/>
<LaneChangeTarget>
<RelativeTargetLane entityRef="adversary" value="-1"/>
</LaneChangeTarget>
</LaneChangeAction>
</LateralAction>
</PrivateAction>
</Action>
<StartTrigger>
<ConditionGroup>
<Condition name="AfterAdversaryAccelerates" delay="0" conditionEdge="rising">
<ByValueCondition>
<StoryboardElementStateCondition storyboardElementType="action" storyboardElementRef="AdversaryAccelerates" state="completeState"/>
</ByValueCondition>
</Condition>
</ConditionGroup>
</StartTrigger>
</Event>
</Maneuver>
</ManeuverGroup>
<StartTrigger>
<ConditionGroup>
<Condition name="OverallStartCondition" delay="0" conditionEdge="rising">
<ByEntityCondition>
<TriggeringEntities triggeringEntitiesRule="any">
<EntityRef entityRef="hero"/>
</TriggeringEntities>
<EntityCondition>
<TraveledDistanceCondition value="1.0"/>
</EntityCondition>
</ByEntityCondition>
</Condition>
<Condition name="StartTime" delay="0" conditionEdge="rising">
<ByValueCondition>
<SimulationTimeCondition value="0" rule="equalTo"/>
</ByValueCondition>
</Condition>
</ConditionGroup>
</StartTrigger>
<StopTrigger>
<ConditionGroup>
<Condition name="EndCondition" delay="0" conditionEdge="rising">
<ByEntityCondition>
<TriggeringEntities triggeringEntitiesRule="any">
<EntityRef entityRef="hero"/>
</TriggeringEntities>
<EntityCondition>
<TraveledDistanceCondition value="200.0"/>
</EntityCondition>
</ByEntityCondition>
</Condition>
</ConditionGroup>
</StopTrigger>
</Act>
</Story>
<StopTrigger>
<ConditionGroup>
<Condition name="criteria_RunningStopTest" delay="0" conditionEdge="rising">
<ByValueCondition>
<ParameterCondition parameterRef="" value="" rule="lessThan"/>
</ByValueCondition>
</Condition>
<Condition name="criteria_RunningRedLightTest" delay="0" conditionEdge="rising">
<ByValueCondition>
<ParameterCondition parameterRef="" value="" rule="lessThan"/>
</ByValueCondition>
</Condition>
<Condition name="criteria_WrongLaneTest" delay="0" conditionEdge="rising">
<ByValueCondition>
<ParameterCondition parameterRef="" value="" rule="lessThan"/>
</ByValueCondition>
</Condition>
<Condition name="criteria_OnSidewalkTest" delay="0" conditionEdge="rising">
<ByValueCondition>
<ParameterCondition parameterRef="" value="" rule="lessThan"/>
</ByValueCondition>
</Condition>
<Condition name="criteria_KeepLaneTest" delay="0" conditionEdge="rising">
<ByValueCondition>
<ParameterCondition parameterRef="" value="" rule="lessThan"/>
</ByValueCondition>
</Condition>
<Condition name="criteria_CollisionTest" delay="0" conditionEdge="rising">
<ByValueCondition>
<ParameterCondition parameterRef="" value="" rule="lessThan"/>
</ByValueCondition>
</Condition>
<Condition name="criteria_DrivenDistanceTest" delay="0" conditionEdge="rising">
<ByValueCondition>
<ParameterCondition parameterRef="distance_success" value="100" rule="lessThan"/>
</ByValueCondition>
</Condition>
</ConditionGroup>
</StopTrigger>
</Storyboard>
</OpenSCENARIO>
``` | Here is the result:
```
<?xml version="1.0" ?>
<OpenSCENARIO>
<FileHeader revMajor="1" revMinor="0" date="2020-03-24T12:00:00" description="CARLA:LaneChangeSimple" author=""/>
<ParameterDeclarations/>
<CatalogLocations/>
<RoadNetwork>
<LogicFile filepath="Town04"/>
<SceneGraphFile filepath=""/>
</RoadNetwork>
<Entities>
<ScenarioObject name="hero">
<Vehicle name="vehicle.tesla.model3" vehicleCategory="car">
<ParameterDeclarations/>
<Performance maxSpeed="69.444" maxAcceleration="200" maxDeceleration="10.0"/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2.1" length="4.5" height="1.8"/>
</BoundingBox>
<Axles>
<FrontAxle maxSteering="0.5" wheelDiameter="0.6" trackWidth="1.8" positionX="3.1" positionZ="0.3"/>
<RearAxle maxSteering="0.0" wheelDiameter="0.6" trackWidth="1.8" positionX="0.0" positionZ="0.3"/>
</Axles>
<Properties>
<Property name="type" value="ego_vehicle"/>
</Properties>
</Vehicle>
</ScenarioObject>
<ScenarioObject name="adversary">
<Vehicle name="vehicle.lincoln.mkz_2017" vehicleCategory="car">
<ParameterDeclarations/>
<Performance maxSpeed="69.444" maxAcceleration="200" maxDeceleration="10.0"/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2.1" length="4.5" height="1.8"/>
</BoundingBox>
<Axles>
<FrontAxle maxSteering="0.5" wheelDiameter="0.6" trackWidth="1.8" positionX="3.1" positionZ="0.3"/>
<RearAxle maxSteering="0.0" wheelDiameter="0.6" trackWidth="1.8" positionX="0.0" positionZ="0.3"/>
</Axles>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Vehicle>
</ScenarioObject>
<ScenarioObject name="standing">
<Vehicle name="vehicle.volkswagen.t2" vehicleCategory="car">
<ParameterDeclarations/>
<Performance maxSpeed="69.444" maxAcceleration="200" maxDeceleration="10.0"/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2.1" length="4.5" height="1.8"/>
</BoundingBox>
<Axles>
<FrontAxle maxSteering="0.5" wheelDiameter="0.6" trackWidth="1.8" positionX="3.1" positionZ="0.3"/>
<RearAxle maxSteering="0.0" wheelDiameter="0.6" trackWidth="1.8" positionX="0.0" positionZ="0.3"/>
</Axles>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Vehicle>
</ScenarioObject>
<ScenarioObject name="pedestrian_close_to_standing_11723">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_w_transform_11724">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_close_to_standing_11725">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
</Entities>
<Storyboard>
<Init>
<Actions>
<GlobalAction>
<EnvironmentAction>
<Environment name="Environment1">
<TimeOfDay animation="false" dateTime="2019-06-25T12:00:00"/>
<Weather cloudState="free">
<Sun intensity="0.85" azimuth="0" elevation="1.31"/>
<Fog visualRange="100000.0"/>
<Precipitation precipitationType="dry" intensity="0.0"/>
</Weather>
<RoadCondition frictionScaleFactor="1.0"/>
</Environment>
</EnvironmentAction>
</GlobalAction>
<Private entityRef="hero">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-9.4" y="-152.8" z="0.5" h="1.57079632679"/>
</Position>
</TeleportAction>
</PrivateAction>
<PrivateAction>
<ControllerAction>
<AssignControllerAction>
<Controller name="HeroAgent">
<Properties>
<Property name="module" value="external_control"/>
</Properties>
</Controller>
</AssignControllerAction>
<OverrideControllerValueAction>
<Throttle value="0" active="false"/>
<Brake value="0" active="false"/>
<Clutch value="0" active="false"/>
<ParkingBrake value="0" active="false"/>
<SteeringWheel value="0" active="false"/>
<Gear number="0" active="false"/>
</OverrideControllerValueAction>
</ControllerAction>
</PrivateAction>
</Private>
<Private entityRef="adversary">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-9.4" y="-71.0" z="0.5" h="1.57079632679"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="standing">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-8.2" y="29.2" z="0.5" h="1.57079632679"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_close_to_standing_11723">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-11.495048522949219" y="37.454593658447266" z="0.0030514525715261698"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_w_transform_11724">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-95.72897338867188" y="0.6443825364112854" z="0.5"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_close_to_standing_11725">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-12.191807746887207" y="25.28885841369629" z="0.0030567168723791838"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
</Actions>
</Init>
<Story name="MyStory">
<Act name="Behavior">
<ManeuverGroup maximumExecutionCount="1" name="ManeuverSequence">
<Actors selectTriggeringEntities="false">
<EntityRef entityRef="adversary"/>
</Actors>
<Maneuver name="LaneChangeSimpleManeuver">
<Event name="AdversaryAccelerates" priority="overwrite">
<Action name="AdversaryAccelerates">
<PrivateAction>
<LongitudinalAction>
<SpeedAction>
<SpeedActionDynamics dynamicsShape="step" value="50" dynamicsDimension="distance"/>
<SpeedActionTarget>
<AbsoluteTargetSpeed value="5.0"/>
</SpeedActionTarget>
</SpeedAction>
</LongitudinalAction>
</PrivateAction>
</Action>
<StartTrigger>
<ConditionGroup>
<Condition name="StartCondition" delay="0" conditionEdge="rising">
<ByEntityCondition>
<TriggeringEntities triggeringEntitiesRule="any">
<EntityRef entityRef="hero"/>
</TriggeringEntities>
<EntityCondition>
<RelativeDistanceCondition entityRef="adversary" relativeDistanceType="cartesianDistance" value="40.0" freespace="false" rule="lessThan"/>
</EntityCondition>
</ByEntityCondition>
</Condition>
</ConditionGroup>
</StartTrigger>
</Event>
<Event name="AdversaryChangesLane" priority="overwrite">
<Action name="AdversaryChangesLane">
<PrivateAction>
<LateralAction>
<LaneChangeAction>
<LaneChangeActionDynamics dynamicsShape="linear" value="25" dynamicsDimension="distance"/>
<LaneChangeTarget>
<RelativeTargetLane entityRef="adversary" value="-1"/>
</LaneChangeTarget>
</LaneChangeAction>
</LateralAction>
</PrivateAction>
</Action>
<StartTrigger>
<ConditionGroup>
<Condition name="AfterAdversaryAccelerates" delay="0" conditionEdge="rising">
<ByValueCondition>
<StoryboardElementStateCondition storyboardElementType="action" storyboardElementRef="AdversaryAccelerates" state="completeState"/>
</ByValueCondition>
</Condition>
</ConditionGroup>
</StartTrigger>
</Event>
</Maneuver>
</ManeuverGroup>
<StartTrigger>
<ConditionGroup>
<Condition name="OverallStartCondition" delay="0" conditionEdge="rising">
<ByEntityCondition>
<TriggeringEntities triggeringEntitiesRule="any">
<EntityRef entityRef="hero"/>
</TriggeringEntities>
<EntityCondition>
<TraveledDistanceCondition value="1.0"/>
</EntityCondition>
</ByEntityCondition>
</Condition>
<Condition name="StartTime" delay="0" conditionEdge="rising">
<ByValueCondition>
<SimulationTimeCondition value="0" rule="equalTo"/>
</ByValueCondition>
</Condition>
</ConditionGroup>
</StartTrigger>
<StopTrigger>
<ConditionGroup>
<Condition name="EndCondition" delay="0" conditionEdge="rising">
<ByEntityCondition>
<TriggeringEntities triggeringEntitiesRule="any">
<EntityRef entityRef="hero"/>
</TriggeringEntities>
<EntityCondition>
<TraveledDistanceCondition value="200.0"/>
</EntityCondition>
</ByEntityCondition>
</Condition>
</ConditionGroup>
</StopTrigger>
</Act>
</Story>
<StopTrigger>
<ConditionGroup>
<Condition name="criteria_RunningStopTest" delay="0" conditionEdge="rising">
<ByValueCondition>
<ParameterCondition parameterRef="" value="" rule="lessThan"/>
</ByValueCondition>
</Condition>
<Condition name="criteria_RunningRedLightTest" delay="0" conditionEdge="rising">
<ByValueCondition>
<ParameterCondition parameterRef="" value="" rule="lessThan"/>
</ByValueCondition>
</Condition>
<Condition name="criteria_WrongLaneTest" delay="0" conditionEdge="rising">
<ByValueCondition>
<ParameterCondition parameterRef="" value="" rule="lessThan"/>
</ByValueCondition>
</Condition>
<Condition name="criteria_OnSidewalkTest" delay="0" conditionEdge="rising">
<ByValueCondition>
<ParameterCondition parameterRef="" value="" rule="lessThan"/>
</ByValueCondition>
</Condition>
<Condition name="criteria_KeepLaneTest" delay="0" conditionEdge="rising">
<ByValueCondition>
<ParameterCondition parameterRef="" value="" rule="lessThan"/>
</ByValueCondition>
</Condition>
<Condition name="criteria_CollisionTest" delay="0" conditionEdge="rising">
<ByValueCondition>
<ParameterCondition parameterRef="" value="" rule="lessThan"/>
</ByValueCondition>
</Condition>
<Condition name="criteria_DrivenDistanceTest" delay="0" conditionEdge="rising">
<ByValueCondition>
<ParameterCondition parameterRef="distance_success" value="100" rule="lessThan"/>
</ByValueCondition>
</Condition>
</ConditionGroup>
</StopTrigger>
</Storyboard>
</OpenSCENARIO>
``` |
i want you to remove pedestrian close to adversary?
```
<?xml version="1.0" ?>
<OpenSCENARIO>
<FileHeader revMajor="1" revMinor="0" date="2020-03-24T12:00:00" description="CARLA:LaneChangeSimple" author=""/>
<ParameterDeclarations/>
<CatalogLocations/>
<RoadNetwork>
<LogicFile filepath="Town04"/>
<SceneGraphFile filepath=""/>
</RoadNetwork>
<Entities>
<ScenarioObject name="hero">
<Vehicle name="vehicle.tesla.model3" vehicleCategory="car">
<ParameterDeclarations/>
<Performance maxSpeed="69.444" maxAcceleration="200" maxDeceleration="10.0"/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2.1" length="4.5" height="1.8"/>
</BoundingBox>
<Axles>
<FrontAxle maxSteering="0.5" wheelDiameter="0.6" trackWidth="1.8" positionX="3.1" positionZ="0.3"/>
<RearAxle maxSteering="0.0" wheelDiameter="0.6" trackWidth="1.8" positionX="0.0" positionZ="0.3"/>
</Axles>
<Properties>
<Property name="type" value="ego_vehicle"/>
</Properties>
</Vehicle>
</ScenarioObject>
<ScenarioObject name="adversary">
<Vehicle name="vehicle.lincoln.mkz_2017" vehicleCategory="car">
<ParameterDeclarations/>
<Performance maxSpeed="69.444" maxAcceleration="200" maxDeceleration="10.0"/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2.1" length="4.5" height="1.8"/>
</BoundingBox>
<Axles>
<FrontAxle maxSteering="0.5" wheelDiameter="0.6" trackWidth="1.8" positionX="3.1" positionZ="0.3"/>
<RearAxle maxSteering="0.0" wheelDiameter="0.6" trackWidth="1.8" positionX="0.0" positionZ="0.3"/>
</Axles>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Vehicle>
</ScenarioObject>
<ScenarioObject name="standing">
<Vehicle name="vehicle.volkswagen.t2" vehicleCategory="car">
<ParameterDeclarations/>
<Performance maxSpeed="69.444" maxAcceleration="200" maxDeceleration="10.0"/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2.1" length="4.5" height="1.8"/>
</BoundingBox>
<Axles>
<FrontAxle maxSteering="0.5" wheelDiameter="0.6" trackWidth="1.8" positionX="3.1" positionZ="0.3"/>
<RearAxle maxSteering="0.0" wheelDiameter="0.6" trackWidth="1.8" positionX="0.0" positionZ="0.3"/>
</Axles>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Vehicle>
</ScenarioObject>
<ScenarioObject name="pedestrian_close_to_hero_24587">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_close_to_standing_24588">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_w_transform_24589">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_close_to_adversary_24591">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_w_transform_24592">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_close_to_hero_24593">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_w_transform_24594">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_w_transform_24596">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_close_to_hero_24597">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_w_transform_24598">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_close_to_standing_24600">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_close_to_standing_24601">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
</Entities>
<Storyboard>
<Init>
<Actions>
<GlobalAction>
<EnvironmentAction>
<Environment name="Environment1">
<TimeOfDay animation="false" dateTime="2019-06-25T12:00:00"/>
<Weather cloudState="free">
<Sun intensity="0.85" azimuth="0" elevation="1.31"/>
<Fog visualRange="100000.0"/>
<Precipitation precipitationType="dry" intensity="0.0"/>
</Weather>
<RoadCondition frictionScaleFactor="1.0"/>
</Environment>
</EnvironmentAction>
</GlobalAction>
<Private entityRef="hero">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-9.4" y="-152.8" z="0.5" h="1.57079632679"/>
</Position>
</TeleportAction>
</PrivateAction>
<PrivateAction>
<ControllerAction>
<AssignControllerAction>
<Controller name="HeroAgent">
<Properties>
<Property name="module" value="external_control"/>
</Properties>
</Controller>
</AssignControllerAction>
<OverrideControllerValueAction>
<Throttle value="0" active="false"/>
<Brake value="0" active="false"/>
<Clutch value="0" active="false"/>
<ParkingBrake value="0" active="false"/>
<SteeringWheel value="0" active="false"/>
<Gear number="0" active="false"/>
</OverrideControllerValueAction>
</ControllerAction>
</PrivateAction>
</Private>
<Private entityRef="adversary">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-9.4" y="-71.0" z="0.5" h="1.57079632679"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="standing">
<PrivateAction>
<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_24587">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-4.09309196472168" y="-145.3850860595703" z="0.0014286803780123591"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_close_to_standing_24588">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-9.955595016479492" y="32.88186264038086" z="0.0030551147647202015"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_w_transform_24589">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-58.276268005371094" y="64.4847640991211" z="0.5"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_close_to_adversary_24591">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-17.253278732299805" y="-77.10488891601562" z="0.033859822899103165"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_w_transform_24592">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-44.6198844909668" y="97.00174713134766" z="0.5"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_close_to_hero_24593">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-4.709834098815918" y="-158.89669799804688" z="0.0014286803780123591"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_w_transform_24594">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="21.59705924987793" y="-31.232786178588867" z="0.5"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_w_transform_24596">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="51.68842697143555" y="53.97567367553711" z="0.5"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_close_to_hero_24597">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-2.2802319526672363" y="-161.6431427001953" z="0.0014286803780123591"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_w_transform_24598">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-98.62287902832031" y="-53.99440383911133" z="0.5"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_close_to_standing_24600">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-7.171450614929199" y="46.50010681152344" z="0.0030529021751135588"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_close_to_standing_24601">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-11.654536247253418" y="33.01963806152344" z="0.0031023025512695312"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
</Actions>
</Init>
<Story name="MyStory">
<Act name="Behavior">
<ManeuverGroup maximumExecutionCount="1" name="ManeuverSequence">
<Actors selectTriggeringEntities="false">
<EntityRef entityRef="adversary"/>
</Actors>
<Maneuver name="LaneChangeSimpleManeuver">
<Event name="AdversaryAccelerates" priority="overwrite">
<Action name="AdversaryAccelerates">
<PrivateAction>
<LongitudinalAction>
<SpeedAction>
<SpeedActionDynamics dynamicsShape="step" value="50" dynamicsDimension="distance"/>
<SpeedActionTarget>
<AbsoluteTargetSpeed value="5.0"/>
</SpeedActionTarget>
</SpeedAction>
</LongitudinalAction>
</PrivateAction>
</Action>
<StartTrigger>
<ConditionGroup>
<Condition name="StartCondition" delay="0" conditionEdge="rising">
<ByEntityCondition>
<TriggeringEntities triggeringEntitiesRule="any">
<EntityRef entityRef="hero"/>
</TriggeringEntities>
<EntityCondition>
<RelativeDistanceCondition entityRef="adversary" relativeDistanceType="cartesianDistance" value="40.0" freespace="false" rule="lessThan"/>
</EntityCondition>
</ByEntityCondition>
</Condition>
</ConditionGroup>
</StartTrigger>
</Event>
<Event name="AdversaryChangesLane" priority="overwrite">
<Action name="AdversaryChangesLane">
<PrivateAction>
<LateralAction>
<LaneChangeAction>
<LaneChangeActionDynamics dynamicsShape="linear" value="25" dynamicsDimension="distance"/>
<LaneChangeTarget>
<RelativeTargetLane entityRef="adversary" value="-1"/>
</LaneChangeTarget>
</LaneChangeAction>
</LateralAction>
</PrivateAction>
</Action>
<StartTrigger>
<ConditionGroup>
<Condition name="AfterAdversaryAccelerates" delay="0" conditionEdge="rising">
<ByValueCondition>
<StoryboardElementStateCondition storyboardElementType="action" storyboardElementRef="AdversaryAccelerates" state="completeState"/>
</ByValueCondition>
</Condition>
</ConditionGroup>
</StartTrigger>
</Event>
</Maneuver>
</ManeuverGroup>
<StartTrigger>
<ConditionGroup>
<Condition name="OverallStartCondition" delay="0" conditionEdge="rising">
<ByEntityCondition>
<TriggeringEntities triggeringEntitiesRule="any">
<EntityRef entityRef="hero"/>
</TriggeringEntities>
<EntityCondition>
<TraveledDistanceCondition value="1.0"/>
</EntityCondition>
</ByEntityCondition>
</Condition>
<Condition name="StartTime" delay="0" conditionEdge="rising">
<ByValueCondition>
<SimulationTimeCondition value="0" rule="equalTo"/>
</ByValueCondition>
</Condition>
</ConditionGroup>
</StartTrigger>
<StopTrigger>
<ConditionGroup>
<Condition name="EndCondition" delay="0" conditionEdge="rising">
<ByEntityCondition>
<TriggeringEntities triggeringEntitiesRule="any">
<EntityRef entityRef="hero"/>
</TriggeringEntities>
<EntityCondition>
<TraveledDistanceCondition value="200.0"/>
</EntityCondition>
</ByEntityCondition>
</Condition>
</ConditionGroup>
</StopTrigger>
</Act>
</Story>
<StopTrigger>
<ConditionGroup>
<Condition name="criteria_RunningStopTest" delay="0" conditionEdge="rising">
<ByValueCondition>
<ParameterCondition parameterRef="" value="" rule="lessThan"/>
</ByValueCondition>
</Condition>
<Condition name="criteria_RunningRedLightTest" delay="0" conditionEdge="rising">
<ByValueCondition>
<ParameterCondition parameterRef="" value="" rule="lessThan"/>
</ByValueCondition>
</Condition>
<Condition name="criteria_WrongLaneTest" delay="0" conditionEdge="rising">
<ByValueCondition>
<ParameterCondition parameterRef="" value="" rule="lessThan"/>
</ByValueCondition>
</Condition>
<Condition name="criteria_OnSidewalkTest" delay="0" conditionEdge="rising">
<ByValueCondition>
<ParameterCondition parameterRef="" value="" rule="lessThan"/>
</ByValueCondition>
</Condition>
<Condition name="criteria_KeepLaneTest" delay="0" conditionEdge="rising">
<ByValueCondition>
<ParameterCondition parameterRef="" value="" rule="lessThan"/>
</ByValueCondition>
</Condition>
<Condition name="criteria_CollisionTest" delay="0" conditionEdge="rising">
<ByValueCondition>
<ParameterCondition parameterRef="" value="" rule="lessThan"/>
</ByValueCondition>
</Condition>
<Condition name="criteria_DrivenDistanceTest" delay="0" conditionEdge="rising">
<ByValueCondition>
<ParameterCondition parameterRef="distance_success" value="100" rule="lessThan"/>
</ByValueCondition>
</Condition>
</ConditionGroup>
</StopTrigger>
</Storyboard>
</OpenSCENARIO>
``` | Here is the result:
```
<?xml version="1.0" ?>
<OpenSCENARIO>
<FileHeader revMajor="1" revMinor="0" date="2020-03-24T12:00:00" description="CARLA:LaneChangeSimple" author=""/>
<ParameterDeclarations/>
<CatalogLocations/>
<RoadNetwork>
<LogicFile filepath="Town04"/>
<SceneGraphFile filepath=""/>
</RoadNetwork>
<Entities>
<ScenarioObject name="hero">
<Vehicle name="vehicle.tesla.model3" vehicleCategory="car">
<ParameterDeclarations/>
<Performance maxSpeed="69.444" maxAcceleration="200" maxDeceleration="10.0"/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2.1" length="4.5" height="1.8"/>
</BoundingBox>
<Axles>
<FrontAxle maxSteering="0.5" wheelDiameter="0.6" trackWidth="1.8" positionX="3.1" positionZ="0.3"/>
<RearAxle maxSteering="0.0" wheelDiameter="0.6" trackWidth="1.8" positionX="0.0" positionZ="0.3"/>
</Axles>
<Properties>
<Property name="type" value="ego_vehicle"/>
</Properties>
</Vehicle>
</ScenarioObject>
<ScenarioObject name="adversary">
<Vehicle name="vehicle.lincoln.mkz_2017" vehicleCategory="car">
<ParameterDeclarations/>
<Performance maxSpeed="69.444" maxAcceleration="200" maxDeceleration="10.0"/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2.1" length="4.5" height="1.8"/>
</BoundingBox>
<Axles>
<FrontAxle maxSteering="0.5" wheelDiameter="0.6" trackWidth="1.8" positionX="3.1" positionZ="0.3"/>
<RearAxle maxSteering="0.0" wheelDiameter="0.6" trackWidth="1.8" positionX="0.0" positionZ="0.3"/>
</Axles>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Vehicle>
</ScenarioObject>
<ScenarioObject name="standing">
<Vehicle name="vehicle.volkswagen.t2" vehicleCategory="car">
<ParameterDeclarations/>
<Performance maxSpeed="69.444" maxAcceleration="200" maxDeceleration="10.0"/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2.1" length="4.5" height="1.8"/>
</BoundingBox>
<Axles>
<FrontAxle maxSteering="0.5" wheelDiameter="0.6" trackWidth="1.8" positionX="3.1" positionZ="0.3"/>
<RearAxle maxSteering="0.0" wheelDiameter="0.6" 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_24587">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_close_to_standing_24588">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_w_transform_24589">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_w_transform_24592">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_close_to_hero_24593">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_w_transform_24594">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_w_transform_24596">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_close_to_hero_24597">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_w_transform_24598">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_close_to_standing_24600">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_close_to_standing_24601">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
</Entities>
<Storyboard>
<Init>
<Actions>
<GlobalAction>
<EnvironmentAction>
<Environment name="Environment1">
<TimeOfDay animation="false" dateTime="2019-06-25T12:00:00"/>
<Weather cloudState="free">
<Sun intensity="0.85" azimuth="0" elevation="1.31"/>
<Fog visualRange="100000.0"/>
<Precipitation precipitationType="dry" intensity="0.0"/>
</Weather>
<RoadCondition frictionScaleFactor="1.0"/>
</Environment>
</EnvironmentAction>
</GlobalAction>
<Private entityRef="hero">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-9.4" y="-152.8" z="0.5" h="1.57079632679"/>
</Position>
</TeleportAction>
</PrivateAction>
<PrivateAction>
<ControllerAction>
<AssignControllerAction>
<Controller name="HeroAgent">
<Properties>
<Property name="module" value="external_control"/>
</Properties>
</Controller>
</AssignControllerAction>
<OverrideControllerValueAction>
<Throttle value="0" active="false"/>
<Brake value="0" active="false"/>
<Clutch value="0" active="false"/>
<ParkingBrake value="0" active="false"/>
<SteeringWheel value="0" active="false"/>
<Gear number="0" active="false"/>
</OverrideControllerValueAction>
</ControllerAction>
</PrivateAction>
</Private>
<Private entityRef="adversary">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-9.4" y="-71.0" z="0.5" h="1.57079632679"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="standing">
<PrivateAction>
<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_24587">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-4.09309196472168" y="-145.3850860595703" z="0.0014286803780123591"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_close_to_standing_24588">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-9.955595016479492" y="32.88186264038086" z="0.0030551147647202015"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_w_transform_24589">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-58.276268005371094" y="64.4847640991211" z="0.5"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_w_transform_24592">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-44.6198844909668" y="97.00174713134766" z="0.5"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_close_to_hero_24593">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-4.709834098815918" y="-158.89669799804688" z="0.0014286803780123591"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_w_transform_24594">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="21.59705924987793" y="-31.232786178588867" z="0.5"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_w_transform_24596">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="51.68842697143555" y="53.97567367553711" z="0.5"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_close_to_hero_24597">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-2.2802319526672363" y="-161.6431427001953" z="0.0014286803780123591"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_w_transform_24598">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-98.62287902832031" y="-53.99440383911133" z="0.5"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_close_to_standing_24600">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-7.171450614929199" y="46.50010681152344" z="0.0030529021751135588"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_close_to_standing_24601">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-11.654536247253418" y="33.01963806152344" z="0.0031023025512695312"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
</Actions>
</Init>
<Story name="MyStory">
<Act name="Behavior">
<ManeuverGroup maximumExecutionCount="1" name="ManeuverSequence">
<Actors selectTriggeringEntities="false">
<EntityRef entityRef="adversary"/>
</Actors>
<Maneuver name="LaneChangeSimpleManeuver">
<Event name="AdversaryAccelerates" priority="overwrite">
<Action name="AdversaryAccelerates">
<PrivateAction>
<LongitudinalAction>
<SpeedAction>
<SpeedActionDynamics dynamicsShape="step" value="50" dynamicsDimension="distance"/>
<SpeedActionTarget>
<AbsoluteTargetSpeed value="5.0"/>
</SpeedActionTarget>
</SpeedAction>
</LongitudinalAction>
</PrivateAction>
</Action>
<StartTrigger>
<ConditionGroup>
<Condition name="StartCondition" delay="0" conditionEdge="rising">
<ByEntityCondition>
<TriggeringEntities triggeringEntitiesRule="any">
<EntityRef entityRef="hero"/>
</TriggeringEntities>
<EntityCondition>
<RelativeDistanceCondition entityRef="adversary" relativeDistanceType="cartesianDistance" value="40.0" freespace="false" rule="lessThan"/>
</EntityCondition>
</ByEntityCondition>
</Condition>
</ConditionGroup>
</StartTrigger>
</Event>
<Event name="AdversaryChangesLane" priority="overwrite">
<Action name="AdversaryChangesLane">
<PrivateAction>
<LateralAction>
<LaneChangeAction>
<LaneChangeActionDynamics dynamicsShape="linear" value="25" dynamicsDimension="distance"/>
<LaneChangeTarget>
<RelativeTargetLane entityRef="adversary" value="-1"/>
</LaneChangeTarget>
</LaneChangeAction>
</LateralAction>
</PrivateAction>
</Action>
<StartTrigger>
<ConditionGroup>
<Condition name="AfterAdversaryAccelerates" delay="0" conditionEdge="rising">
<ByValueCondition>
<StoryboardElementStateCondition storyboardElementType="action" storyboardElementRef="AdversaryAccelerates" state="completeState"/>
</ByValueCondition>
</Condition>
</ConditionGroup>
</StartTrigger>
</Event>
</Maneuver>
</ManeuverGroup>
<StartTrigger>
<ConditionGroup>
<Condition name="OverallStartCondition" delay="0" conditionEdge="rising">
<ByEntityCondition>
<TriggeringEntities triggeringEntitiesRule="any">
<EntityRef entityRef="hero"/>
</TriggeringEntities>
<EntityCondition>
<TraveledDistanceCondition value="1.0"/>
</EntityCondition>
</ByEntityCondition>
</Condition>
<Condition name="StartTime" delay="0" conditionEdge="rising">
<ByValueCondition>
<SimulationTimeCondition value="0" rule="equalTo"/>
</ByValueCondition>
</Condition>
</ConditionGroup>
</StartTrigger>
<StopTrigger>
<ConditionGroup>
<Condition name="EndCondition" delay="0" conditionEdge="rising">
<ByEntityCondition>
<TriggeringEntities triggeringEntitiesRule="any">
<EntityRef entityRef="hero"/>
</TriggeringEntities>
<EntityCondition>
<TraveledDistanceCondition value="200.0"/>
</EntityCondition>
</ByEntityCondition>
</Condition>
</ConditionGroup>
</StopTrigger>
</Act>
</Story>
<StopTrigger>
<ConditionGroup>
<Condition name="criteria_RunningStopTest" delay="0" conditionEdge="rising">
<ByValueCondition>
<ParameterCondition parameterRef="" value="" rule="lessThan"/>
</ByValueCondition>
</Condition>
<Condition name="criteria_RunningRedLightTest" delay="0" conditionEdge="rising">
<ByValueCondition>
<ParameterCondition parameterRef="" value="" rule="lessThan"/>
</ByValueCondition>
</Condition>
<Condition name="criteria_WrongLaneTest" delay="0" conditionEdge="rising">
<ByValueCondition>
<ParameterCondition parameterRef="" value="" rule="lessThan"/>
</ByValueCondition>
</Condition>
<Condition name="criteria_OnSidewalkTest" delay="0" conditionEdge="rising">
<ByValueCondition>
<ParameterCondition parameterRef="" value="" rule="lessThan"/>
</ByValueCondition>
</Condition>
<Condition name="criteria_KeepLaneTest" delay="0" conditionEdge="rising">
<ByValueCondition>
<ParameterCondition parameterRef="" value="" rule="lessThan"/>
</ByValueCondition>
</Condition>
<Condition name="criteria_CollisionTest" delay="0" conditionEdge="rising">
<ByValueCondition>
<ParameterCondition parameterRef="" value="" rule="lessThan"/>
</ByValueCondition>
</Condition>
<Condition name="criteria_DrivenDistanceTest" delay="0" conditionEdge="rising">
<ByValueCondition>
<ParameterCondition parameterRef="distance_success" value="100" rule="lessThan"/>
</ByValueCondition>
</Condition>
</ConditionGroup>
</StopTrigger>
</Storyboard>
</OpenSCENARIO>
``` |
could you add pedestrian close to standing?
```
<?xml version="1.0" ?>
<OpenSCENARIO>
<FileHeader revMajor="1" revMinor="0" date="2020-03-24T12:00:00" description="CARLA:LaneChangeSimple" author=""/>
<ParameterDeclarations/>
<CatalogLocations/>
<RoadNetwork>
<LogicFile filepath="Town04"/>
<SceneGraphFile filepath=""/>
</RoadNetwork>
<Entities>
<ScenarioObject name="hero">
<Vehicle name="vehicle.tesla.model3" vehicleCategory="car">
<ParameterDeclarations/>
<Performance maxSpeed="69.444" maxAcceleration="200" maxDeceleration="10.0"/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2.1" length="4.5" height="1.8"/>
</BoundingBox>
<Axles>
<FrontAxle maxSteering="0.5" wheelDiameter="0.6" trackWidth="1.8" positionX="3.1" positionZ="0.3"/>
<RearAxle maxSteering="0.0" wheelDiameter="0.6" trackWidth="1.8" positionX="0.0" positionZ="0.3"/>
</Axles>
<Properties>
<Property name="type" value="ego_vehicle"/>
</Properties>
</Vehicle>
</ScenarioObject>
<ScenarioObject name="adversary">
<Vehicle name="vehicle.lincoln.mkz_2017" vehicleCategory="car">
<ParameterDeclarations/>
<Performance maxSpeed="69.444" maxAcceleration="200" maxDeceleration="10.0"/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2.1" length="4.5" height="1.8"/>
</BoundingBox>
<Axles>
<FrontAxle maxSteering="0.5" wheelDiameter="0.6" trackWidth="1.8" positionX="3.1" positionZ="0.3"/>
<RearAxle maxSteering="0.0" wheelDiameter="0.6" trackWidth="1.8" positionX="0.0" positionZ="0.3"/>
</Axles>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Vehicle>
</ScenarioObject>
<ScenarioObject name="standing">
<Vehicle name="vehicle.volkswagen.t2" vehicleCategory="car">
<ParameterDeclarations/>
<Performance maxSpeed="69.444" maxAcceleration="200" maxDeceleration="10.0"/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2.1" length="4.5" height="1.8"/>
</BoundingBox>
<Axles>
<FrontAxle maxSteering="0.5" wheelDiameter="0.6" trackWidth="1.8" positionX="3.1" positionZ="0.3"/>
<RearAxle maxSteering="0.0" wheelDiameter="0.6" trackWidth="1.8" positionX="0.0" positionZ="0.3"/>
</Axles>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Vehicle>
</ScenarioObject>
<ScenarioObject name="pedestrian_close_to_adversary_715">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_close_to_standing_716">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
</Entities>
<Storyboard>
<Init>
<Actions>
<GlobalAction>
<EnvironmentAction>
<Environment name="Environment1">
<TimeOfDay animation="false" dateTime="2019-06-25T12:00:00"/>
<Weather cloudState="free">
<Sun intensity="0.85" azimuth="0" elevation="1.31"/>
<Fog visualRange="100000.0"/>
<Precipitation precipitationType="dry" intensity="0.0"/>
</Weather>
<RoadCondition frictionScaleFactor="1.0"/>
</Environment>
</EnvironmentAction>
</GlobalAction>
<Private entityRef="hero">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-9.4" y="-152.8" z="0.5" h="1.57079632679"/>
</Position>
</TeleportAction>
</PrivateAction>
<PrivateAction>
<ControllerAction>
<AssignControllerAction>
<Controller name="HeroAgent">
<Properties>
<Property name="module" value="external_control"/>
</Properties>
</Controller>
</AssignControllerAction>
<OverrideControllerValueAction>
<Throttle value="0" active="false"/>
<Brake value="0" active="false"/>
<Clutch value="0" active="false"/>
<ParkingBrake value="0" active="false"/>
<SteeringWheel value="0" active="false"/>
<Gear number="0" active="false"/>
</OverrideControllerValueAction>
</ControllerAction>
</PrivateAction>
</Private>
<Private entityRef="adversary">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-9.4" y="-71.0" z="0.5" h="1.57079632679"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="standing">
<PrivateAction>
<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_715">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-9.402815818786621" y="-80.76578521728516" z="0.03377048298716545"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_close_to_standing_716">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-25.179611206054688" y="12.930989265441895" z="0.0030342864338308573"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
</Actions>
</Init>
<Story name="MyStory">
<Act name="Behavior">
<ManeuverGroup maximumExecutionCount="1" name="ManeuverSequence">
<Actors selectTriggeringEntities="false">
<EntityRef entityRef="adversary"/>
</Actors>
<Maneuver name="LaneChangeSimpleManeuver">
<Event name="AdversaryAccelerates" priority="overwrite">
<Action name="AdversaryAccelerates">
<PrivateAction>
<LongitudinalAction>
<SpeedAction>
<SpeedActionDynamics dynamicsShape="step" value="50" dynamicsDimension="distance"/>
<SpeedActionTarget>
<AbsoluteTargetSpeed value="5.0"/>
</SpeedActionTarget>
</SpeedAction>
</LongitudinalAction>
</PrivateAction>
</Action>
<StartTrigger>
<ConditionGroup>
<Condition name="StartCondition" delay="0" conditionEdge="rising">
<ByEntityCondition>
<TriggeringEntities triggeringEntitiesRule="any">
<EntityRef entityRef="hero"/>
</TriggeringEntities>
<EntityCondition>
<RelativeDistanceCondition entityRef="adversary" relativeDistanceType="cartesianDistance" value="40.0" freespace="false" rule="lessThan"/>
</EntityCondition>
</ByEntityCondition>
</Condition>
</ConditionGroup>
</StartTrigger>
</Event>
<Event name="AdversaryChangesLane" priority="overwrite">
<Action name="AdversaryChangesLane">
<PrivateAction>
<LateralAction>
<LaneChangeAction>
<LaneChangeActionDynamics dynamicsShape="linear" value="25" dynamicsDimension="distance"/>
<LaneChangeTarget>
<RelativeTargetLane entityRef="adversary" value="-1"/>
</LaneChangeTarget>
</LaneChangeAction>
</LateralAction>
</PrivateAction>
</Action>
<StartTrigger>
<ConditionGroup>
<Condition name="AfterAdversaryAccelerates" delay="0" conditionEdge="rising">
<ByValueCondition>
<StoryboardElementStateCondition storyboardElementType="action" storyboardElementRef="AdversaryAccelerates" state="completeState"/>
</ByValueCondition>
</Condition>
</ConditionGroup>
</StartTrigger>
</Event>
</Maneuver>
</ManeuverGroup>
<StartTrigger>
<ConditionGroup>
<Condition name="OverallStartCondition" delay="0" conditionEdge="rising">
<ByEntityCondition>
<TriggeringEntities triggeringEntitiesRule="any">
<EntityRef entityRef="hero"/>
</TriggeringEntities>
<EntityCondition>
<TraveledDistanceCondition value="1.0"/>
</EntityCondition>
</ByEntityCondition>
</Condition>
<Condition name="StartTime" delay="0" conditionEdge="rising">
<ByValueCondition>
<SimulationTimeCondition value="0" rule="equalTo"/>
</ByValueCondition>
</Condition>
</ConditionGroup>
</StartTrigger>
<StopTrigger>
<ConditionGroup>
<Condition name="EndCondition" delay="0" conditionEdge="rising">
<ByEntityCondition>
<TriggeringEntities triggeringEntitiesRule="any">
<EntityRef entityRef="hero"/>
</TriggeringEntities>
<EntityCondition>
<TraveledDistanceCondition value="200.0"/>
</EntityCondition>
</ByEntityCondition>
</Condition>
</ConditionGroup>
</StopTrigger>
</Act>
</Story>
<StopTrigger>
<ConditionGroup>
<Condition name="criteria_RunningStopTest" delay="0" conditionEdge="rising">
<ByValueCondition>
<ParameterCondition parameterRef="" value="" rule="lessThan"/>
</ByValueCondition>
</Condition>
<Condition name="criteria_RunningRedLightTest" delay="0" conditionEdge="rising">
<ByValueCondition>
<ParameterCondition parameterRef="" value="" rule="lessThan"/>
</ByValueCondition>
</Condition>
<Condition name="criteria_WrongLaneTest" delay="0" conditionEdge="rising">
<ByValueCondition>
<ParameterCondition parameterRef="" value="" rule="lessThan"/>
</ByValueCondition>
</Condition>
<Condition name="criteria_OnSidewalkTest" delay="0" conditionEdge="rising">
<ByValueCondition>
<ParameterCondition parameterRef="" value="" rule="lessThan"/>
</ByValueCondition>
</Condition>
<Condition name="criteria_KeepLaneTest" delay="0" conditionEdge="rising">
<ByValueCondition>
<ParameterCondition parameterRef="" value="" rule="lessThan"/>
</ByValueCondition>
</Condition>
<Condition name="criteria_CollisionTest" delay="0" conditionEdge="rising">
<ByValueCondition>
<ParameterCondition parameterRef="" value="" rule="lessThan"/>
</ByValueCondition>
</Condition>
<Condition name="criteria_DrivenDistanceTest" delay="0" conditionEdge="rising">
<ByValueCondition>
<ParameterCondition parameterRef="distance_success" value="100" rule="lessThan"/>
</ByValueCondition>
</Condition>
</ConditionGroup>
</StopTrigger>
</Storyboard>
</OpenSCENARIO>
``` | Here is the result:
```
<?xml version="1.0" ?>
<OpenSCENARIO>
<FileHeader revMajor="1" revMinor="0" date="2020-03-24T12:00:00" description="CARLA:LaneChangeSimple" author=""/>
<ParameterDeclarations/>
<CatalogLocations/>
<RoadNetwork>
<LogicFile filepath="Town04"/>
<SceneGraphFile filepath=""/>
</RoadNetwork>
<Entities>
<ScenarioObject name="hero">
<Vehicle name="vehicle.tesla.model3" vehicleCategory="car">
<ParameterDeclarations/>
<Performance maxSpeed="69.444" maxAcceleration="200" maxDeceleration="10.0"/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2.1" length="4.5" height="1.8"/>
</BoundingBox>
<Axles>
<FrontAxle maxSteering="0.5" wheelDiameter="0.6" trackWidth="1.8" positionX="3.1" positionZ="0.3"/>
<RearAxle maxSteering="0.0" wheelDiameter="0.6" trackWidth="1.8" positionX="0.0" positionZ="0.3"/>
</Axles>
<Properties>
<Property name="type" value="ego_vehicle"/>
</Properties>
</Vehicle>
</ScenarioObject>
<ScenarioObject name="adversary">
<Vehicle name="vehicle.lincoln.mkz_2017" vehicleCategory="car">
<ParameterDeclarations/>
<Performance maxSpeed="69.444" maxAcceleration="200" maxDeceleration="10.0"/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2.1" length="4.5" height="1.8"/>
</BoundingBox>
<Axles>
<FrontAxle maxSteering="0.5" wheelDiameter="0.6" trackWidth="1.8" positionX="3.1" positionZ="0.3"/>
<RearAxle maxSteering="0.0" wheelDiameter="0.6" trackWidth="1.8" positionX="0.0" positionZ="0.3"/>
</Axles>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Vehicle>
</ScenarioObject>
<ScenarioObject name="standing">
<Vehicle name="vehicle.volkswagen.t2" vehicleCategory="car">
<ParameterDeclarations/>
<Performance maxSpeed="69.444" maxAcceleration="200" maxDeceleration="10.0"/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2.1" length="4.5" height="1.8"/>
</BoundingBox>
<Axles>
<FrontAxle maxSteering="0.5" wheelDiameter="0.6" trackWidth="1.8" positionX="3.1" positionZ="0.3"/>
<RearAxle maxSteering="0.0" wheelDiameter="0.6" 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_715">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_close_to_standing_716">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_close_to_standing_717">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
</Entities>
<Storyboard>
<Init>
<Actions>
<GlobalAction>
<EnvironmentAction>
<Environment name="Environment1">
<TimeOfDay animation="false" dateTime="2019-06-25T12:00:00"/>
<Weather cloudState="free">
<Sun intensity="0.85" azimuth="0" elevation="1.31"/>
<Fog visualRange="100000.0"/>
<Precipitation precipitationType="dry" intensity="0.0"/>
</Weather>
<RoadCondition frictionScaleFactor="1.0"/>
</Environment>
</EnvironmentAction>
</GlobalAction>
<Private entityRef="hero">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-9.4" y="-152.8" z="0.5" h="1.57079632679"/>
</Position>
</TeleportAction>
</PrivateAction>
<PrivateAction>
<ControllerAction>
<AssignControllerAction>
<Controller name="HeroAgent">
<Properties>
<Property name="module" value="external_control"/>
</Properties>
</Controller>
</AssignControllerAction>
<OverrideControllerValueAction>
<Throttle value="0" active="false"/>
<Brake value="0" active="false"/>
<Clutch value="0" active="false"/>
<ParkingBrake value="0" active="false"/>
<SteeringWheel value="0" active="false"/>
<Gear number="0" active="false"/>
</OverrideControllerValueAction>
</ControllerAction>
</PrivateAction>
</Private>
<Private entityRef="adversary">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-9.4" y="-71.0" z="0.5" h="1.57079632679"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="standing">
<PrivateAction>
<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_715">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-9.402815818786621" y="-80.76578521728516" z="0.03377048298716545"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_close_to_standing_716">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-25.179611206054688" y="12.930989265441895" z="0.0030342864338308573"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_close_to_standing_717">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-13.591926574707031" y="20.958404541015625" z="0.00303134904243052"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
</Actions>
</Init>
<Story name="MyStory">
<Act name="Behavior">
<ManeuverGroup maximumExecutionCount="1" name="ManeuverSequence">
<Actors selectTriggeringEntities="false">
<EntityRef entityRef="adversary"/>
</Actors>
<Maneuver name="LaneChangeSimpleManeuver">
<Event name="AdversaryAccelerates" priority="overwrite">
<Action name="AdversaryAccelerates">
<PrivateAction>
<LongitudinalAction>
<SpeedAction>
<SpeedActionDynamics dynamicsShape="step" value="50" dynamicsDimension="distance"/>
<SpeedActionTarget>
<AbsoluteTargetSpeed value="5.0"/>
</SpeedActionTarget>
</SpeedAction>
</LongitudinalAction>
</PrivateAction>
</Action>
<StartTrigger>
<ConditionGroup>
<Condition name="StartCondition" delay="0" conditionEdge="rising">
<ByEntityCondition>
<TriggeringEntities triggeringEntitiesRule="any">
<EntityRef entityRef="hero"/>
</TriggeringEntities>
<EntityCondition>
<RelativeDistanceCondition entityRef="adversary" relativeDistanceType="cartesianDistance" value="40.0" freespace="false" rule="lessThan"/>
</EntityCondition>
</ByEntityCondition>
</Condition>
</ConditionGroup>
</StartTrigger>
</Event>
<Event name="AdversaryChangesLane" priority="overwrite">
<Action name="AdversaryChangesLane">
<PrivateAction>
<LateralAction>
<LaneChangeAction>
<LaneChangeActionDynamics dynamicsShape="linear" value="25" dynamicsDimension="distance"/>
<LaneChangeTarget>
<RelativeTargetLane entityRef="adversary" value="-1"/>
</LaneChangeTarget>
</LaneChangeAction>
</LateralAction>
</PrivateAction>
</Action>
<StartTrigger>
<ConditionGroup>
<Condition name="AfterAdversaryAccelerates" delay="0" conditionEdge="rising">
<ByValueCondition>
<StoryboardElementStateCondition storyboardElementType="action" storyboardElementRef="AdversaryAccelerates" state="completeState"/>
</ByValueCondition>
</Condition>
</ConditionGroup>
</StartTrigger>
</Event>
</Maneuver>
</ManeuverGroup>
<StartTrigger>
<ConditionGroup>
<Condition name="OverallStartCondition" delay="0" conditionEdge="rising">
<ByEntityCondition>
<TriggeringEntities triggeringEntitiesRule="any">
<EntityRef entityRef="hero"/>
</TriggeringEntities>
<EntityCondition>
<TraveledDistanceCondition value="1.0"/>
</EntityCondition>
</ByEntityCondition>
</Condition>
<Condition name="StartTime" delay="0" conditionEdge="rising">
<ByValueCondition>
<SimulationTimeCondition value="0" rule="equalTo"/>
</ByValueCondition>
</Condition>
</ConditionGroup>
</StartTrigger>
<StopTrigger>
<ConditionGroup>
<Condition name="EndCondition" delay="0" conditionEdge="rising">
<ByEntityCondition>
<TriggeringEntities triggeringEntitiesRule="any">
<EntityRef entityRef="hero"/>
</TriggeringEntities>
<EntityCondition>
<TraveledDistanceCondition value="200.0"/>
</EntityCondition>
</ByEntityCondition>
</Condition>
</ConditionGroup>
</StopTrigger>
</Act>
</Story>
<StopTrigger>
<ConditionGroup>
<Condition name="criteria_RunningStopTest" delay="0" conditionEdge="rising">
<ByValueCondition>
<ParameterCondition parameterRef="" value="" rule="lessThan"/>
</ByValueCondition>
</Condition>
<Condition name="criteria_RunningRedLightTest" delay="0" conditionEdge="rising">
<ByValueCondition>
<ParameterCondition parameterRef="" value="" rule="lessThan"/>
</ByValueCondition>
</Condition>
<Condition name="criteria_WrongLaneTest" delay="0" conditionEdge="rising">
<ByValueCondition>
<ParameterCondition parameterRef="" value="" rule="lessThan"/>
</ByValueCondition>
</Condition>
<Condition name="criteria_OnSidewalkTest" delay="0" conditionEdge="rising">
<ByValueCondition>
<ParameterCondition parameterRef="" value="" rule="lessThan"/>
</ByValueCondition>
</Condition>
<Condition name="criteria_KeepLaneTest" delay="0" conditionEdge="rising">
<ByValueCondition>
<ParameterCondition parameterRef="" value="" rule="lessThan"/>
</ByValueCondition>
</Condition>
<Condition name="criteria_CollisionTest" delay="0" conditionEdge="rising">
<ByValueCondition>
<ParameterCondition parameterRef="" value="" rule="lessThan"/>
</ByValueCondition>
</Condition>
<Condition name="criteria_DrivenDistanceTest" delay="0" conditionEdge="rising">
<ByValueCondition>
<ParameterCondition parameterRef="distance_success" value="100" rule="lessThan"/>
</ByValueCondition>
</Condition>
</ConditionGroup>
</StopTrigger>
</Storyboard>
</OpenSCENARIO>
``` |
i would like you to display add pedestrian close to hero?
```
<?xml version="1.0" ?>
<OpenSCENARIO>
<FileHeader revMajor="1" revMinor="0" date="2020-03-24T12:00:00" description="CARLA:LaneChangeSimple" author=""/>
<ParameterDeclarations/>
<CatalogLocations/>
<RoadNetwork>
<LogicFile filepath="Town04"/>
<SceneGraphFile filepath=""/>
</RoadNetwork>
<Entities>
<ScenarioObject name="hero">
<Vehicle name="vehicle.tesla.model3" vehicleCategory="car">
<ParameterDeclarations/>
<Performance maxSpeed="69.444" maxAcceleration="200" maxDeceleration="10.0"/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2.1" length="4.5" height="1.8"/>
</BoundingBox>
<Axles>
<FrontAxle maxSteering="0.5" wheelDiameter="0.6" trackWidth="1.8" positionX="3.1" positionZ="0.3"/>
<RearAxle maxSteering="0.0" wheelDiameter="0.6" trackWidth="1.8" positionX="0.0" positionZ="0.3"/>
</Axles>
<Properties>
<Property name="type" value="ego_vehicle"/>
</Properties>
</Vehicle>
</ScenarioObject>
<ScenarioObject name="adversary">
<Vehicle name="vehicle.lincoln.mkz_2017" vehicleCategory="car">
<ParameterDeclarations/>
<Performance maxSpeed="69.444" maxAcceleration="200" maxDeceleration="10.0"/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2.1" length="4.5" height="1.8"/>
</BoundingBox>
<Axles>
<FrontAxle maxSteering="0.5" wheelDiameter="0.6" trackWidth="1.8" positionX="3.1" positionZ="0.3"/>
<RearAxle maxSteering="0.0" wheelDiameter="0.6" trackWidth="1.8" positionX="0.0" positionZ="0.3"/>
</Axles>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Vehicle>
</ScenarioObject>
<ScenarioObject name="standing">
<Vehicle name="vehicle.volkswagen.t2" vehicleCategory="car">
<ParameterDeclarations/>
<Performance maxSpeed="69.444" maxAcceleration="200" maxDeceleration="10.0"/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2.1" length="4.5" height="1.8"/>
</BoundingBox>
<Axles>
<FrontAxle maxSteering="0.5" wheelDiameter="0.6" trackWidth="1.8" positionX="3.1" positionZ="0.3"/>
<RearAxle maxSteering="0.0" wheelDiameter="0.6" trackWidth="1.8" positionX="0.0" positionZ="0.3"/>
</Axles>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Vehicle>
</ScenarioObject>
<ScenarioObject name="pedestrian_close_to_adversary_292">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_close_to_adversary_293">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_w_transform_294">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_close_to_hero_295">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_w_transform_296">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_w_transform_297">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_w_transform_298">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_w_transform_299">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_w_transform_300">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_close_to_hero_302">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_w_transform_303">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_close_to_standing_304">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_w_transform_305">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_close_to_hero_306">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_close_to_hero_307">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
</Entities>
<Storyboard>
<Init>
<Actions>
<GlobalAction>
<EnvironmentAction>
<Environment name="Environment1">
<TimeOfDay animation="false" dateTime="2019-06-25T12:00:00"/>
<Weather cloudState="free">
<Sun intensity="0.85" azimuth="0" elevation="1.31"/>
<Fog visualRange="100000.0"/>
<Precipitation precipitationType="dry" intensity="0.0"/>
</Weather>
<RoadCondition frictionScaleFactor="1.0"/>
</Environment>
</EnvironmentAction>
</GlobalAction>
<Private entityRef="hero">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-9.4" y="-152.8" z="0.5" h="1.57079632679"/>
</Position>
</TeleportAction>
</PrivateAction>
<PrivateAction>
<ControllerAction>
<AssignControllerAction>
<Controller name="HeroAgent">
<Properties>
<Property name="module" value="external_control"/>
</Properties>
</Controller>
</AssignControllerAction>
<OverrideControllerValueAction>
<Throttle value="0" active="false"/>
<Brake value="0" active="false"/>
<Clutch value="0" active="false"/>
<ParkingBrake value="0" active="false"/>
<SteeringWheel value="0" active="false"/>
<Gear number="0" active="false"/>
</OverrideControllerValueAction>
</ControllerAction>
</PrivateAction>
</Private>
<Private entityRef="adversary">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-9.4" y="-71.0" z="0.5" h="1.57079632679"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="standing">
<PrivateAction>
<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_292">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-5.0224995613098145" y="-65.57102966308594" z="0.03379401937127113"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_close_to_adversary_293">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-13.868118286132812" y="-72.73777770996094" z="0.033805083483457565"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_w_transform_294">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-39.000267028808594" y="92.36901092529297" z="0.5"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_close_to_hero_295">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-12.389073371887207" y="-154.97373962402344" z="0.0014286803780123591"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_w_transform_296">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-92.658203125" y="-55.81779861450195" z="0.5"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_w_transform_297">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-5.356451511383057" y="12.396225929260254" z="0.5"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_w_transform_298">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="57.541603088378906" y="-71.50924682617188" z="0.5"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_w_transform_299">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-95.919677734375" y="-75.1919937133789" z="0.5"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_w_transform_300">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="54.69296646118164" y="-92.84809875488281" z="0.5"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_close_to_hero_302">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-6.978111743927002" y="-145.09088134765625" z="0.0014286803780123591"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_w_transform_303">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="67.05738830566406" y="-50.67982864379883" z="0.5"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_close_to_standing_304">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-5.830875873565674" y="24.5635929107666" z="0.003048591548576951"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_w_transform_305">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-26.3400821685791" y="28.230810165405273" z="0.5"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_close_to_hero_306">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-17.80855941772461" y="-146.79571533203125" z="0.0014286803780123591"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_close_to_hero_307">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-15.887688636779785" y="-153.8448944091797" z="0.0014286803780123591"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
</Actions>
</Init>
<Story name="MyStory">
<Act name="Behavior">
<ManeuverGroup maximumExecutionCount="1" name="ManeuverSequence">
<Actors selectTriggeringEntities="false">
<EntityRef entityRef="adversary"/>
</Actors>
<Maneuver name="LaneChangeSimpleManeuver">
<Event name="AdversaryAccelerates" priority="overwrite">
<Action name="AdversaryAccelerates">
<PrivateAction>
<LongitudinalAction>
<SpeedAction>
<SpeedActionDynamics dynamicsShape="step" value="50" dynamicsDimension="distance"/>
<SpeedActionTarget>
<AbsoluteTargetSpeed value="5.0"/>
</SpeedActionTarget>
</SpeedAction>
</LongitudinalAction>
</PrivateAction>
</Action>
<StartTrigger>
<ConditionGroup>
<Condition name="StartCondition" delay="0" conditionEdge="rising">
<ByEntityCondition>
<TriggeringEntities triggeringEntitiesRule="any">
<EntityRef entityRef="hero"/>
</TriggeringEntities>
<EntityCondition>
<RelativeDistanceCondition entityRef="adversary" relativeDistanceType="cartesianDistance" value="40.0" freespace="false" rule="lessThan"/>
</EntityCondition>
</ByEntityCondition>
</Condition>
</ConditionGroup>
</StartTrigger>
</Event>
<Event name="AdversaryChangesLane" priority="overwrite">
<Action name="AdversaryChangesLane">
<PrivateAction>
<LateralAction>
<LaneChangeAction>
<LaneChangeActionDynamics dynamicsShape="linear" value="25" dynamicsDimension="distance"/>
<LaneChangeTarget>
<RelativeTargetLane entityRef="adversary" value="-1"/>
</LaneChangeTarget>
</LaneChangeAction>
</LateralAction>
</PrivateAction>
</Action>
<StartTrigger>
<ConditionGroup>
<Condition name="AfterAdversaryAccelerates" delay="0" conditionEdge="rising">
<ByValueCondition>
<StoryboardElementStateCondition storyboardElementType="action" storyboardElementRef="AdversaryAccelerates" state="completeState"/>
</ByValueCondition>
</Condition>
</ConditionGroup>
</StartTrigger>
</Event>
</Maneuver>
</ManeuverGroup>
<StartTrigger>
<ConditionGroup>
<Condition name="OverallStartCondition" delay="0" conditionEdge="rising">
<ByEntityCondition>
<TriggeringEntities triggeringEntitiesRule="any">
<EntityRef entityRef="hero"/>
</TriggeringEntities>
<EntityCondition>
<TraveledDistanceCondition value="1.0"/>
</EntityCondition>
</ByEntityCondition>
</Condition>
<Condition name="StartTime" delay="0" conditionEdge="rising">
<ByValueCondition>
<SimulationTimeCondition value="0" rule="equalTo"/>
</ByValueCondition>
</Condition>
</ConditionGroup>
</StartTrigger>
<StopTrigger>
<ConditionGroup>
<Condition name="EndCondition" delay="0" conditionEdge="rising">
<ByEntityCondition>
<TriggeringEntities triggeringEntitiesRule="any">
<EntityRef entityRef="hero"/>
</TriggeringEntities>
<EntityCondition>
<TraveledDistanceCondition value="200.0"/>
</EntityCondition>
</ByEntityCondition>
</Condition>
</ConditionGroup>
</StopTrigger>
</Act>
</Story>
<StopTrigger>
<ConditionGroup>
<Condition name="criteria_RunningStopTest" delay="0" conditionEdge="rising">
<ByValueCondition>
<ParameterCondition parameterRef="" value="" rule="lessThan"/>
</ByValueCondition>
</Condition>
<Condition name="criteria_RunningRedLightTest" delay="0" conditionEdge="rising">
<ByValueCondition>
<ParameterCondition parameterRef="" value="" rule="lessThan"/>
</ByValueCondition>
</Condition>
<Condition name="criteria_WrongLaneTest" delay="0" conditionEdge="rising">
<ByValueCondition>
<ParameterCondition parameterRef="" value="" rule="lessThan"/>
</ByValueCondition>
</Condition>
<Condition name="criteria_OnSidewalkTest" delay="0" conditionEdge="rising">
<ByValueCondition>
<ParameterCondition parameterRef="" value="" rule="lessThan"/>
</ByValueCondition>
</Condition>
<Condition name="criteria_KeepLaneTest" delay="0" conditionEdge="rising">
<ByValueCondition>
<ParameterCondition parameterRef="" value="" rule="lessThan"/>
</ByValueCondition>
</Condition>
<Condition name="criteria_CollisionTest" delay="0" conditionEdge="rising">
<ByValueCondition>
<ParameterCondition parameterRef="" value="" rule="lessThan"/>
</ByValueCondition>
</Condition>
<Condition name="criteria_DrivenDistanceTest" delay="0" conditionEdge="rising">
<ByValueCondition>
<ParameterCondition parameterRef="distance_success" value="100" rule="lessThan"/>
</ByValueCondition>
</Condition>
</ConditionGroup>
</StopTrigger>
</Storyboard>
</OpenSCENARIO>
``` | Here is the result:
```
<?xml version="1.0" ?>
<OpenSCENARIO>
<FileHeader revMajor="1" revMinor="0" date="2020-03-24T12:00:00" description="CARLA:LaneChangeSimple" author=""/>
<ParameterDeclarations/>
<CatalogLocations/>
<RoadNetwork>
<LogicFile filepath="Town04"/>
<SceneGraphFile filepath=""/>
</RoadNetwork>
<Entities>
<ScenarioObject name="hero">
<Vehicle name="vehicle.tesla.model3" vehicleCategory="car">
<ParameterDeclarations/>
<Performance maxSpeed="69.444" maxAcceleration="200" maxDeceleration="10.0"/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2.1" length="4.5" height="1.8"/>
</BoundingBox>
<Axles>
<FrontAxle maxSteering="0.5" wheelDiameter="0.6" trackWidth="1.8" positionX="3.1" positionZ="0.3"/>
<RearAxle maxSteering="0.0" wheelDiameter="0.6" trackWidth="1.8" positionX="0.0" positionZ="0.3"/>
</Axles>
<Properties>
<Property name="type" value="ego_vehicle"/>
</Properties>
</Vehicle>
</ScenarioObject>
<ScenarioObject name="adversary">
<Vehicle name="vehicle.lincoln.mkz_2017" vehicleCategory="car">
<ParameterDeclarations/>
<Performance maxSpeed="69.444" maxAcceleration="200" maxDeceleration="10.0"/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2.1" length="4.5" height="1.8"/>
</BoundingBox>
<Axles>
<FrontAxle maxSteering="0.5" wheelDiameter="0.6" trackWidth="1.8" positionX="3.1" positionZ="0.3"/>
<RearAxle maxSteering="0.0" wheelDiameter="0.6" trackWidth="1.8" positionX="0.0" positionZ="0.3"/>
</Axles>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Vehicle>
</ScenarioObject>
<ScenarioObject name="standing">
<Vehicle name="vehicle.volkswagen.t2" vehicleCategory="car">
<ParameterDeclarations/>
<Performance maxSpeed="69.444" maxAcceleration="200" maxDeceleration="10.0"/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2.1" length="4.5" height="1.8"/>
</BoundingBox>
<Axles>
<FrontAxle maxSteering="0.5" wheelDiameter="0.6" trackWidth="1.8" positionX="3.1" positionZ="0.3"/>
<RearAxle maxSteering="0.0" wheelDiameter="0.6" 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_292">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_close_to_adversary_293">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_w_transform_294">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_close_to_hero_295">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_w_transform_296">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_w_transform_297">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_w_transform_298">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_w_transform_299">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_w_transform_300">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_close_to_hero_302">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_w_transform_303">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_close_to_standing_304">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_w_transform_305">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_close_to_hero_306">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_close_to_hero_307">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_close_to_hero_309">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
</Entities>
<Storyboard>
<Init>
<Actions>
<GlobalAction>
<EnvironmentAction>
<Environment name="Environment1">
<TimeOfDay animation="false" dateTime="2019-06-25T12:00:00"/>
<Weather cloudState="free">
<Sun intensity="0.85" azimuth="0" elevation="1.31"/>
<Fog visualRange="100000.0"/>
<Precipitation precipitationType="dry" intensity="0.0"/>
</Weather>
<RoadCondition frictionScaleFactor="1.0"/>
</Environment>
</EnvironmentAction>
</GlobalAction>
<Private entityRef="hero">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-9.4" y="-152.8" z="0.5" h="1.57079632679"/>
</Position>
</TeleportAction>
</PrivateAction>
<PrivateAction>
<ControllerAction>
<AssignControllerAction>
<Controller name="HeroAgent">
<Properties>
<Property name="module" value="external_control"/>
</Properties>
</Controller>
</AssignControllerAction>
<OverrideControllerValueAction>
<Throttle value="0" active="false"/>
<Brake value="0" active="false"/>
<Clutch value="0" active="false"/>
<ParkingBrake value="0" active="false"/>
<SteeringWheel value="0" active="false"/>
<Gear number="0" active="false"/>
</OverrideControllerValueAction>
</ControllerAction>
</PrivateAction>
</Private>
<Private entityRef="adversary">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-9.4" y="-71.0" z="0.5" h="1.57079632679"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="standing">
<PrivateAction>
<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_292">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-5.0224995613098145" y="-65.57102966308594" z="0.03379401937127113"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_close_to_adversary_293">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-13.868118286132812" y="-72.73777770996094" z="0.033805083483457565"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_w_transform_294">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-39.000267028808594" y="92.36901092529297" z="0.5"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_close_to_hero_295">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-12.389073371887207" y="-154.97373962402344" z="0.0014286803780123591"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_w_transform_296">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-92.658203125" y="-55.81779861450195" z="0.5"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_w_transform_297">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-5.356451511383057" y="12.396225929260254" z="0.5"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_w_transform_298">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="57.541603088378906" y="-71.50924682617188" z="0.5"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_w_transform_299">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-95.919677734375" y="-75.1919937133789" z="0.5"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_w_transform_300">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="54.69296646118164" y="-92.84809875488281" z="0.5"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_close_to_hero_302">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-6.978111743927002" y="-145.09088134765625" z="0.0014286803780123591"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_w_transform_303">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="67.05738830566406" y="-50.67982864379883" z="0.5"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_close_to_standing_304">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-5.830875873565674" y="24.5635929107666" z="0.003048591548576951"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_w_transform_305">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-26.3400821685791" y="28.230810165405273" z="0.5"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_close_to_hero_306">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-17.80855941772461" y="-146.79571533203125" z="0.0014286803780123591"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_close_to_hero_307">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-15.887688636779785" y="-153.8448944091797" z="0.0014286803780123591"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_close_to_hero_309">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-9.08171558380127" y="-148.74407958984375" z="0.0014286803780123591"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
</Actions>
</Init>
<Story name="MyStory">
<Act name="Behavior">
<ManeuverGroup maximumExecutionCount="1" name="ManeuverSequence">
<Actors selectTriggeringEntities="false">
<EntityRef entityRef="adversary"/>
</Actors>
<Maneuver name="LaneChangeSimpleManeuver">
<Event name="AdversaryAccelerates" priority="overwrite">
<Action name="AdversaryAccelerates">
<PrivateAction>
<LongitudinalAction>
<SpeedAction>
<SpeedActionDynamics dynamicsShape="step" value="50" dynamicsDimension="distance"/>
<SpeedActionTarget>
<AbsoluteTargetSpeed value="5.0"/>
</SpeedActionTarget>
</SpeedAction>
</LongitudinalAction>
</PrivateAction>
</Action>
<StartTrigger>
<ConditionGroup>
<Condition name="StartCondition" delay="0" conditionEdge="rising">
<ByEntityCondition>
<TriggeringEntities triggeringEntitiesRule="any">
<EntityRef entityRef="hero"/>
</TriggeringEntities>
<EntityCondition>
<RelativeDistanceCondition entityRef="adversary" relativeDistanceType="cartesianDistance" value="40.0" freespace="false" rule="lessThan"/>
</EntityCondition>
</ByEntityCondition>
</Condition>
</ConditionGroup>
</StartTrigger>
</Event>
<Event name="AdversaryChangesLane" priority="overwrite">
<Action name="AdversaryChangesLane">
<PrivateAction>
<LateralAction>
<LaneChangeAction>
<LaneChangeActionDynamics dynamicsShape="linear" value="25" dynamicsDimension="distance"/>
<LaneChangeTarget>
<RelativeTargetLane entityRef="adversary" value="-1"/>
</LaneChangeTarget>
</LaneChangeAction>
</LateralAction>
</PrivateAction>
</Action>
<StartTrigger>
<ConditionGroup>
<Condition name="AfterAdversaryAccelerates" delay="0" conditionEdge="rising">
<ByValueCondition>
<StoryboardElementStateCondition storyboardElementType="action" storyboardElementRef="AdversaryAccelerates" state="completeState"/>
</ByValueCondition>
</Condition>
</ConditionGroup>
</StartTrigger>
</Event>
</Maneuver>
</ManeuverGroup>
<StartTrigger>
<ConditionGroup>
<Condition name="OverallStartCondition" delay="0" conditionEdge="rising">
<ByEntityCondition>
<TriggeringEntities triggeringEntitiesRule="any">
<EntityRef entityRef="hero"/>
</TriggeringEntities>
<EntityCondition>
<TraveledDistanceCondition value="1.0"/>
</EntityCondition>
</ByEntityCondition>
</Condition>
<Condition name="StartTime" delay="0" conditionEdge="rising">
<ByValueCondition>
<SimulationTimeCondition value="0" rule="equalTo"/>
</ByValueCondition>
</Condition>
</ConditionGroup>
</StartTrigger>
<StopTrigger>
<ConditionGroup>
<Condition name="EndCondition" delay="0" conditionEdge="rising">
<ByEntityCondition>
<TriggeringEntities triggeringEntitiesRule="any">
<EntityRef entityRef="hero"/>
</TriggeringEntities>
<EntityCondition>
<TraveledDistanceCondition value="200.0"/>
</EntityCondition>
</ByEntityCondition>
</Condition>
</ConditionGroup>
</StopTrigger>
</Act>
</Story>
<StopTrigger>
<ConditionGroup>
<Condition name="criteria_RunningStopTest" delay="0" conditionEdge="rising">
<ByValueCondition>
<ParameterCondition parameterRef="" value="" rule="lessThan"/>
</ByValueCondition>
</Condition>
<Condition name="criteria_RunningRedLightTest" delay="0" conditionEdge="rising">
<ByValueCondition>
<ParameterCondition parameterRef="" value="" rule="lessThan"/>
</ByValueCondition>
</Condition>
<Condition name="criteria_WrongLaneTest" delay="0" conditionEdge="rising">
<ByValueCondition>
<ParameterCondition parameterRef="" value="" rule="lessThan"/>
</ByValueCondition>
</Condition>
<Condition name="criteria_OnSidewalkTest" delay="0" conditionEdge="rising">
<ByValueCondition>
<ParameterCondition parameterRef="" value="" rule="lessThan"/>
</ByValueCondition>
</Condition>
<Condition name="criteria_KeepLaneTest" delay="0" conditionEdge="rising">
<ByValueCondition>
<ParameterCondition parameterRef="" value="" rule="lessThan"/>
</ByValueCondition>
</Condition>
<Condition name="criteria_CollisionTest" delay="0" conditionEdge="rising">
<ByValueCondition>
<ParameterCondition parameterRef="" value="" rule="lessThan"/>
</ByValueCondition>
</Condition>
<Condition name="criteria_DrivenDistanceTest" delay="0" conditionEdge="rising">
<ByValueCondition>
<ParameterCondition parameterRef="distance_success" value="100" rule="lessThan"/>
</ByValueCondition>
</Condition>
</ConditionGroup>
</StopTrigger>
</Storyboard>
</OpenSCENARIO>
``` |
would you add pedestrian at location (86.25, 37.58, 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_8482">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_close_to_hero_8483">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_w_transform_8484">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_close_to_hero_8485">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_w_transform_8486">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_close_to_adversary_8487">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_w_transform_8488">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_close_to_adversary_8489">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_close_to_hero_8490">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
</Entities>
<Storyboard>
<Init>
<Actions>
<GlobalAction>
<EnvironmentAction>
<Environment name="Environment1">
<TimeOfDay animation="false" dateTime="2019-06-25T12:00:00"/>
<Weather cloudState="free">
<Sun intensity="0.85" azimuth="0" elevation="1.31"/>
<Fog visualRange="100000.0"/>
<Precipitation precipitationType="dry" intensity="0.0"/>
</Weather>
<RoadCondition frictionScaleFactor="1.0"/>
</Environment>
</EnvironmentAction>
</GlobalAction>
<Private entityRef="hero">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-9.4" y="-152.8" z="0.5" h="1.57079632679"/>
</Position>
</TeleportAction>
</PrivateAction>
<PrivateAction>
<ControllerAction>
<AssignControllerAction>
<Controller name="HeroAgent">
<Properties>
<Property name="module" value="external_control"/>
</Properties>
</Controller>
</AssignControllerAction>
<OverrideControllerValueAction>
<Throttle value="0" active="false"/>
<Brake value="0" active="false"/>
<Clutch value="0" active="false"/>
<ParkingBrake value="0" active="false"/>
<SteeringWheel value="0" active="false"/>
<Gear number="0" active="false"/>
</OverrideControllerValueAction>
</ControllerAction>
</PrivateAction>
</Private>
<Private entityRef="adversary">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-9.4" y="-71.0" z="0.5" h="1.57079632679"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="standing">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-8.2" y="29.2" z="0.5" h="1.57079632679"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_close_to_standing_8482">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-8.650716781616211" y="26.537612915039062" z="0.0030808639712631702"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_close_to_hero_8483">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-1.49318528175354" y="-146.7738800048828" z="0.0014286803780123591"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_w_transform_8484">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-31.367069244384766" y="-6.615143299102783" z="0.5"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_close_to_hero_8485">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-2.4839110374450684" y="-155.54925537109375" z="0.0014286803780123591"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_w_transform_8486">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="3.211454153060913" y="-72.62638854980469" z="0.5"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_close_to_adversary_8487">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-15.26610279083252" y="-66.00079345703125" z="0.03376251086592674"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_w_transform_8488">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="10.769036293029785" y="-54.429630279541016" z="0.5"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_close_to_adversary_8489">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="0.472410649061203" y="-68.90328979492188" z="0.03375961259007454"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_close_to_hero_8490">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-11.786454200744629" y="-144.72406005859375" z="0.0014286803780123591"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
</Actions>
</Init>
<Story name="MyStory">
<Act name="Behavior">
<ManeuverGroup maximumExecutionCount="1" name="ManeuverSequence">
<Actors selectTriggeringEntities="false">
<EntityRef entityRef="adversary"/>
</Actors>
<Maneuver name="LaneChangeSimpleManeuver">
<Event name="AdversaryAccelerates" priority="overwrite">
<Action name="AdversaryAccelerates">
<PrivateAction>
<LongitudinalAction>
<SpeedAction>
<SpeedActionDynamics dynamicsShape="step" value="50" dynamicsDimension="distance"/>
<SpeedActionTarget>
<AbsoluteTargetSpeed value="5.0"/>
</SpeedActionTarget>
</SpeedAction>
</LongitudinalAction>
</PrivateAction>
</Action>
<StartTrigger>
<ConditionGroup>
<Condition name="StartCondition" delay="0" conditionEdge="rising">
<ByEntityCondition>
<TriggeringEntities triggeringEntitiesRule="any">
<EntityRef entityRef="hero"/>
</TriggeringEntities>
<EntityCondition>
<RelativeDistanceCondition entityRef="adversary" relativeDistanceType="cartesianDistance" value="40.0" freespace="false" rule="lessThan"/>
</EntityCondition>
</ByEntityCondition>
</Condition>
</ConditionGroup>
</StartTrigger>
</Event>
<Event name="AdversaryChangesLane" priority="overwrite">
<Action name="AdversaryChangesLane">
<PrivateAction>
<LateralAction>
<LaneChangeAction>
<LaneChangeActionDynamics dynamicsShape="linear" value="25" dynamicsDimension="distance"/>
<LaneChangeTarget>
<RelativeTargetLane entityRef="adversary" value="-1"/>
</LaneChangeTarget>
</LaneChangeAction>
</LateralAction>
</PrivateAction>
</Action>
<StartTrigger>
<ConditionGroup>
<Condition name="AfterAdversaryAccelerates" delay="0" conditionEdge="rising">
<ByValueCondition>
<StoryboardElementStateCondition storyboardElementType="action" storyboardElementRef="AdversaryAccelerates" state="completeState"/>
</ByValueCondition>
</Condition>
</ConditionGroup>
</StartTrigger>
</Event>
</Maneuver>
</ManeuverGroup>
<StartTrigger>
<ConditionGroup>
<Condition name="OverallStartCondition" delay="0" conditionEdge="rising">
<ByEntityCondition>
<TriggeringEntities triggeringEntitiesRule="any">
<EntityRef entityRef="hero"/>
</TriggeringEntities>
<EntityCondition>
<TraveledDistanceCondition value="1.0"/>
</EntityCondition>
</ByEntityCondition>
</Condition>
<Condition name="StartTime" delay="0" conditionEdge="rising">
<ByValueCondition>
<SimulationTimeCondition value="0" rule="equalTo"/>
</ByValueCondition>
</Condition>
</ConditionGroup>
</StartTrigger>
<StopTrigger>
<ConditionGroup>
<Condition name="EndCondition" delay="0" conditionEdge="rising">
<ByEntityCondition>
<TriggeringEntities triggeringEntitiesRule="any">
<EntityRef entityRef="hero"/>
</TriggeringEntities>
<EntityCondition>
<TraveledDistanceCondition value="200.0"/>
</EntityCondition>
</ByEntityCondition>
</Condition>
</ConditionGroup>
</StopTrigger>
</Act>
</Story>
<StopTrigger>
<ConditionGroup>
<Condition name="criteria_RunningStopTest" delay="0" conditionEdge="rising">
<ByValueCondition>
<ParameterCondition parameterRef="" value="" rule="lessThan"/>
</ByValueCondition>
</Condition>
<Condition name="criteria_RunningRedLightTest" delay="0" conditionEdge="rising">
<ByValueCondition>
<ParameterCondition parameterRef="" value="" rule="lessThan"/>
</ByValueCondition>
</Condition>
<Condition name="criteria_WrongLaneTest" delay="0" conditionEdge="rising">
<ByValueCondition>
<ParameterCondition parameterRef="" value="" rule="lessThan"/>
</ByValueCondition>
</Condition>
<Condition name="criteria_OnSidewalkTest" delay="0" conditionEdge="rising">
<ByValueCondition>
<ParameterCondition parameterRef="" value="" rule="lessThan"/>
</ByValueCondition>
</Condition>
<Condition name="criteria_KeepLaneTest" delay="0" conditionEdge="rising">
<ByValueCondition>
<ParameterCondition parameterRef="" value="" rule="lessThan"/>
</ByValueCondition>
</Condition>
<Condition name="criteria_CollisionTest" delay="0" conditionEdge="rising">
<ByValueCondition>
<ParameterCondition parameterRef="" value="" rule="lessThan"/>
</ByValueCondition>
</Condition>
<Condition name="criteria_DrivenDistanceTest" delay="0" conditionEdge="rising">
<ByValueCondition>
<ParameterCondition parameterRef="distance_success" value="100" rule="lessThan"/>
</ByValueCondition>
</Condition>
</ConditionGroup>
</StopTrigger>
</Storyboard>
</OpenSCENARIO>
``` | Here is the result:
```
<?xml version="1.0" ?>
<OpenSCENARIO>
<FileHeader revMajor="1" revMinor="0" date="2020-03-24T12:00:00" description="CARLA:LaneChangeSimple" author=""/>
<ParameterDeclarations/>
<CatalogLocations/>
<RoadNetwork>
<LogicFile filepath="Town04"/>
<SceneGraphFile filepath=""/>
</RoadNetwork>
<Entities>
<ScenarioObject name="hero">
<Vehicle name="vehicle.tesla.model3" vehicleCategory="car">
<ParameterDeclarations/>
<Performance maxSpeed="69.444" maxAcceleration="200" maxDeceleration="10.0"/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2.1" length="4.5" height="1.8"/>
</BoundingBox>
<Axles>
<FrontAxle maxSteering="0.5" wheelDiameter="0.6" trackWidth="1.8" positionX="3.1" positionZ="0.3"/>
<RearAxle maxSteering="0.0" wheelDiameter="0.6" trackWidth="1.8" positionX="0.0" positionZ="0.3"/>
</Axles>
<Properties>
<Property name="type" value="ego_vehicle"/>
</Properties>
</Vehicle>
</ScenarioObject>
<ScenarioObject name="adversary">
<Vehicle name="vehicle.lincoln.mkz_2017" vehicleCategory="car">
<ParameterDeclarations/>
<Performance maxSpeed="69.444" maxAcceleration="200" maxDeceleration="10.0"/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2.1" length="4.5" height="1.8"/>
</BoundingBox>
<Axles>
<FrontAxle maxSteering="0.5" wheelDiameter="0.6" trackWidth="1.8" positionX="3.1" positionZ="0.3"/>
<RearAxle maxSteering="0.0" wheelDiameter="0.6" trackWidth="1.8" positionX="0.0" positionZ="0.3"/>
</Axles>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Vehicle>
</ScenarioObject>
<ScenarioObject name="standing">
<Vehicle name="vehicle.volkswagen.t2" vehicleCategory="car">
<ParameterDeclarations/>
<Performance maxSpeed="69.444" maxAcceleration="200" maxDeceleration="10.0"/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2.1" length="4.5" height="1.8"/>
</BoundingBox>
<Axles>
<FrontAxle maxSteering="0.5" wheelDiameter="0.6" trackWidth="1.8" positionX="3.1" positionZ="0.3"/>
<RearAxle maxSteering="0.0" wheelDiameter="0.6" trackWidth="1.8" positionX="0.0" positionZ="0.3"/>
</Axles>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Vehicle>
</ScenarioObject>
<ScenarioObject name="pedestrian_close_to_standing_8482">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_close_to_hero_8483">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_w_transform_8484">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_close_to_hero_8485">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_w_transform_8486">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_close_to_adversary_8487">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_w_transform_8488">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_close_to_adversary_8489">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_close_to_hero_8490">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_w_transform_8491">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
</Entities>
<Storyboard>
<Init>
<Actions>
<GlobalAction>
<EnvironmentAction>
<Environment name="Environment1">
<TimeOfDay animation="false" dateTime="2019-06-25T12:00:00"/>
<Weather cloudState="free">
<Sun intensity="0.85" azimuth="0" elevation="1.31"/>
<Fog visualRange="100000.0"/>
<Precipitation precipitationType="dry" intensity="0.0"/>
</Weather>
<RoadCondition frictionScaleFactor="1.0"/>
</Environment>
</EnvironmentAction>
</GlobalAction>
<Private entityRef="hero">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-9.4" y="-152.8" z="0.5" h="1.57079632679"/>
</Position>
</TeleportAction>
</PrivateAction>
<PrivateAction>
<ControllerAction>
<AssignControllerAction>
<Controller name="HeroAgent">
<Properties>
<Property name="module" value="external_control"/>
</Properties>
</Controller>
</AssignControllerAction>
<OverrideControllerValueAction>
<Throttle value="0" active="false"/>
<Brake value="0" active="false"/>
<Clutch value="0" active="false"/>
<ParkingBrake value="0" active="false"/>
<SteeringWheel value="0" active="false"/>
<Gear number="0" active="false"/>
</OverrideControllerValueAction>
</ControllerAction>
</PrivateAction>
</Private>
<Private entityRef="adversary">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-9.4" y="-71.0" z="0.5" h="1.57079632679"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="standing">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-8.2" y="29.2" z="0.5" h="1.57079632679"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_close_to_standing_8482">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-8.650716781616211" y="26.537612915039062" z="0.0030808639712631702"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_close_to_hero_8483">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-1.49318528175354" y="-146.7738800048828" z="0.0014286803780123591"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_w_transform_8484">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-31.367069244384766" y="-6.615143299102783" z="0.5"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_close_to_hero_8485">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-2.4839110374450684" y="-155.54925537109375" z="0.0014286803780123591"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_w_transform_8486">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="3.211454153060913" y="-72.62638854980469" z="0.5"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_close_to_adversary_8487">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-15.26610279083252" y="-66.00079345703125" z="0.03376251086592674"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_w_transform_8488">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="10.769036293029785" y="-54.429630279541016" z="0.5"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_close_to_adversary_8489">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="0.472410649061203" y="-68.90328979492188" z="0.03375961259007454"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_close_to_hero_8490">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-11.786454200744629" y="-144.72406005859375" z="0.0014286803780123591"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_w_transform_8491">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="86.2545166015625" y="37.57941818237305" z="0.5"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
</Actions>
</Init>
<Story name="MyStory">
<Act name="Behavior">
<ManeuverGroup maximumExecutionCount="1" name="ManeuverSequence">
<Actors selectTriggeringEntities="false">
<EntityRef entityRef="adversary"/>
</Actors>
<Maneuver name="LaneChangeSimpleManeuver">
<Event name="AdversaryAccelerates" priority="overwrite">
<Action name="AdversaryAccelerates">
<PrivateAction>
<LongitudinalAction>
<SpeedAction>
<SpeedActionDynamics dynamicsShape="step" value="50" dynamicsDimension="distance"/>
<SpeedActionTarget>
<AbsoluteTargetSpeed value="5.0"/>
</SpeedActionTarget>
</SpeedAction>
</LongitudinalAction>
</PrivateAction>
</Action>
<StartTrigger>
<ConditionGroup>
<Condition name="StartCondition" delay="0" conditionEdge="rising">
<ByEntityCondition>
<TriggeringEntities triggeringEntitiesRule="any">
<EntityRef entityRef="hero"/>
</TriggeringEntities>
<EntityCondition>
<RelativeDistanceCondition entityRef="adversary" relativeDistanceType="cartesianDistance" value="40.0" freespace="false" rule="lessThan"/>
</EntityCondition>
</ByEntityCondition>
</Condition>
</ConditionGroup>
</StartTrigger>
</Event>
<Event name="AdversaryChangesLane" priority="overwrite">
<Action name="AdversaryChangesLane">
<PrivateAction>
<LateralAction>
<LaneChangeAction>
<LaneChangeActionDynamics dynamicsShape="linear" value="25" dynamicsDimension="distance"/>
<LaneChangeTarget>
<RelativeTargetLane entityRef="adversary" value="-1"/>
</LaneChangeTarget>
</LaneChangeAction>
</LateralAction>
</PrivateAction>
</Action>
<StartTrigger>
<ConditionGroup>
<Condition name="AfterAdversaryAccelerates" delay="0" conditionEdge="rising">
<ByValueCondition>
<StoryboardElementStateCondition storyboardElementType="action" storyboardElementRef="AdversaryAccelerates" state="completeState"/>
</ByValueCondition>
</Condition>
</ConditionGroup>
</StartTrigger>
</Event>
</Maneuver>
</ManeuverGroup>
<StartTrigger>
<ConditionGroup>
<Condition name="OverallStartCondition" delay="0" conditionEdge="rising">
<ByEntityCondition>
<TriggeringEntities triggeringEntitiesRule="any">
<EntityRef entityRef="hero"/>
</TriggeringEntities>
<EntityCondition>
<TraveledDistanceCondition value="1.0"/>
</EntityCondition>
</ByEntityCondition>
</Condition>
<Condition name="StartTime" delay="0" conditionEdge="rising">
<ByValueCondition>
<SimulationTimeCondition value="0" rule="equalTo"/>
</ByValueCondition>
</Condition>
</ConditionGroup>
</StartTrigger>
<StopTrigger>
<ConditionGroup>
<Condition name="EndCondition" delay="0" conditionEdge="rising">
<ByEntityCondition>
<TriggeringEntities triggeringEntitiesRule="any">
<EntityRef entityRef="hero"/>
</TriggeringEntities>
<EntityCondition>
<TraveledDistanceCondition value="200.0"/>
</EntityCondition>
</ByEntityCondition>
</Condition>
</ConditionGroup>
</StopTrigger>
</Act>
</Story>
<StopTrigger>
<ConditionGroup>
<Condition name="criteria_RunningStopTest" delay="0" conditionEdge="rising">
<ByValueCondition>
<ParameterCondition parameterRef="" value="" rule="lessThan"/>
</ByValueCondition>
</Condition>
<Condition name="criteria_RunningRedLightTest" delay="0" conditionEdge="rising">
<ByValueCondition>
<ParameterCondition parameterRef="" value="" rule="lessThan"/>
</ByValueCondition>
</Condition>
<Condition name="criteria_WrongLaneTest" delay="0" conditionEdge="rising">
<ByValueCondition>
<ParameterCondition parameterRef="" value="" rule="lessThan"/>
</ByValueCondition>
</Condition>
<Condition name="criteria_OnSidewalkTest" delay="0" conditionEdge="rising">
<ByValueCondition>
<ParameterCondition parameterRef="" value="" rule="lessThan"/>
</ByValueCondition>
</Condition>
<Condition name="criteria_KeepLaneTest" delay="0" conditionEdge="rising">
<ByValueCondition>
<ParameterCondition parameterRef="" value="" rule="lessThan"/>
</ByValueCondition>
</Condition>
<Condition name="criteria_CollisionTest" delay="0" conditionEdge="rising">
<ByValueCondition>
<ParameterCondition parameterRef="" value="" rule="lessThan"/>
</ByValueCondition>
</Condition>
<Condition name="criteria_DrivenDistanceTest" delay="0" conditionEdge="rising">
<ByValueCondition>
<ParameterCondition parameterRef="distance_success" value="100" rule="lessThan"/>
</ByValueCondition>
</Condition>
</ConditionGroup>
</StopTrigger>
</Storyboard>
</OpenSCENARIO>
``` |
i would like you to remove pedestrian close to 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_9924">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_w_transform_9925">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_w_transform_9926">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_close_to_standing_9927">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_close_to_hero_9928">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_close_to_hero_9929">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_close_to_standing_9930">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_w_transform_9931">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_close_to_adversary_9932">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_w_transform_9934">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_w_transform_9936">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_w_transform_9939">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_close_to_standing_9941">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_close_to_adversary_9943">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_close_to_standing_9944">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
</Entities>
<Storyboard>
<Init>
<Actions>
<GlobalAction>
<EnvironmentAction>
<Environment name="Environment1">
<TimeOfDay animation="false" dateTime="2019-06-25T12:00:00"/>
<Weather cloudState="free">
<Sun intensity="0.85" azimuth="0" elevation="1.31"/>
<Fog visualRange="100000.0"/>
<Precipitation precipitationType="dry" intensity="0.0"/>
</Weather>
<RoadCondition frictionScaleFactor="1.0"/>
</Environment>
</EnvironmentAction>
</GlobalAction>
<Private entityRef="hero">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-9.4" y="-152.8" z="0.5" h="1.57079632679"/>
</Position>
</TeleportAction>
</PrivateAction>
<PrivateAction>
<ControllerAction>
<AssignControllerAction>
<Controller name="HeroAgent">
<Properties>
<Property name="module" value="external_control"/>
</Properties>
</Controller>
</AssignControllerAction>
<OverrideControllerValueAction>
<Throttle value="0" active="false"/>
<Brake value="0" active="false"/>
<Clutch value="0" active="false"/>
<ParkingBrake value="0" active="false"/>
<SteeringWheel value="0" active="false"/>
<Gear number="0" active="false"/>
</OverrideControllerValueAction>
</ControllerAction>
</PrivateAction>
</Private>
<Private entityRef="adversary">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-9.4" y="-71.0" z="0.5" h="1.57079632679"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="standing">
<PrivateAction>
<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_9924">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-9.910585403442383" y="-159.7846221923828" z="0.0014286803780123591"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_w_transform_9925">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-59.62156677246094" y="68.48978424072266" z="0.5"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_w_transform_9926">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-85.36197662353516" y="94.78424835205078" z="0.5"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_close_to_standing_9927">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-8.263288497924805" y="23.834184646606445" z="0.0030598067678511143"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_close_to_hero_9928">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-7.036137104034424" y="-153.8702850341797" z="0.0014286803780123591"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_close_to_hero_9929">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-3.6643056869506836" y="-164.01431274414062" z="0.0014286803780123591"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_close_to_standing_9930">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-4.163965702056885" y="19.617136001586914" z="0.00308399205096066"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_w_transform_9931">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-34.83702850341797" y="28.292770385742188" z="0.5"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_close_to_adversary_9932">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-8.424711227416992" y="-73.29544067382812" z="0.03379428759217262"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_w_transform_9934">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="30.409194946289062" y="-6.176427841186523" z="0.5"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_w_transform_9936">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="13.098797798156738" y="-66.00617980957031" z="0.5"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_w_transform_9939">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-87.08607482910156" y="43.61455154418945" z="0.5"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_close_to_standing_9941">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-4.76755952835083" y="22.658302307128906" z="0.0030461500864475965"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_close_to_adversary_9943">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="2.0247793197631836" y="-71.421875" z="0.0337657555937767"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_close_to_standing_9944">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="0.32654979825019836" y="21.830835342407227" z="0.003078193636611104"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
</Actions>
</Init>
<Story name="MyStory">
<Act name="Behavior">
<ManeuverGroup maximumExecutionCount="1" name="ManeuverSequence">
<Actors selectTriggeringEntities="false">
<EntityRef entityRef="adversary"/>
</Actors>
<Maneuver name="LaneChangeSimpleManeuver">
<Event name="AdversaryAccelerates" priority="overwrite">
<Action name="AdversaryAccelerates">
<PrivateAction>
<LongitudinalAction>
<SpeedAction>
<SpeedActionDynamics dynamicsShape="step" value="50" dynamicsDimension="distance"/>
<SpeedActionTarget>
<AbsoluteTargetSpeed value="5.0"/>
</SpeedActionTarget>
</SpeedAction>
</LongitudinalAction>
</PrivateAction>
</Action>
<StartTrigger>
<ConditionGroup>
<Condition name="StartCondition" delay="0" conditionEdge="rising">
<ByEntityCondition>
<TriggeringEntities triggeringEntitiesRule="any">
<EntityRef entityRef="hero"/>
</TriggeringEntities>
<EntityCondition>
<RelativeDistanceCondition entityRef="adversary" relativeDistanceType="cartesianDistance" value="40.0" freespace="false" rule="lessThan"/>
</EntityCondition>
</ByEntityCondition>
</Condition>
</ConditionGroup>
</StartTrigger>
</Event>
<Event name="AdversaryChangesLane" priority="overwrite">
<Action name="AdversaryChangesLane">
<PrivateAction>
<LateralAction>
<LaneChangeAction>
<LaneChangeActionDynamics dynamicsShape="linear" value="25" dynamicsDimension="distance"/>
<LaneChangeTarget>
<RelativeTargetLane entityRef="adversary" value="-1"/>
</LaneChangeTarget>
</LaneChangeAction>
</LateralAction>
</PrivateAction>
</Action>
<StartTrigger>
<ConditionGroup>
<Condition name="AfterAdversaryAccelerates" delay="0" conditionEdge="rising">
<ByValueCondition>
<StoryboardElementStateCondition storyboardElementType="action" storyboardElementRef="AdversaryAccelerates" state="completeState"/>
</ByValueCondition>
</Condition>
</ConditionGroup>
</StartTrigger>
</Event>
</Maneuver>
</ManeuverGroup>
<StartTrigger>
<ConditionGroup>
<Condition name="OverallStartCondition" delay="0" conditionEdge="rising">
<ByEntityCondition>
<TriggeringEntities triggeringEntitiesRule="any">
<EntityRef entityRef="hero"/>
</TriggeringEntities>
<EntityCondition>
<TraveledDistanceCondition value="1.0"/>
</EntityCondition>
</ByEntityCondition>
</Condition>
<Condition name="StartTime" delay="0" conditionEdge="rising">
<ByValueCondition>
<SimulationTimeCondition value="0" rule="equalTo"/>
</ByValueCondition>
</Condition>
</ConditionGroup>
</StartTrigger>
<StopTrigger>
<ConditionGroup>
<Condition name="EndCondition" delay="0" conditionEdge="rising">
<ByEntityCondition>
<TriggeringEntities triggeringEntitiesRule="any">
<EntityRef entityRef="hero"/>
</TriggeringEntities>
<EntityCondition>
<TraveledDistanceCondition value="200.0"/>
</EntityCondition>
</ByEntityCondition>
</Condition>
</ConditionGroup>
</StopTrigger>
</Act>
</Story>
<StopTrigger>
<ConditionGroup>
<Condition name="criteria_RunningStopTest" delay="0" conditionEdge="rising">
<ByValueCondition>
<ParameterCondition parameterRef="" value="" rule="lessThan"/>
</ByValueCondition>
</Condition>
<Condition name="criteria_RunningRedLightTest" delay="0" conditionEdge="rising">
<ByValueCondition>
<ParameterCondition parameterRef="" value="" rule="lessThan"/>
</ByValueCondition>
</Condition>
<Condition name="criteria_WrongLaneTest" delay="0" conditionEdge="rising">
<ByValueCondition>
<ParameterCondition parameterRef="" value="" rule="lessThan"/>
</ByValueCondition>
</Condition>
<Condition name="criteria_OnSidewalkTest" delay="0" conditionEdge="rising">
<ByValueCondition>
<ParameterCondition parameterRef="" value="" rule="lessThan"/>
</ByValueCondition>
</Condition>
<Condition name="criteria_KeepLaneTest" delay="0" conditionEdge="rising">
<ByValueCondition>
<ParameterCondition parameterRef="" value="" rule="lessThan"/>
</ByValueCondition>
</Condition>
<Condition name="criteria_CollisionTest" delay="0" conditionEdge="rising">
<ByValueCondition>
<ParameterCondition parameterRef="" value="" rule="lessThan"/>
</ByValueCondition>
</Condition>
<Condition name="criteria_DrivenDistanceTest" delay="0" conditionEdge="rising">
<ByValueCondition>
<ParameterCondition parameterRef="distance_success" value="100" rule="lessThan"/>
</ByValueCondition>
</Condition>
</ConditionGroup>
</StopTrigger>
</Storyboard>
</OpenSCENARIO>
``` | Here is the result:
```
<?xml version="1.0" ?>
<OpenSCENARIO>
<FileHeader revMajor="1" revMinor="0" date="2020-03-24T12:00:00" description="CARLA:LaneChangeSimple" author=""/>
<ParameterDeclarations/>
<CatalogLocations/>
<RoadNetwork>
<LogicFile filepath="Town04"/>
<SceneGraphFile filepath=""/>
</RoadNetwork>
<Entities>
<ScenarioObject name="hero">
<Vehicle name="vehicle.tesla.model3" vehicleCategory="car">
<ParameterDeclarations/>
<Performance maxSpeed="69.444" maxAcceleration="200" maxDeceleration="10.0"/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2.1" length="4.5" height="1.8"/>
</BoundingBox>
<Axles>
<FrontAxle maxSteering="0.5" wheelDiameter="0.6" trackWidth="1.8" positionX="3.1" positionZ="0.3"/>
<RearAxle maxSteering="0.0" wheelDiameter="0.6" trackWidth="1.8" positionX="0.0" positionZ="0.3"/>
</Axles>
<Properties>
<Property name="type" value="ego_vehicle"/>
</Properties>
</Vehicle>
</ScenarioObject>
<ScenarioObject name="adversary">
<Vehicle name="vehicle.lincoln.mkz_2017" vehicleCategory="car">
<ParameterDeclarations/>
<Performance maxSpeed="69.444" maxAcceleration="200" maxDeceleration="10.0"/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2.1" length="4.5" height="1.8"/>
</BoundingBox>
<Axles>
<FrontAxle maxSteering="0.5" wheelDiameter="0.6" trackWidth="1.8" positionX="3.1" positionZ="0.3"/>
<RearAxle maxSteering="0.0" wheelDiameter="0.6" trackWidth="1.8" positionX="0.0" positionZ="0.3"/>
</Axles>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Vehicle>
</ScenarioObject>
<ScenarioObject name="standing">
<Vehicle name="vehicle.volkswagen.t2" vehicleCategory="car">
<ParameterDeclarations/>
<Performance maxSpeed="69.444" maxAcceleration="200" maxDeceleration="10.0"/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2.1" length="4.5" height="1.8"/>
</BoundingBox>
<Axles>
<FrontAxle maxSteering="0.5" wheelDiameter="0.6" trackWidth="1.8" positionX="3.1" positionZ="0.3"/>
<RearAxle maxSteering="0.0" wheelDiameter="0.6" 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_9924">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_w_transform_9925">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_w_transform_9926">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_close_to_standing_9927">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_close_to_hero_9928">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_close_to_hero_9929">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_close_to_standing_9930">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_w_transform_9931">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_w_transform_9934">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_w_transform_9936">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_w_transform_9939">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_close_to_standing_9941">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_close_to_adversary_9943">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_close_to_standing_9944">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
</Entities>
<Storyboard>
<Init>
<Actions>
<GlobalAction>
<EnvironmentAction>
<Environment name="Environment1">
<TimeOfDay animation="false" dateTime="2019-06-25T12:00:00"/>
<Weather cloudState="free">
<Sun intensity="0.85" azimuth="0" elevation="1.31"/>
<Fog visualRange="100000.0"/>
<Precipitation precipitationType="dry" intensity="0.0"/>
</Weather>
<RoadCondition frictionScaleFactor="1.0"/>
</Environment>
</EnvironmentAction>
</GlobalAction>
<Private entityRef="hero">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-9.4" y="-152.8" z="0.5" h="1.57079632679"/>
</Position>
</TeleportAction>
</PrivateAction>
<PrivateAction>
<ControllerAction>
<AssignControllerAction>
<Controller name="HeroAgent">
<Properties>
<Property name="module" value="external_control"/>
</Properties>
</Controller>
</AssignControllerAction>
<OverrideControllerValueAction>
<Throttle value="0" active="false"/>
<Brake value="0" active="false"/>
<Clutch value="0" active="false"/>
<ParkingBrake value="0" active="false"/>
<SteeringWheel value="0" active="false"/>
<Gear number="0" active="false"/>
</OverrideControllerValueAction>
</ControllerAction>
</PrivateAction>
</Private>
<Private entityRef="adversary">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-9.4" y="-71.0" z="0.5" h="1.57079632679"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="standing">
<PrivateAction>
<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_9924">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-9.910585403442383" y="-159.7846221923828" z="0.0014286803780123591"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_w_transform_9925">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-59.62156677246094" y="68.48978424072266" z="0.5"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_w_transform_9926">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-85.36197662353516" y="94.78424835205078" z="0.5"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_close_to_standing_9927">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-8.263288497924805" y="23.834184646606445" z="0.0030598067678511143"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_close_to_hero_9928">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-7.036137104034424" y="-153.8702850341797" z="0.0014286803780123591"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_close_to_hero_9929">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-3.6643056869506836" y="-164.01431274414062" z="0.0014286803780123591"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_close_to_standing_9930">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-4.163965702056885" y="19.617136001586914" z="0.00308399205096066"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_w_transform_9931">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-34.83702850341797" y="28.292770385742188" z="0.5"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_w_transform_9934">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="30.409194946289062" y="-6.176427841186523" z="0.5"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_w_transform_9936">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="13.098797798156738" y="-66.00617980957031" z="0.5"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_w_transform_9939">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-87.08607482910156" y="43.61455154418945" z="0.5"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_close_to_standing_9941">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-4.76755952835083" y="22.658302307128906" z="0.0030461500864475965"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_close_to_adversary_9943">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="2.0247793197631836" y="-71.421875" z="0.0337657555937767"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_close_to_standing_9944">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="0.32654979825019836" y="21.830835342407227" z="0.003078193636611104"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
</Actions>
</Init>
<Story name="MyStory">
<Act name="Behavior">
<ManeuverGroup maximumExecutionCount="1" name="ManeuverSequence">
<Actors selectTriggeringEntities="false">
<EntityRef entityRef="adversary"/>
</Actors>
<Maneuver name="LaneChangeSimpleManeuver">
<Event name="AdversaryAccelerates" priority="overwrite">
<Action name="AdversaryAccelerates">
<PrivateAction>
<LongitudinalAction>
<SpeedAction>
<SpeedActionDynamics dynamicsShape="step" value="50" dynamicsDimension="distance"/>
<SpeedActionTarget>
<AbsoluteTargetSpeed value="5.0"/>
</SpeedActionTarget>
</SpeedAction>
</LongitudinalAction>
</PrivateAction>
</Action>
<StartTrigger>
<ConditionGroup>
<Condition name="StartCondition" delay="0" conditionEdge="rising">
<ByEntityCondition>
<TriggeringEntities triggeringEntitiesRule="any">
<EntityRef entityRef="hero"/>
</TriggeringEntities>
<EntityCondition>
<RelativeDistanceCondition entityRef="adversary" relativeDistanceType="cartesianDistance" value="40.0" freespace="false" rule="lessThan"/>
</EntityCondition>
</ByEntityCondition>
</Condition>
</ConditionGroup>
</StartTrigger>
</Event>
<Event name="AdversaryChangesLane" priority="overwrite">
<Action name="AdversaryChangesLane">
<PrivateAction>
<LateralAction>
<LaneChangeAction>
<LaneChangeActionDynamics dynamicsShape="linear" value="25" dynamicsDimension="distance"/>
<LaneChangeTarget>
<RelativeTargetLane entityRef="adversary" value="-1"/>
</LaneChangeTarget>
</LaneChangeAction>
</LateralAction>
</PrivateAction>
</Action>
<StartTrigger>
<ConditionGroup>
<Condition name="AfterAdversaryAccelerates" delay="0" conditionEdge="rising">
<ByValueCondition>
<StoryboardElementStateCondition storyboardElementType="action" storyboardElementRef="AdversaryAccelerates" state="completeState"/>
</ByValueCondition>
</Condition>
</ConditionGroup>
</StartTrigger>
</Event>
</Maneuver>
</ManeuverGroup>
<StartTrigger>
<ConditionGroup>
<Condition name="OverallStartCondition" delay="0" conditionEdge="rising">
<ByEntityCondition>
<TriggeringEntities triggeringEntitiesRule="any">
<EntityRef entityRef="hero"/>
</TriggeringEntities>
<EntityCondition>
<TraveledDistanceCondition value="1.0"/>
</EntityCondition>
</ByEntityCondition>
</Condition>
<Condition name="StartTime" delay="0" conditionEdge="rising">
<ByValueCondition>
<SimulationTimeCondition value="0" rule="equalTo"/>
</ByValueCondition>
</Condition>
</ConditionGroup>
</StartTrigger>
<StopTrigger>
<ConditionGroup>
<Condition name="EndCondition" delay="0" conditionEdge="rising">
<ByEntityCondition>
<TriggeringEntities triggeringEntitiesRule="any">
<EntityRef entityRef="hero"/>
</TriggeringEntities>
<EntityCondition>
<TraveledDistanceCondition value="200.0"/>
</EntityCondition>
</ByEntityCondition>
</Condition>
</ConditionGroup>
</StopTrigger>
</Act>
</Story>
<StopTrigger>
<ConditionGroup>
<Condition name="criteria_RunningStopTest" delay="0" conditionEdge="rising">
<ByValueCondition>
<ParameterCondition parameterRef="" value="" rule="lessThan"/>
</ByValueCondition>
</Condition>
<Condition name="criteria_RunningRedLightTest" delay="0" conditionEdge="rising">
<ByValueCondition>
<ParameterCondition parameterRef="" value="" rule="lessThan"/>
</ByValueCondition>
</Condition>
<Condition name="criteria_WrongLaneTest" delay="0" conditionEdge="rising">
<ByValueCondition>
<ParameterCondition parameterRef="" value="" rule="lessThan"/>
</ByValueCondition>
</Condition>
<Condition name="criteria_OnSidewalkTest" delay="0" conditionEdge="rising">
<ByValueCondition>
<ParameterCondition parameterRef="" value="" rule="lessThan"/>
</ByValueCondition>
</Condition>
<Condition name="criteria_KeepLaneTest" delay="0" conditionEdge="rising">
<ByValueCondition>
<ParameterCondition parameterRef="" value="" rule="lessThan"/>
</ByValueCondition>
</Condition>
<Condition name="criteria_CollisionTest" delay="0" conditionEdge="rising">
<ByValueCondition>
<ParameterCondition parameterRef="" value="" rule="lessThan"/>
</ByValueCondition>
</Condition>
<Condition name="criteria_DrivenDistanceTest" delay="0" conditionEdge="rising">
<ByValueCondition>
<ParameterCondition parameterRef="distance_success" value="100" rule="lessThan"/>
</ByValueCondition>
</Condition>
</ConditionGroup>
</StopTrigger>
</Storyboard>
</OpenSCENARIO>
``` |
i would like to order you to add pedestrian close to adversary?
```
<?xml version="1.0" ?>
<OpenSCENARIO>
<FileHeader revMajor="1" revMinor="0" date="2020-03-24T12:00:00" description="CARLA:LaneChangeSimple" author=""/>
<ParameterDeclarations/>
<CatalogLocations/>
<RoadNetwork>
<LogicFile filepath="Town04"/>
<SceneGraphFile filepath=""/>
</RoadNetwork>
<Entities>
<ScenarioObject name="hero">
<Vehicle name="vehicle.tesla.model3" vehicleCategory="car">
<ParameterDeclarations/>
<Performance maxSpeed="69.444" maxAcceleration="200" maxDeceleration="10.0"/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2.1" length="4.5" height="1.8"/>
</BoundingBox>
<Axles>
<FrontAxle maxSteering="0.5" wheelDiameter="0.6" trackWidth="1.8" positionX="3.1" positionZ="0.3"/>
<RearAxle maxSteering="0.0" wheelDiameter="0.6" trackWidth="1.8" positionX="0.0" positionZ="0.3"/>
</Axles>
<Properties>
<Property name="type" value="ego_vehicle"/>
</Properties>
</Vehicle>
</ScenarioObject>
<ScenarioObject name="adversary">
<Vehicle name="vehicle.lincoln.mkz_2017" vehicleCategory="car">
<ParameterDeclarations/>
<Performance maxSpeed="69.444" maxAcceleration="200" maxDeceleration="10.0"/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2.1" length="4.5" height="1.8"/>
</BoundingBox>
<Axles>
<FrontAxle maxSteering="0.5" wheelDiameter="0.6" trackWidth="1.8" positionX="3.1" positionZ="0.3"/>
<RearAxle maxSteering="0.0" wheelDiameter="0.6" trackWidth="1.8" positionX="0.0" positionZ="0.3"/>
</Axles>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Vehicle>
</ScenarioObject>
<ScenarioObject name="standing">
<Vehicle name="vehicle.volkswagen.t2" vehicleCategory="car">
<ParameterDeclarations/>
<Performance maxSpeed="69.444" maxAcceleration="200" maxDeceleration="10.0"/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2.1" length="4.5" height="1.8"/>
</BoundingBox>
<Axles>
<FrontAxle maxSteering="0.5" wheelDiameter="0.6" trackWidth="1.8" positionX="3.1" positionZ="0.3"/>
<RearAxle maxSteering="0.0" wheelDiameter="0.6" trackWidth="1.8" positionX="0.0" positionZ="0.3"/>
</Axles>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Vehicle>
</ScenarioObject>
<ScenarioObject name="pedestrian_close_to_adversary_8641">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_w_transform_8642">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_close_to_hero_8643">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_close_to_adversary_8644">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_w_transform_8645">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_w_transform_8646">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_w_transform_8647">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_w_transform_8648">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
</Entities>
<Storyboard>
<Init>
<Actions>
<GlobalAction>
<EnvironmentAction>
<Environment name="Environment1">
<TimeOfDay animation="false" dateTime="2019-06-25T12:00:00"/>
<Weather cloudState="free">
<Sun intensity="0.85" azimuth="0" elevation="1.31"/>
<Fog visualRange="100000.0"/>
<Precipitation precipitationType="dry" intensity="0.0"/>
</Weather>
<RoadCondition frictionScaleFactor="1.0"/>
</Environment>
</EnvironmentAction>
</GlobalAction>
<Private entityRef="hero">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-9.4" y="-152.8" z="0.5" h="1.57079632679"/>
</Position>
</TeleportAction>
</PrivateAction>
<PrivateAction>
<ControllerAction>
<AssignControllerAction>
<Controller name="HeroAgent">
<Properties>
<Property name="module" value="external_control"/>
</Properties>
</Controller>
</AssignControllerAction>
<OverrideControllerValueAction>
<Throttle value="0" active="false"/>
<Brake value="0" active="false"/>
<Clutch value="0" active="false"/>
<ParkingBrake value="0" active="false"/>
<SteeringWheel value="0" active="false"/>
<Gear number="0" active="false"/>
</OverrideControllerValueAction>
</ControllerAction>
</PrivateAction>
</Private>
<Private entityRef="adversary">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-9.4" y="-71.0" z="0.5" h="1.57079632679"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="standing">
<PrivateAction>
<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_8641">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-6.20053243637085" y="-63.043392181396484" z="0.03378055617213249"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_w_transform_8642">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="28.56172752380371" y="-71.12250518798828" z="0.5"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_close_to_hero_8643">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-14.67426586151123" y="-145.6430206298828" z="0.0014286803780123591"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_close_to_adversary_8644">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-13.138508796691895" y="-67.78260040283203" z="0.033758390694856644"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_w_transform_8645">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-97.96065521240234" y="9.31610107421875" z="0.5"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_w_transform_8646">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-16.786962509155273" y="-16.291427612304688" z="0.5"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_w_transform_8647">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-66.64057159423828" y="-7.858810901641846" z="0.5"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_w_transform_8648">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="94.08895111083984" y="46.39134216308594" z="0.5"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
</Actions>
</Init>
<Story name="MyStory">
<Act name="Behavior">
<ManeuverGroup maximumExecutionCount="1" name="ManeuverSequence">
<Actors selectTriggeringEntities="false">
<EntityRef entityRef="adversary"/>
</Actors>
<Maneuver name="LaneChangeSimpleManeuver">
<Event name="AdversaryAccelerates" priority="overwrite">
<Action name="AdversaryAccelerates">
<PrivateAction>
<LongitudinalAction>
<SpeedAction>
<SpeedActionDynamics dynamicsShape="step" value="50" dynamicsDimension="distance"/>
<SpeedActionTarget>
<AbsoluteTargetSpeed value="5.0"/>
</SpeedActionTarget>
</SpeedAction>
</LongitudinalAction>
</PrivateAction>
</Action>
<StartTrigger>
<ConditionGroup>
<Condition name="StartCondition" delay="0" conditionEdge="rising">
<ByEntityCondition>
<TriggeringEntities triggeringEntitiesRule="any">
<EntityRef entityRef="hero"/>
</TriggeringEntities>
<EntityCondition>
<RelativeDistanceCondition entityRef="adversary" relativeDistanceType="cartesianDistance" value="40.0" freespace="false" rule="lessThan"/>
</EntityCondition>
</ByEntityCondition>
</Condition>
</ConditionGroup>
</StartTrigger>
</Event>
<Event name="AdversaryChangesLane" priority="overwrite">
<Action name="AdversaryChangesLane">
<PrivateAction>
<LateralAction>
<LaneChangeAction>
<LaneChangeActionDynamics dynamicsShape="linear" value="25" dynamicsDimension="distance"/>
<LaneChangeTarget>
<RelativeTargetLane entityRef="adversary" value="-1"/>
</LaneChangeTarget>
</LaneChangeAction>
</LateralAction>
</PrivateAction>
</Action>
<StartTrigger>
<ConditionGroup>
<Condition name="AfterAdversaryAccelerates" delay="0" conditionEdge="rising">
<ByValueCondition>
<StoryboardElementStateCondition storyboardElementType="action" storyboardElementRef="AdversaryAccelerates" state="completeState"/>
</ByValueCondition>
</Condition>
</ConditionGroup>
</StartTrigger>
</Event>
</Maneuver>
</ManeuverGroup>
<StartTrigger>
<ConditionGroup>
<Condition name="OverallStartCondition" delay="0" conditionEdge="rising">
<ByEntityCondition>
<TriggeringEntities triggeringEntitiesRule="any">
<EntityRef entityRef="hero"/>
</TriggeringEntities>
<EntityCondition>
<TraveledDistanceCondition value="1.0"/>
</EntityCondition>
</ByEntityCondition>
</Condition>
<Condition name="StartTime" delay="0" conditionEdge="rising">
<ByValueCondition>
<SimulationTimeCondition value="0" rule="equalTo"/>
</ByValueCondition>
</Condition>
</ConditionGroup>
</StartTrigger>
<StopTrigger>
<ConditionGroup>
<Condition name="EndCondition" delay="0" conditionEdge="rising">
<ByEntityCondition>
<TriggeringEntities triggeringEntitiesRule="any">
<EntityRef entityRef="hero"/>
</TriggeringEntities>
<EntityCondition>
<TraveledDistanceCondition value="200.0"/>
</EntityCondition>
</ByEntityCondition>
</Condition>
</ConditionGroup>
</StopTrigger>
</Act>
</Story>
<StopTrigger>
<ConditionGroup>
<Condition name="criteria_RunningStopTest" delay="0" conditionEdge="rising">
<ByValueCondition>
<ParameterCondition parameterRef="" value="" rule="lessThan"/>
</ByValueCondition>
</Condition>
<Condition name="criteria_RunningRedLightTest" delay="0" conditionEdge="rising">
<ByValueCondition>
<ParameterCondition parameterRef="" value="" rule="lessThan"/>
</ByValueCondition>
</Condition>
<Condition name="criteria_WrongLaneTest" delay="0" conditionEdge="rising">
<ByValueCondition>
<ParameterCondition parameterRef="" value="" rule="lessThan"/>
</ByValueCondition>
</Condition>
<Condition name="criteria_OnSidewalkTest" delay="0" conditionEdge="rising">
<ByValueCondition>
<ParameterCondition parameterRef="" value="" rule="lessThan"/>
</ByValueCondition>
</Condition>
<Condition name="criteria_KeepLaneTest" delay="0" conditionEdge="rising">
<ByValueCondition>
<ParameterCondition parameterRef="" value="" rule="lessThan"/>
</ByValueCondition>
</Condition>
<Condition name="criteria_CollisionTest" delay="0" conditionEdge="rising">
<ByValueCondition>
<ParameterCondition parameterRef="" value="" rule="lessThan"/>
</ByValueCondition>
</Condition>
<Condition name="criteria_DrivenDistanceTest" delay="0" conditionEdge="rising">
<ByValueCondition>
<ParameterCondition parameterRef="distance_success" value="100" rule="lessThan"/>
</ByValueCondition>
</Condition>
</ConditionGroup>
</StopTrigger>
</Storyboard>
</OpenSCENARIO>
``` | Here is the result:
```
<?xml version="1.0" ?>
<OpenSCENARIO>
<FileHeader revMajor="1" revMinor="0" date="2020-03-24T12:00:00" description="CARLA:LaneChangeSimple" author=""/>
<ParameterDeclarations/>
<CatalogLocations/>
<RoadNetwork>
<LogicFile filepath="Town04"/>
<SceneGraphFile filepath=""/>
</RoadNetwork>
<Entities>
<ScenarioObject name="hero">
<Vehicle name="vehicle.tesla.model3" vehicleCategory="car">
<ParameterDeclarations/>
<Performance maxSpeed="69.444" maxAcceleration="200" maxDeceleration="10.0"/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2.1" length="4.5" height="1.8"/>
</BoundingBox>
<Axles>
<FrontAxle maxSteering="0.5" wheelDiameter="0.6" trackWidth="1.8" positionX="3.1" positionZ="0.3"/>
<RearAxle maxSteering="0.0" wheelDiameter="0.6" trackWidth="1.8" positionX="0.0" positionZ="0.3"/>
</Axles>
<Properties>
<Property name="type" value="ego_vehicle"/>
</Properties>
</Vehicle>
</ScenarioObject>
<ScenarioObject name="adversary">
<Vehicle name="vehicle.lincoln.mkz_2017" vehicleCategory="car">
<ParameterDeclarations/>
<Performance maxSpeed="69.444" maxAcceleration="200" maxDeceleration="10.0"/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2.1" length="4.5" height="1.8"/>
</BoundingBox>
<Axles>
<FrontAxle maxSteering="0.5" wheelDiameter="0.6" trackWidth="1.8" positionX="3.1" positionZ="0.3"/>
<RearAxle maxSteering="0.0" wheelDiameter="0.6" trackWidth="1.8" positionX="0.0" positionZ="0.3"/>
</Axles>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Vehicle>
</ScenarioObject>
<ScenarioObject name="standing">
<Vehicle name="vehicle.volkswagen.t2" vehicleCategory="car">
<ParameterDeclarations/>
<Performance maxSpeed="69.444" maxAcceleration="200" maxDeceleration="10.0"/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2.1" length="4.5" height="1.8"/>
</BoundingBox>
<Axles>
<FrontAxle maxSteering="0.5" wheelDiameter="0.6" trackWidth="1.8" positionX="3.1" positionZ="0.3"/>
<RearAxle maxSteering="0.0" wheelDiameter="0.6" 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_8641">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_w_transform_8642">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_close_to_hero_8643">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_close_to_adversary_8644">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_w_transform_8645">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_w_transform_8646">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_w_transform_8647">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_w_transform_8648">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_close_to_adversary_8649">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
</Entities>
<Storyboard>
<Init>
<Actions>
<GlobalAction>
<EnvironmentAction>
<Environment name="Environment1">
<TimeOfDay animation="false" dateTime="2019-06-25T12:00:00"/>
<Weather cloudState="free">
<Sun intensity="0.85" azimuth="0" elevation="1.31"/>
<Fog visualRange="100000.0"/>
<Precipitation precipitationType="dry" intensity="0.0"/>
</Weather>
<RoadCondition frictionScaleFactor="1.0"/>
</Environment>
</EnvironmentAction>
</GlobalAction>
<Private entityRef="hero">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-9.4" y="-152.8" z="0.5" h="1.57079632679"/>
</Position>
</TeleportAction>
</PrivateAction>
<PrivateAction>
<ControllerAction>
<AssignControllerAction>
<Controller name="HeroAgent">
<Properties>
<Property name="module" value="external_control"/>
</Properties>
</Controller>
</AssignControllerAction>
<OverrideControllerValueAction>
<Throttle value="0" active="false"/>
<Brake value="0" active="false"/>
<Clutch value="0" active="false"/>
<ParkingBrake value="0" active="false"/>
<SteeringWheel value="0" active="false"/>
<Gear number="0" active="false"/>
</OverrideControllerValueAction>
</ControllerAction>
</PrivateAction>
</Private>
<Private entityRef="adversary">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-9.4" y="-71.0" z="0.5" h="1.57079632679"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="standing">
<PrivateAction>
<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_8641">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-6.20053243637085" y="-63.043392181396484" z="0.03378055617213249"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_w_transform_8642">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="28.56172752380371" y="-71.12250518798828" z="0.5"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_close_to_hero_8643">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-14.67426586151123" y="-145.6430206298828" z="0.0014286803780123591"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_close_to_adversary_8644">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-13.138508796691895" y="-67.78260040283203" z="0.033758390694856644"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_w_transform_8645">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-97.96065521240234" y="9.31610107421875" z="0.5"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_w_transform_8646">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-16.786962509155273" y="-16.291427612304688" z="0.5"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_w_transform_8647">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-66.64057159423828" y="-7.858810901641846" z="0.5"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_w_transform_8648">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="94.08895111083984" y="46.39134216308594" z="0.5"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_close_to_adversary_8649">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-9.74221134185791" y="-54.74725341796875" z="0.03380035236477852"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
</Actions>
</Init>
<Story name="MyStory">
<Act name="Behavior">
<ManeuverGroup maximumExecutionCount="1" name="ManeuverSequence">
<Actors selectTriggeringEntities="false">
<EntityRef entityRef="adversary"/>
</Actors>
<Maneuver name="LaneChangeSimpleManeuver">
<Event name="AdversaryAccelerates" priority="overwrite">
<Action name="AdversaryAccelerates">
<PrivateAction>
<LongitudinalAction>
<SpeedAction>
<SpeedActionDynamics dynamicsShape="step" value="50" dynamicsDimension="distance"/>
<SpeedActionTarget>
<AbsoluteTargetSpeed value="5.0"/>
</SpeedActionTarget>
</SpeedAction>
</LongitudinalAction>
</PrivateAction>
</Action>
<StartTrigger>
<ConditionGroup>
<Condition name="StartCondition" delay="0" conditionEdge="rising">
<ByEntityCondition>
<TriggeringEntities triggeringEntitiesRule="any">
<EntityRef entityRef="hero"/>
</TriggeringEntities>
<EntityCondition>
<RelativeDistanceCondition entityRef="adversary" relativeDistanceType="cartesianDistance" value="40.0" freespace="false" rule="lessThan"/>
</EntityCondition>
</ByEntityCondition>
</Condition>
</ConditionGroup>
</StartTrigger>
</Event>
<Event name="AdversaryChangesLane" priority="overwrite">
<Action name="AdversaryChangesLane">
<PrivateAction>
<LateralAction>
<LaneChangeAction>
<LaneChangeActionDynamics dynamicsShape="linear" value="25" dynamicsDimension="distance"/>
<LaneChangeTarget>
<RelativeTargetLane entityRef="adversary" value="-1"/>
</LaneChangeTarget>
</LaneChangeAction>
</LateralAction>
</PrivateAction>
</Action>
<StartTrigger>
<ConditionGroup>
<Condition name="AfterAdversaryAccelerates" delay="0" conditionEdge="rising">
<ByValueCondition>
<StoryboardElementStateCondition storyboardElementType="action" storyboardElementRef="AdversaryAccelerates" state="completeState"/>
</ByValueCondition>
</Condition>
</ConditionGroup>
</StartTrigger>
</Event>
</Maneuver>
</ManeuverGroup>
<StartTrigger>
<ConditionGroup>
<Condition name="OverallStartCondition" delay="0" conditionEdge="rising">
<ByEntityCondition>
<TriggeringEntities triggeringEntitiesRule="any">
<EntityRef entityRef="hero"/>
</TriggeringEntities>
<EntityCondition>
<TraveledDistanceCondition value="1.0"/>
</EntityCondition>
</ByEntityCondition>
</Condition>
<Condition name="StartTime" delay="0" conditionEdge="rising">
<ByValueCondition>
<SimulationTimeCondition value="0" rule="equalTo"/>
</ByValueCondition>
</Condition>
</ConditionGroup>
</StartTrigger>
<StopTrigger>
<ConditionGroup>
<Condition name="EndCondition" delay="0" conditionEdge="rising">
<ByEntityCondition>
<TriggeringEntities triggeringEntitiesRule="any">
<EntityRef entityRef="hero"/>
</TriggeringEntities>
<EntityCondition>
<TraveledDistanceCondition value="200.0"/>
</EntityCondition>
</ByEntityCondition>
</Condition>
</ConditionGroup>
</StopTrigger>
</Act>
</Story>
<StopTrigger>
<ConditionGroup>
<Condition name="criteria_RunningStopTest" delay="0" conditionEdge="rising">
<ByValueCondition>
<ParameterCondition parameterRef="" value="" rule="lessThan"/>
</ByValueCondition>
</Condition>
<Condition name="criteria_RunningRedLightTest" delay="0" conditionEdge="rising">
<ByValueCondition>
<ParameterCondition parameterRef="" value="" rule="lessThan"/>
</ByValueCondition>
</Condition>
<Condition name="criteria_WrongLaneTest" delay="0" conditionEdge="rising">
<ByValueCondition>
<ParameterCondition parameterRef="" value="" rule="lessThan"/>
</ByValueCondition>
</Condition>
<Condition name="criteria_OnSidewalkTest" delay="0" conditionEdge="rising">
<ByValueCondition>
<ParameterCondition parameterRef="" value="" rule="lessThan"/>
</ByValueCondition>
</Condition>
<Condition name="criteria_KeepLaneTest" delay="0" conditionEdge="rising">
<ByValueCondition>
<ParameterCondition parameterRef="" value="" rule="lessThan"/>
</ByValueCondition>
</Condition>
<Condition name="criteria_CollisionTest" delay="0" conditionEdge="rising">
<ByValueCondition>
<ParameterCondition parameterRef="" value="" rule="lessThan"/>
</ByValueCondition>
</Condition>
<Condition name="criteria_DrivenDistanceTest" delay="0" conditionEdge="rising">
<ByValueCondition>
<ParameterCondition parameterRef="distance_success" value="100" rule="lessThan"/>
</ByValueCondition>
</Condition>
</ConditionGroup>
</StopTrigger>
</Storyboard>
</OpenSCENARIO>
``` |
i would like to lead you to add pedestrian close to hero?
```
<?xml version="1.0" ?>
<OpenSCENARIO>
<FileHeader revMajor="1" revMinor="0" date="2020-03-24T12:00:00" description="CARLA:LaneChangeSimple" author=""/>
<ParameterDeclarations/>
<CatalogLocations/>
<RoadNetwork>
<LogicFile filepath="Town04"/>
<SceneGraphFile filepath=""/>
</RoadNetwork>
<Entities>
<ScenarioObject name="hero">
<Vehicle name="vehicle.tesla.model3" vehicleCategory="car">
<ParameterDeclarations/>
<Performance maxSpeed="69.444" maxAcceleration="200" maxDeceleration="10.0"/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2.1" length="4.5" height="1.8"/>
</BoundingBox>
<Axles>
<FrontAxle maxSteering="0.5" wheelDiameter="0.6" trackWidth="1.8" positionX="3.1" positionZ="0.3"/>
<RearAxle maxSteering="0.0" wheelDiameter="0.6" trackWidth="1.8" positionX="0.0" positionZ="0.3"/>
</Axles>
<Properties>
<Property name="type" value="ego_vehicle"/>
</Properties>
</Vehicle>
</ScenarioObject>
<ScenarioObject name="adversary">
<Vehicle name="vehicle.lincoln.mkz_2017" vehicleCategory="car">
<ParameterDeclarations/>
<Performance maxSpeed="69.444" maxAcceleration="200" maxDeceleration="10.0"/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2.1" length="4.5" height="1.8"/>
</BoundingBox>
<Axles>
<FrontAxle maxSteering="0.5" wheelDiameter="0.6" trackWidth="1.8" positionX="3.1" positionZ="0.3"/>
<RearAxle maxSteering="0.0" wheelDiameter="0.6" trackWidth="1.8" positionX="0.0" positionZ="0.3"/>
</Axles>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Vehicle>
</ScenarioObject>
<ScenarioObject name="standing">
<Vehicle name="vehicle.volkswagen.t2" vehicleCategory="car">
<ParameterDeclarations/>
<Performance maxSpeed="69.444" maxAcceleration="200" maxDeceleration="10.0"/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2.1" length="4.5" height="1.8"/>
</BoundingBox>
<Axles>
<FrontAxle maxSteering="0.5" wheelDiameter="0.6" trackWidth="1.8" positionX="3.1" positionZ="0.3"/>
<RearAxle maxSteering="0.0" wheelDiameter="0.6" trackWidth="1.8" positionX="0.0" positionZ="0.3"/>
</Axles>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Vehicle>
</ScenarioObject>
<ScenarioObject name="pedestrian_close_to_hero_18514">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_close_to_adversary_18515">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_close_to_hero_18516">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
</Entities>
<Storyboard>
<Init>
<Actions>
<GlobalAction>
<EnvironmentAction>
<Environment name="Environment1">
<TimeOfDay animation="false" dateTime="2019-06-25T12:00:00"/>
<Weather cloudState="free">
<Sun intensity="0.85" azimuth="0" elevation="1.31"/>
<Fog visualRange="100000.0"/>
<Precipitation precipitationType="dry" intensity="0.0"/>
</Weather>
<RoadCondition frictionScaleFactor="1.0"/>
</Environment>
</EnvironmentAction>
</GlobalAction>
<Private entityRef="hero">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-9.4" y="-152.8" z="0.5" h="1.57079632679"/>
</Position>
</TeleportAction>
</PrivateAction>
<PrivateAction>
<ControllerAction>
<AssignControllerAction>
<Controller name="HeroAgent">
<Properties>
<Property name="module" value="external_control"/>
</Properties>
</Controller>
</AssignControllerAction>
<OverrideControllerValueAction>
<Throttle value="0" active="false"/>
<Brake value="0" active="false"/>
<Clutch value="0" active="false"/>
<ParkingBrake value="0" active="false"/>
<SteeringWheel value="0" active="false"/>
<Gear number="0" active="false"/>
</OverrideControllerValueAction>
</ControllerAction>
</PrivateAction>
</Private>
<Private entityRef="adversary">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-9.4" y="-71.0" z="0.5" h="1.57079632679"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="standing">
<PrivateAction>
<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_18514">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-3.658998489379883" y="-152.31289672851562" z="0.0014286803780123591"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_close_to_adversary_18515">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-6.009644508361816" y="-76.47869110107422" z="0.033803023397922516"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_close_to_hero_18516">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-2.7298831939697266" y="-153.0763702392578" z="0.0014286803780123591"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
</Actions>
</Init>
<Story name="MyStory">
<Act name="Behavior">
<ManeuverGroup maximumExecutionCount="1" name="ManeuverSequence">
<Actors selectTriggeringEntities="false">
<EntityRef entityRef="adversary"/>
</Actors>
<Maneuver name="LaneChangeSimpleManeuver">
<Event name="AdversaryAccelerates" priority="overwrite">
<Action name="AdversaryAccelerates">
<PrivateAction>
<LongitudinalAction>
<SpeedAction>
<SpeedActionDynamics dynamicsShape="step" value="50" dynamicsDimension="distance"/>
<SpeedActionTarget>
<AbsoluteTargetSpeed value="5.0"/>
</SpeedActionTarget>
</SpeedAction>
</LongitudinalAction>
</PrivateAction>
</Action>
<StartTrigger>
<ConditionGroup>
<Condition name="StartCondition" delay="0" conditionEdge="rising">
<ByEntityCondition>
<TriggeringEntities triggeringEntitiesRule="any">
<EntityRef entityRef="hero"/>
</TriggeringEntities>
<EntityCondition>
<RelativeDistanceCondition entityRef="adversary" relativeDistanceType="cartesianDistance" value="40.0" freespace="false" rule="lessThan"/>
</EntityCondition>
</ByEntityCondition>
</Condition>
</ConditionGroup>
</StartTrigger>
</Event>
<Event name="AdversaryChangesLane" priority="overwrite">
<Action name="AdversaryChangesLane">
<PrivateAction>
<LateralAction>
<LaneChangeAction>
<LaneChangeActionDynamics dynamicsShape="linear" value="25" dynamicsDimension="distance"/>
<LaneChangeTarget>
<RelativeTargetLane entityRef="adversary" value="-1"/>
</LaneChangeTarget>
</LaneChangeAction>
</LateralAction>
</PrivateAction>
</Action>
<StartTrigger>
<ConditionGroup>
<Condition name="AfterAdversaryAccelerates" delay="0" conditionEdge="rising">
<ByValueCondition>
<StoryboardElementStateCondition storyboardElementType="action" storyboardElementRef="AdversaryAccelerates" state="completeState"/>
</ByValueCondition>
</Condition>
</ConditionGroup>
</StartTrigger>
</Event>
</Maneuver>
</ManeuverGroup>
<StartTrigger>
<ConditionGroup>
<Condition name="OverallStartCondition" delay="0" conditionEdge="rising">
<ByEntityCondition>
<TriggeringEntities triggeringEntitiesRule="any">
<EntityRef entityRef="hero"/>
</TriggeringEntities>
<EntityCondition>
<TraveledDistanceCondition value="1.0"/>
</EntityCondition>
</ByEntityCondition>
</Condition>
<Condition name="StartTime" delay="0" conditionEdge="rising">
<ByValueCondition>
<SimulationTimeCondition value="0" rule="equalTo"/>
</ByValueCondition>
</Condition>
</ConditionGroup>
</StartTrigger>
<StopTrigger>
<ConditionGroup>
<Condition name="EndCondition" delay="0" conditionEdge="rising">
<ByEntityCondition>
<TriggeringEntities triggeringEntitiesRule="any">
<EntityRef entityRef="hero"/>
</TriggeringEntities>
<EntityCondition>
<TraveledDistanceCondition value="200.0"/>
</EntityCondition>
</ByEntityCondition>
</Condition>
</ConditionGroup>
</StopTrigger>
</Act>
</Story>
<StopTrigger>
<ConditionGroup>
<Condition name="criteria_RunningStopTest" delay="0" conditionEdge="rising">
<ByValueCondition>
<ParameterCondition parameterRef="" value="" rule="lessThan"/>
</ByValueCondition>
</Condition>
<Condition name="criteria_RunningRedLightTest" delay="0" conditionEdge="rising">
<ByValueCondition>
<ParameterCondition parameterRef="" value="" rule="lessThan"/>
</ByValueCondition>
</Condition>
<Condition name="criteria_WrongLaneTest" delay="0" conditionEdge="rising">
<ByValueCondition>
<ParameterCondition parameterRef="" value="" rule="lessThan"/>
</ByValueCondition>
</Condition>
<Condition name="criteria_OnSidewalkTest" delay="0" conditionEdge="rising">
<ByValueCondition>
<ParameterCondition parameterRef="" value="" rule="lessThan"/>
</ByValueCondition>
</Condition>
<Condition name="criteria_KeepLaneTest" delay="0" conditionEdge="rising">
<ByValueCondition>
<ParameterCondition parameterRef="" value="" rule="lessThan"/>
</ByValueCondition>
</Condition>
<Condition name="criteria_CollisionTest" delay="0" conditionEdge="rising">
<ByValueCondition>
<ParameterCondition parameterRef="" value="" rule="lessThan"/>
</ByValueCondition>
</Condition>
<Condition name="criteria_DrivenDistanceTest" delay="0" conditionEdge="rising">
<ByValueCondition>
<ParameterCondition parameterRef="distance_success" value="100" rule="lessThan"/>
</ByValueCondition>
</Condition>
</ConditionGroup>
</StopTrigger>
</Storyboard>
</OpenSCENARIO>
``` | Here is the result:
```
<?xml version="1.0" ?>
<OpenSCENARIO>
<FileHeader revMajor="1" revMinor="0" date="2020-03-24T12:00:00" description="CARLA:LaneChangeSimple" author=""/>
<ParameterDeclarations/>
<CatalogLocations/>
<RoadNetwork>
<LogicFile filepath="Town04"/>
<SceneGraphFile filepath=""/>
</RoadNetwork>
<Entities>
<ScenarioObject name="hero">
<Vehicle name="vehicle.tesla.model3" vehicleCategory="car">
<ParameterDeclarations/>
<Performance maxSpeed="69.444" maxAcceleration="200" maxDeceleration="10.0"/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2.1" length="4.5" height="1.8"/>
</BoundingBox>
<Axles>
<FrontAxle maxSteering="0.5" wheelDiameter="0.6" trackWidth="1.8" positionX="3.1" positionZ="0.3"/>
<RearAxle maxSteering="0.0" wheelDiameter="0.6" trackWidth="1.8" positionX="0.0" positionZ="0.3"/>
</Axles>
<Properties>
<Property name="type" value="ego_vehicle"/>
</Properties>
</Vehicle>
</ScenarioObject>
<ScenarioObject name="adversary">
<Vehicle name="vehicle.lincoln.mkz_2017" vehicleCategory="car">
<ParameterDeclarations/>
<Performance maxSpeed="69.444" maxAcceleration="200" maxDeceleration="10.0"/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2.1" length="4.5" height="1.8"/>
</BoundingBox>
<Axles>
<FrontAxle maxSteering="0.5" wheelDiameter="0.6" trackWidth="1.8" positionX="3.1" positionZ="0.3"/>
<RearAxle maxSteering="0.0" wheelDiameter="0.6" trackWidth="1.8" positionX="0.0" positionZ="0.3"/>
</Axles>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Vehicle>
</ScenarioObject>
<ScenarioObject name="standing">
<Vehicle name="vehicle.volkswagen.t2" vehicleCategory="car">
<ParameterDeclarations/>
<Performance maxSpeed="69.444" maxAcceleration="200" maxDeceleration="10.0"/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2.1" length="4.5" height="1.8"/>
</BoundingBox>
<Axles>
<FrontAxle maxSteering="0.5" wheelDiameter="0.6" trackWidth="1.8" positionX="3.1" positionZ="0.3"/>
<RearAxle maxSteering="0.0" wheelDiameter="0.6" 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_18514">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_close_to_adversary_18515">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_close_to_hero_18516">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_close_to_hero_18517">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
</Entities>
<Storyboard>
<Init>
<Actions>
<GlobalAction>
<EnvironmentAction>
<Environment name="Environment1">
<TimeOfDay animation="false" dateTime="2019-06-25T12:00:00"/>
<Weather cloudState="free">
<Sun intensity="0.85" azimuth="0" elevation="1.31"/>
<Fog visualRange="100000.0"/>
<Precipitation precipitationType="dry" intensity="0.0"/>
</Weather>
<RoadCondition frictionScaleFactor="1.0"/>
</Environment>
</EnvironmentAction>
</GlobalAction>
<Private entityRef="hero">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-9.4" y="-152.8" z="0.5" h="1.57079632679"/>
</Position>
</TeleportAction>
</PrivateAction>
<PrivateAction>
<ControllerAction>
<AssignControllerAction>
<Controller name="HeroAgent">
<Properties>
<Property name="module" value="external_control"/>
</Properties>
</Controller>
</AssignControllerAction>
<OverrideControllerValueAction>
<Throttle value="0" active="false"/>
<Brake value="0" active="false"/>
<Clutch value="0" active="false"/>
<ParkingBrake value="0" active="false"/>
<SteeringWheel value="0" active="false"/>
<Gear number="0" active="false"/>
</OverrideControllerValueAction>
</ControllerAction>
</PrivateAction>
</Private>
<Private entityRef="adversary">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-9.4" y="-71.0" z="0.5" h="1.57079632679"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="standing">
<PrivateAction>
<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_18514">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-3.658998489379883" y="-152.31289672851562" z="0.0014286803780123591"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_close_to_adversary_18515">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-6.009644508361816" y="-76.47869110107422" z="0.033803023397922516"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_close_to_hero_18516">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-2.7298831939697266" y="-153.0763702392578" z="0.0014286803780123591"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_close_to_hero_18517">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-3.9427883625030518" y="-144.0998077392578" z="0.0014286803780123591"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
</Actions>
</Init>
<Story name="MyStory">
<Act name="Behavior">
<ManeuverGroup maximumExecutionCount="1" name="ManeuverSequence">
<Actors selectTriggeringEntities="false">
<EntityRef entityRef="adversary"/>
</Actors>
<Maneuver name="LaneChangeSimpleManeuver">
<Event name="AdversaryAccelerates" priority="overwrite">
<Action name="AdversaryAccelerates">
<PrivateAction>
<LongitudinalAction>
<SpeedAction>
<SpeedActionDynamics dynamicsShape="step" value="50" dynamicsDimension="distance"/>
<SpeedActionTarget>
<AbsoluteTargetSpeed value="5.0"/>
</SpeedActionTarget>
</SpeedAction>
</LongitudinalAction>
</PrivateAction>
</Action>
<StartTrigger>
<ConditionGroup>
<Condition name="StartCondition" delay="0" conditionEdge="rising">
<ByEntityCondition>
<TriggeringEntities triggeringEntitiesRule="any">
<EntityRef entityRef="hero"/>
</TriggeringEntities>
<EntityCondition>
<RelativeDistanceCondition entityRef="adversary" relativeDistanceType="cartesianDistance" value="40.0" freespace="false" rule="lessThan"/>
</EntityCondition>
</ByEntityCondition>
</Condition>
</ConditionGroup>
</StartTrigger>
</Event>
<Event name="AdversaryChangesLane" priority="overwrite">
<Action name="AdversaryChangesLane">
<PrivateAction>
<LateralAction>
<LaneChangeAction>
<LaneChangeActionDynamics dynamicsShape="linear" value="25" dynamicsDimension="distance"/>
<LaneChangeTarget>
<RelativeTargetLane entityRef="adversary" value="-1"/>
</LaneChangeTarget>
</LaneChangeAction>
</LateralAction>
</PrivateAction>
</Action>
<StartTrigger>
<ConditionGroup>
<Condition name="AfterAdversaryAccelerates" delay="0" conditionEdge="rising">
<ByValueCondition>
<StoryboardElementStateCondition storyboardElementType="action" storyboardElementRef="AdversaryAccelerates" state="completeState"/>
</ByValueCondition>
</Condition>
</ConditionGroup>
</StartTrigger>
</Event>
</Maneuver>
</ManeuverGroup>
<StartTrigger>
<ConditionGroup>
<Condition name="OverallStartCondition" delay="0" conditionEdge="rising">
<ByEntityCondition>
<TriggeringEntities triggeringEntitiesRule="any">
<EntityRef entityRef="hero"/>
</TriggeringEntities>
<EntityCondition>
<TraveledDistanceCondition value="1.0"/>
</EntityCondition>
</ByEntityCondition>
</Condition>
<Condition name="StartTime" delay="0" conditionEdge="rising">
<ByValueCondition>
<SimulationTimeCondition value="0" rule="equalTo"/>
</ByValueCondition>
</Condition>
</ConditionGroup>
</StartTrigger>
<StopTrigger>
<ConditionGroup>
<Condition name="EndCondition" delay="0" conditionEdge="rising">
<ByEntityCondition>
<TriggeringEntities triggeringEntitiesRule="any">
<EntityRef entityRef="hero"/>
</TriggeringEntities>
<EntityCondition>
<TraveledDistanceCondition value="200.0"/>
</EntityCondition>
</ByEntityCondition>
</Condition>
</ConditionGroup>
</StopTrigger>
</Act>
</Story>
<StopTrigger>
<ConditionGroup>
<Condition name="criteria_RunningStopTest" delay="0" conditionEdge="rising">
<ByValueCondition>
<ParameterCondition parameterRef="" value="" rule="lessThan"/>
</ByValueCondition>
</Condition>
<Condition name="criteria_RunningRedLightTest" delay="0" conditionEdge="rising">
<ByValueCondition>
<ParameterCondition parameterRef="" value="" rule="lessThan"/>
</ByValueCondition>
</Condition>
<Condition name="criteria_WrongLaneTest" delay="0" conditionEdge="rising">
<ByValueCondition>
<ParameterCondition parameterRef="" value="" rule="lessThan"/>
</ByValueCondition>
</Condition>
<Condition name="criteria_OnSidewalkTest" delay="0" conditionEdge="rising">
<ByValueCondition>
<ParameterCondition parameterRef="" value="" rule="lessThan"/>
</ByValueCondition>
</Condition>
<Condition name="criteria_KeepLaneTest" delay="0" conditionEdge="rising">
<ByValueCondition>
<ParameterCondition parameterRef="" value="" rule="lessThan"/>
</ByValueCondition>
</Condition>
<Condition name="criteria_CollisionTest" delay="0" conditionEdge="rising">
<ByValueCondition>
<ParameterCondition parameterRef="" value="" rule="lessThan"/>
</ByValueCondition>
</Condition>
<Condition name="criteria_DrivenDistanceTest" delay="0" conditionEdge="rising">
<ByValueCondition>
<ParameterCondition parameterRef="distance_success" value="100" rule="lessThan"/>
</ByValueCondition>
</Condition>
</ConditionGroup>
</StopTrigger>
</Storyboard>
</OpenSCENARIO>
``` |
remove pedestrian actor named pedestrian_close_to_standing_6355?
```
<?xml version="1.0" ?>
<OpenSCENARIO>
<FileHeader revMajor="1" revMinor="0" date="2020-03-24T12:00:00" description="CARLA:LaneChangeSimple" author=""/>
<ParameterDeclarations/>
<CatalogLocations/>
<RoadNetwork>
<LogicFile filepath="Town04"/>
<SceneGraphFile filepath=""/>
</RoadNetwork>
<Entities>
<ScenarioObject name="hero">
<Vehicle name="vehicle.tesla.model3" vehicleCategory="car">
<ParameterDeclarations/>
<Performance maxSpeed="69.444" maxAcceleration="200" maxDeceleration="10.0"/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2.1" length="4.5" height="1.8"/>
</BoundingBox>
<Axles>
<FrontAxle maxSteering="0.5" wheelDiameter="0.6" trackWidth="1.8" positionX="3.1" positionZ="0.3"/>
<RearAxle maxSteering="0.0" wheelDiameter="0.6" trackWidth="1.8" positionX="0.0" positionZ="0.3"/>
</Axles>
<Properties>
<Property name="type" value="ego_vehicle"/>
</Properties>
</Vehicle>
</ScenarioObject>
<ScenarioObject name="adversary">
<Vehicle name="vehicle.lincoln.mkz_2017" vehicleCategory="car">
<ParameterDeclarations/>
<Performance maxSpeed="69.444" maxAcceleration="200" maxDeceleration="10.0"/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2.1" length="4.5" height="1.8"/>
</BoundingBox>
<Axles>
<FrontAxle maxSteering="0.5" wheelDiameter="0.6" trackWidth="1.8" positionX="3.1" positionZ="0.3"/>
<RearAxle maxSteering="0.0" wheelDiameter="0.6" trackWidth="1.8" positionX="0.0" positionZ="0.3"/>
</Axles>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Vehicle>
</ScenarioObject>
<ScenarioObject name="standing">
<Vehicle name="vehicle.volkswagen.t2" vehicleCategory="car">
<ParameterDeclarations/>
<Performance maxSpeed="69.444" maxAcceleration="200" maxDeceleration="10.0"/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2.1" length="4.5" height="1.8"/>
</BoundingBox>
<Axles>
<FrontAxle maxSteering="0.5" wheelDiameter="0.6" trackWidth="1.8" positionX="3.1" positionZ="0.3"/>
<RearAxle maxSteering="0.0" wheelDiameter="0.6" 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_6343">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_w_transform_6344">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_w_transform_6345">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_w_transform_6346">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_close_to_standing_6347">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_w_transform_6348">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_w_transform_6349">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_close_to_standing_6350">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_w_transform_6352">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_close_to_adversary_6353">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_w_transform_6354">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_close_to_standing_6355">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_w_transform_6356">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_close_to_hero_6357">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_w_transform_6358">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_close_to_hero_6359">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_w_transform_6360">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_w_transform_6361">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_w_transform_6362">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_close_to_standing_6363">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_w_transform_6364">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_w_transform_6365">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_w_transform_6367">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
</Entities>
<Storyboard>
<Init>
<Actions>
<GlobalAction>
<EnvironmentAction>
<Environment name="Environment1">
<TimeOfDay animation="false" dateTime="2019-06-25T12:00:00"/>
<Weather cloudState="free">
<Sun intensity="0.85" azimuth="0" elevation="1.31"/>
<Fog visualRange="100000.0"/>
<Precipitation precipitationType="dry" intensity="0.0"/>
</Weather>
<RoadCondition frictionScaleFactor="1.0"/>
</Environment>
</EnvironmentAction>
</GlobalAction>
<Private entityRef="hero">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-9.4" y="-152.8" z="0.5" h="1.57079632679"/>
</Position>
</TeleportAction>
</PrivateAction>
<PrivateAction>
<ControllerAction>
<AssignControllerAction>
<Controller name="HeroAgent">
<Properties>
<Property name="module" value="external_control"/>
</Properties>
</Controller>
</AssignControllerAction>
<OverrideControllerValueAction>
<Throttle value="0" active="false"/>
<Brake value="0" active="false"/>
<Clutch value="0" active="false"/>
<ParkingBrake value="0" active="false"/>
<SteeringWheel value="0" active="false"/>
<Gear number="0" active="false"/>
</OverrideControllerValueAction>
</ControllerAction>
</PrivateAction>
</Private>
<Private entityRef="adversary">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-9.4" y="-71.0" z="0.5" h="1.57079632679"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="standing">
<PrivateAction>
<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_6343">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-9.781024932861328" y="-80.3978500366211" z="0.03380393981933594"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_w_transform_6344">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="93.24447631835938" y="-27.69540786743164" z="0.5"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_w_transform_6345">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="47.668312072753906" y="91.7364730834961" z="0.5"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_w_transform_6346">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-6.118649959564209" y="-35.916954040527344" z="0.5"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_close_to_standing_6347">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-6.798094749450684" y="35.63328552246094" z="0.003039398230612278"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_w_transform_6348">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-8.231471061706543" y="75.03634643554688" z="0.5"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_w_transform_6349">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="8.228979110717773" y="-35.92496871948242" z="0.5"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_close_to_standing_6350">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-7.822596073150635" y="38.63713073730469" z="0.0030062864534556866"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_w_transform_6352">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-69.42144775390625" y="-43.94129943847656" z="0.5"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_close_to_adversary_6353">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-12.614557266235352" y="-63.02130126953125" z="0.03382667526602745"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_w_transform_6354">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="36.52939224243164" y="-21.35541343688965" z="0.5"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_close_to_standing_6355">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="2.1346094608306885" y="36.38286590576172" z="0.0030677414033561945"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_w_transform_6356">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-41.184242248535156" y="97.96866607666016" z="0.5"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_close_to_hero_6357">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-19.394222259521484" y="-162.7159423828125" z="0.0014286803780123591"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_w_transform_6358">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-37.91239929199219" y="50.58190155029297" z="0.5"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_close_to_hero_6359">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-18.255443572998047" y="-158.2742462158203" z="0.0014286803780123591"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_w_transform_6360">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="85.35306549072266" y="69.1193618774414" z="0.5"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_w_transform_6361">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-46.030513763427734" y="42.24189758300781" z="0.5"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_w_transform_6362">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="98.65674591064453" y="-2.368441104888916" z="0.5"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_close_to_standing_6363">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="1.1656018495559692" y="38.1088752746582" z="0.0030830001924186945"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_w_transform_6364">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-51.33378219604492" y="-6.3537373542785645" z="0.5"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_w_transform_6365">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-61.040157318115234" y="11.04481029510498" z="0.5"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_w_transform_6367">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="43.94333267211914" y="82.63459777832031" z="0.5"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
</Actions>
</Init>
<Story name="MyStory">
<Act name="Behavior">
<ManeuverGroup maximumExecutionCount="1" name="ManeuverSequence">
<Actors selectTriggeringEntities="false">
<EntityRef entityRef="adversary"/>
</Actors>
<Maneuver name="LaneChangeSimpleManeuver">
<Event name="AdversaryAccelerates" priority="overwrite">
<Action name="AdversaryAccelerates">
<PrivateAction>
<LongitudinalAction>
<SpeedAction>
<SpeedActionDynamics dynamicsShape="step" value="50" dynamicsDimension="distance"/>
<SpeedActionTarget>
<AbsoluteTargetSpeed value="5.0"/>
</SpeedActionTarget>
</SpeedAction>
</LongitudinalAction>
</PrivateAction>
</Action>
<StartTrigger>
<ConditionGroup>
<Condition name="StartCondition" delay="0" conditionEdge="rising">
<ByEntityCondition>
<TriggeringEntities triggeringEntitiesRule="any">
<EntityRef entityRef="hero"/>
</TriggeringEntities>
<EntityCondition>
<RelativeDistanceCondition entityRef="adversary" relativeDistanceType="cartesianDistance" value="40.0" freespace="false" rule="lessThan"/>
</EntityCondition>
</ByEntityCondition>
</Condition>
</ConditionGroup>
</StartTrigger>
</Event>
<Event name="AdversaryChangesLane" priority="overwrite">
<Action name="AdversaryChangesLane">
<PrivateAction>
<LateralAction>
<LaneChangeAction>
<LaneChangeActionDynamics dynamicsShape="linear" value="25" dynamicsDimension="distance"/>
<LaneChangeTarget>
<RelativeTargetLane entityRef="adversary" value="-1"/>
</LaneChangeTarget>
</LaneChangeAction>
</LateralAction>
</PrivateAction>
</Action>
<StartTrigger>
<ConditionGroup>
<Condition name="AfterAdversaryAccelerates" delay="0" conditionEdge="rising">
<ByValueCondition>
<StoryboardElementStateCondition storyboardElementType="action" storyboardElementRef="AdversaryAccelerates" state="completeState"/>
</ByValueCondition>
</Condition>
</ConditionGroup>
</StartTrigger>
</Event>
</Maneuver>
</ManeuverGroup>
<StartTrigger>
<ConditionGroup>
<Condition name="OverallStartCondition" delay="0" conditionEdge="rising">
<ByEntityCondition>
<TriggeringEntities triggeringEntitiesRule="any">
<EntityRef entityRef="hero"/>
</TriggeringEntities>
<EntityCondition>
<TraveledDistanceCondition value="1.0"/>
</EntityCondition>
</ByEntityCondition>
</Condition>
<Condition name="StartTime" delay="0" conditionEdge="rising">
<ByValueCondition>
<SimulationTimeCondition value="0" rule="equalTo"/>
</ByValueCondition>
</Condition>
</ConditionGroup>
</StartTrigger>
<StopTrigger>
<ConditionGroup>
<Condition name="EndCondition" delay="0" conditionEdge="rising">
<ByEntityCondition>
<TriggeringEntities triggeringEntitiesRule="any">
<EntityRef entityRef="hero"/>
</TriggeringEntities>
<EntityCondition>
<TraveledDistanceCondition value="200.0"/>
</EntityCondition>
</ByEntityCondition>
</Condition>
</ConditionGroup>
</StopTrigger>
</Act>
</Story>
<StopTrigger>
<ConditionGroup>
<Condition name="criteria_RunningStopTest" delay="0" conditionEdge="rising">
<ByValueCondition>
<ParameterCondition parameterRef="" value="" rule="lessThan"/>
</ByValueCondition>
</Condition>
<Condition name="criteria_RunningRedLightTest" delay="0" conditionEdge="rising">
<ByValueCondition>
<ParameterCondition parameterRef="" value="" rule="lessThan"/>
</ByValueCondition>
</Condition>
<Condition name="criteria_WrongLaneTest" delay="0" conditionEdge="rising">
<ByValueCondition>
<ParameterCondition parameterRef="" value="" rule="lessThan"/>
</ByValueCondition>
</Condition>
<Condition name="criteria_OnSidewalkTest" delay="0" conditionEdge="rising">
<ByValueCondition>
<ParameterCondition parameterRef="" value="" rule="lessThan"/>
</ByValueCondition>
</Condition>
<Condition name="criteria_KeepLaneTest" delay="0" conditionEdge="rising">
<ByValueCondition>
<ParameterCondition parameterRef="" value="" rule="lessThan"/>
</ByValueCondition>
</Condition>
<Condition name="criteria_CollisionTest" delay="0" conditionEdge="rising">
<ByValueCondition>
<ParameterCondition parameterRef="" value="" rule="lessThan"/>
</ByValueCondition>
</Condition>
<Condition name="criteria_DrivenDistanceTest" delay="0" conditionEdge="rising">
<ByValueCondition>
<ParameterCondition parameterRef="distance_success" value="100" rule="lessThan"/>
</ByValueCondition>
</Condition>
</ConditionGroup>
</StopTrigger>
</Storyboard>
</OpenSCENARIO>
``` | Here is the result:
```
<?xml version="1.0" ?>
<OpenSCENARIO>
<FileHeader revMajor="1" revMinor="0" date="2020-03-24T12:00:00" description="CARLA:LaneChangeSimple" author=""/>
<ParameterDeclarations/>
<CatalogLocations/>
<RoadNetwork>
<LogicFile filepath="Town04"/>
<SceneGraphFile filepath=""/>
</RoadNetwork>
<Entities>
<ScenarioObject name="hero">
<Vehicle name="vehicle.tesla.model3" vehicleCategory="car">
<ParameterDeclarations/>
<Performance maxSpeed="69.444" maxAcceleration="200" maxDeceleration="10.0"/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2.1" length="4.5" height="1.8"/>
</BoundingBox>
<Axles>
<FrontAxle maxSteering="0.5" wheelDiameter="0.6" trackWidth="1.8" positionX="3.1" positionZ="0.3"/>
<RearAxle maxSteering="0.0" wheelDiameter="0.6" trackWidth="1.8" positionX="0.0" positionZ="0.3"/>
</Axles>
<Properties>
<Property name="type" value="ego_vehicle"/>
</Properties>
</Vehicle>
</ScenarioObject>
<ScenarioObject name="adversary">
<Vehicle name="vehicle.lincoln.mkz_2017" vehicleCategory="car">
<ParameterDeclarations/>
<Performance maxSpeed="69.444" maxAcceleration="200" maxDeceleration="10.0"/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2.1" length="4.5" height="1.8"/>
</BoundingBox>
<Axles>
<FrontAxle maxSteering="0.5" wheelDiameter="0.6" trackWidth="1.8" positionX="3.1" positionZ="0.3"/>
<RearAxle maxSteering="0.0" wheelDiameter="0.6" trackWidth="1.8" positionX="0.0" positionZ="0.3"/>
</Axles>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Vehicle>
</ScenarioObject>
<ScenarioObject name="standing">
<Vehicle name="vehicle.volkswagen.t2" vehicleCategory="car">
<ParameterDeclarations/>
<Performance maxSpeed="69.444" maxAcceleration="200" maxDeceleration="10.0"/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2.1" length="4.5" height="1.8"/>
</BoundingBox>
<Axles>
<FrontAxle maxSteering="0.5" wheelDiameter="0.6" trackWidth="1.8" positionX="3.1" positionZ="0.3"/>
<RearAxle maxSteering="0.0" wheelDiameter="0.6" 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_6343">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_w_transform_6344">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_w_transform_6345">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_w_transform_6346">
<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_standing_6347">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_w_transform_6348">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_w_transform_6349">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_close_to_standing_6350">
<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_6352">
<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_adversary_6353">
<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_6354">
<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_6356">
<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_6357">
<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_6358">
<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_6359">
<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_6360">
<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"/>
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<Properties>
<Property name="type" value="simulation"/>
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</Pedestrian>
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<ScenarioObject name="pedestrian_w_transform_6361">
<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"/>
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<Properties>
<Property name="type" value="simulation"/>
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</Pedestrian>
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<ScenarioObject name="pedestrian_w_transform_6362">
<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"/>
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<Properties>
<Property name="type" value="simulation"/>
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</Pedestrian>
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<ScenarioObject name="pedestrian_close_to_standing_6363">
<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"/>
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<Properties>
<Property name="type" value="simulation"/>
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<ScenarioObject name="pedestrian_w_transform_6364">
<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"/>
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<Properties>
<Property name="type" value="simulation"/>
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<ScenarioObject name="pedestrian_w_transform_6365">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
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<Property name="type" value="simulation"/>
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<ScenarioObject name="pedestrian_w_transform_6367">
<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"/>
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<Properties>
<Property name="type" value="simulation"/>
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</Pedestrian>
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</Entities>
<Storyboard>
<Init>
<Actions>
<GlobalAction>
<EnvironmentAction>
<Environment name="Environment1">
<TimeOfDay animation="false" dateTime="2019-06-25T12:00:00"/>
<Weather cloudState="free">
<Sun intensity="0.85" azimuth="0" elevation="1.31"/>
<Fog visualRange="100000.0"/>
<Precipitation precipitationType="dry" intensity="0.0"/>
</Weather>
<RoadCondition frictionScaleFactor="1.0"/>
</Environment>
</EnvironmentAction>
</GlobalAction>
<Private entityRef="hero">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-9.4" y="-152.8" z="0.5" h="1.57079632679"/>
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</TeleportAction>
</PrivateAction>
<PrivateAction>
<ControllerAction>
<AssignControllerAction>
<Controller name="HeroAgent">
<Properties>
<Property name="module" value="external_control"/>
</Properties>
</Controller>
</AssignControllerAction>
<OverrideControllerValueAction>
<Throttle value="0" active="false"/>
<Brake value="0" active="false"/>
<Clutch value="0" active="false"/>
<ParkingBrake value="0" active="false"/>
<SteeringWheel value="0" active="false"/>
<Gear number="0" active="false"/>
</OverrideControllerValueAction>
</ControllerAction>
</PrivateAction>
</Private>
<Private entityRef="adversary">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-9.4" y="-71.0" z="0.5" h="1.57079632679"/>
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</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="standing">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-8.2" y="29.2" z="0.5" h="1.57079632679"/>
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</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_close_to_adversary_6343">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-9.781024932861328" y="-80.3978500366211" z="0.03380393981933594"/>
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</TeleportAction>
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</Private>
<Private entityRef="pedestrian_w_transform_6344">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="93.24447631835938" y="-27.69540786743164" z="0.5"/>
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</TeleportAction>
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</Private>
<Private entityRef="pedestrian_w_transform_6345">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="47.668312072753906" y="91.7364730834961" z="0.5"/>
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</TeleportAction>
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</Private>
<Private entityRef="pedestrian_w_transform_6346">
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<TeleportAction>
<Position>
<WorldPosition x="-6.118649959564209" y="-35.916954040527344" z="0.5"/>
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<Private entityRef="pedestrian_close_to_standing_6347">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-6.798094749450684" y="35.63328552246094" z="0.003039398230612278"/>
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</TeleportAction>
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</Private>
<Private entityRef="pedestrian_w_transform_6348">
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<TeleportAction>
<Position>
<WorldPosition x="-8.231471061706543" y="75.03634643554688" z="0.5"/>
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</TeleportAction>
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</Private>
<Private entityRef="pedestrian_w_transform_6349">
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<TeleportAction>
<Position>
<WorldPosition x="8.228979110717773" y="-35.92496871948242" z="0.5"/>
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<Private entityRef="pedestrian_close_to_standing_6350">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-7.822596073150635" y="38.63713073730469" z="0.0030062864534556866"/>
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</TeleportAction>
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<Private entityRef="pedestrian_w_transform_6352">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-69.42144775390625" y="-43.94129943847656" z="0.5"/>
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</TeleportAction>
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<Private entityRef="pedestrian_close_to_adversary_6353">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-12.614557266235352" y="-63.02130126953125" z="0.03382667526602745"/>
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<Private entityRef="pedestrian_w_transform_6354">
<PrivateAction>
<TeleportAction>
<Position>
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<Private entityRef="pedestrian_w_transform_6356">
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<TeleportAction>
<Position>
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<Private entityRef="pedestrian_close_to_hero_6357">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-19.394222259521484" y="-162.7159423828125" z="0.0014286803780123591"/>
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<Private entityRef="pedestrian_w_transform_6358">
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<TeleportAction>
<Position>
<WorldPosition x="-37.91239929199219" y="50.58190155029297" z="0.5"/>
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</TeleportAction>
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<Private entityRef="pedestrian_close_to_hero_6359">
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<TeleportAction>
<Position>
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<Private entityRef="pedestrian_w_transform_6360">
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<TeleportAction>
<Position>
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<Private entityRef="pedestrian_w_transform_6361">
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<Position>
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<Private entityRef="pedestrian_w_transform_6362">
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<Position>
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<Private entityRef="pedestrian_close_to_standing_6363">
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<TeleportAction>
<Position>
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<Private entityRef="pedestrian_w_transform_6364">
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<TeleportAction>
<Position>
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<Private entityRef="pedestrian_w_transform_6365">
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<TeleportAction>
<Position>
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</TeleportAction>
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<Private entityRef="pedestrian_w_transform_6367">
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<TeleportAction>
<Position>
<WorldPosition x="43.94333267211914" y="82.63459777832031" z="0.5"/>
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</TeleportAction>
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</Actions>
</Init>
<Story name="MyStory">
<Act name="Behavior">
<ManeuverGroup maximumExecutionCount="1" name="ManeuverSequence">
<Actors selectTriggeringEntities="false">
<EntityRef entityRef="adversary"/>
</Actors>
<Maneuver name="LaneChangeSimpleManeuver">
<Event name="AdversaryAccelerates" priority="overwrite">
<Action name="AdversaryAccelerates">
<PrivateAction>
<LongitudinalAction>
<SpeedAction>
<SpeedActionDynamics dynamicsShape="step" value="50" dynamicsDimension="distance"/>
<SpeedActionTarget>
<AbsoluteTargetSpeed value="5.0"/>
</SpeedActionTarget>
</SpeedAction>
</LongitudinalAction>
</PrivateAction>
</Action>
<StartTrigger>
<ConditionGroup>
<Condition name="StartCondition" delay="0" conditionEdge="rising">
<ByEntityCondition>
<TriggeringEntities triggeringEntitiesRule="any">
<EntityRef entityRef="hero"/>
</TriggeringEntities>
<EntityCondition>
<RelativeDistanceCondition entityRef="adversary" relativeDistanceType="cartesianDistance" value="40.0" freespace="false" rule="lessThan"/>
</EntityCondition>
</ByEntityCondition>
</Condition>
</ConditionGroup>
</StartTrigger>
</Event>
<Event name="AdversaryChangesLane" priority="overwrite">
<Action name="AdversaryChangesLane">
<PrivateAction>
<LateralAction>
<LaneChangeAction>
<LaneChangeActionDynamics dynamicsShape="linear" value="25" dynamicsDimension="distance"/>
<LaneChangeTarget>
<RelativeTargetLane entityRef="adversary" value="-1"/>
</LaneChangeTarget>
</LaneChangeAction>
</LateralAction>
</PrivateAction>
</Action>
<StartTrigger>
<ConditionGroup>
<Condition name="AfterAdversaryAccelerates" delay="0" conditionEdge="rising">
<ByValueCondition>
<StoryboardElementStateCondition storyboardElementType="action" storyboardElementRef="AdversaryAccelerates" state="completeState"/>
</ByValueCondition>
</Condition>
</ConditionGroup>
</StartTrigger>
</Event>
</Maneuver>
</ManeuverGroup>
<StartTrigger>
<ConditionGroup>
<Condition name="OverallStartCondition" delay="0" conditionEdge="rising">
<ByEntityCondition>
<TriggeringEntities triggeringEntitiesRule="any">
<EntityRef entityRef="hero"/>
</TriggeringEntities>
<EntityCondition>
<TraveledDistanceCondition value="1.0"/>
</EntityCondition>
</ByEntityCondition>
</Condition>
<Condition name="StartTime" delay="0" conditionEdge="rising">
<ByValueCondition>
<SimulationTimeCondition value="0" rule="equalTo"/>
</ByValueCondition>
</Condition>
</ConditionGroup>
</StartTrigger>
<StopTrigger>
<ConditionGroup>
<Condition name="EndCondition" delay="0" conditionEdge="rising">
<ByEntityCondition>
<TriggeringEntities triggeringEntitiesRule="any">
<EntityRef entityRef="hero"/>
</TriggeringEntities>
<EntityCondition>
<TraveledDistanceCondition value="200.0"/>
</EntityCondition>
</ByEntityCondition>
</Condition>
</ConditionGroup>
</StopTrigger>
</Act>
</Story>
<StopTrigger>
<ConditionGroup>
<Condition name="criteria_RunningStopTest" delay="0" conditionEdge="rising">
<ByValueCondition>
<ParameterCondition parameterRef="" value="" rule="lessThan"/>
</ByValueCondition>
</Condition>
<Condition name="criteria_RunningRedLightTest" delay="0" conditionEdge="rising">
<ByValueCondition>
<ParameterCondition parameterRef="" value="" rule="lessThan"/>
</ByValueCondition>
</Condition>
<Condition name="criteria_WrongLaneTest" delay="0" conditionEdge="rising">
<ByValueCondition>
<ParameterCondition parameterRef="" value="" rule="lessThan"/>
</ByValueCondition>
</Condition>
<Condition name="criteria_OnSidewalkTest" delay="0" conditionEdge="rising">
<ByValueCondition>
<ParameterCondition parameterRef="" value="" rule="lessThan"/>
</ByValueCondition>
</Condition>
<Condition name="criteria_KeepLaneTest" delay="0" conditionEdge="rising">
<ByValueCondition>
<ParameterCondition parameterRef="" value="" rule="lessThan"/>
</ByValueCondition>
</Condition>
<Condition name="criteria_CollisionTest" delay="0" conditionEdge="rising">
<ByValueCondition>
<ParameterCondition parameterRef="" value="" rule="lessThan"/>
</ByValueCondition>
</Condition>
<Condition name="criteria_DrivenDistanceTest" delay="0" conditionEdge="rising">
<ByValueCondition>
<ParameterCondition parameterRef="distance_success" value="100" rule="lessThan"/>
</ByValueCondition>
</Condition>
</ConditionGroup>
</StopTrigger>
</Storyboard>
</OpenSCENARIO>
``` |
i need you to add pedestrian at location (12.28, 24.39, 0.5)?
```
<?xml version="1.0" ?>
<OpenSCENARIO>
<FileHeader revMajor="1" revMinor="0" date="2020-03-24T12:00:00" description="CARLA:LaneChangeSimple" author=""/>
<ParameterDeclarations/>
<CatalogLocations/>
<RoadNetwork>
<LogicFile filepath="Town04"/>
<SceneGraphFile filepath=""/>
</RoadNetwork>
<Entities>
<ScenarioObject name="hero">
<Vehicle name="vehicle.tesla.model3" vehicleCategory="car">
<ParameterDeclarations/>
<Performance maxSpeed="69.444" maxAcceleration="200" maxDeceleration="10.0"/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2.1" length="4.5" height="1.8"/>
</BoundingBox>
<Axles>
<FrontAxle maxSteering="0.5" wheelDiameter="0.6" trackWidth="1.8" positionX="3.1" positionZ="0.3"/>
<RearAxle maxSteering="0.0" wheelDiameter="0.6" trackWidth="1.8" positionX="0.0" positionZ="0.3"/>
</Axles>
<Properties>
<Property name="type" value="ego_vehicle"/>
</Properties>
</Vehicle>
</ScenarioObject>
<ScenarioObject name="adversary">
<Vehicle name="vehicle.lincoln.mkz_2017" vehicleCategory="car">
<ParameterDeclarations/>
<Performance maxSpeed="69.444" maxAcceleration="200" maxDeceleration="10.0"/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2.1" length="4.5" height="1.8"/>
</BoundingBox>
<Axles>
<FrontAxle maxSteering="0.5" wheelDiameter="0.6" trackWidth="1.8" positionX="3.1" positionZ="0.3"/>
<RearAxle maxSteering="0.0" wheelDiameter="0.6" trackWidth="1.8" positionX="0.0" positionZ="0.3"/>
</Axles>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Vehicle>
</ScenarioObject>
<ScenarioObject name="standing">
<Vehicle name="vehicle.volkswagen.t2" vehicleCategory="car">
<ParameterDeclarations/>
<Performance maxSpeed="69.444" maxAcceleration="200" maxDeceleration="10.0"/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2.1" length="4.5" height="1.8"/>
</BoundingBox>
<Axles>
<FrontAxle maxSteering="0.5" wheelDiameter="0.6" trackWidth="1.8" positionX="3.1" positionZ="0.3"/>
<RearAxle maxSteering="0.0" wheelDiameter="0.6" trackWidth="1.8" positionX="0.0" positionZ="0.3"/>
</Axles>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Vehicle>
</ScenarioObject>
<ScenarioObject name="pedestrian_close_to_hero_4793">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_w_transform_4794">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_w_transform_4795">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_close_to_standing_4796">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_close_to_standing_4797">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_close_to_standing_4798">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_close_to_adversary_4799">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_close_to_standing_4800">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_w_transform_4801">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_close_to_standing_4802">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_w_transform_4803">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_w_transform_4804">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
</Entities>
<Storyboard>
<Init>
<Actions>
<GlobalAction>
<EnvironmentAction>
<Environment name="Environment1">
<TimeOfDay animation="false" dateTime="2019-06-25T12:00:00"/>
<Weather cloudState="free">
<Sun intensity="0.85" azimuth="0" elevation="1.31"/>
<Fog visualRange="100000.0"/>
<Precipitation precipitationType="dry" intensity="0.0"/>
</Weather>
<RoadCondition frictionScaleFactor="1.0"/>
</Environment>
</EnvironmentAction>
</GlobalAction>
<Private entityRef="hero">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-9.4" y="-152.8" z="0.5" h="1.57079632679"/>
</Position>
</TeleportAction>
</PrivateAction>
<PrivateAction>
<ControllerAction>
<AssignControllerAction>
<Controller name="HeroAgent">
<Properties>
<Property name="module" value="external_control"/>
</Properties>
</Controller>
</AssignControllerAction>
<OverrideControllerValueAction>
<Throttle value="0" active="false"/>
<Brake value="0" active="false"/>
<Clutch value="0" active="false"/>
<ParkingBrake value="0" active="false"/>
<SteeringWheel value="0" active="false"/>
<Gear number="0" active="false"/>
</OverrideControllerValueAction>
</ControllerAction>
</PrivateAction>
</Private>
<Private entityRef="adversary">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-9.4" y="-71.0" z="0.5" h="1.57079632679"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="standing">
<PrivateAction>
<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_4793">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-8.615082740783691" y="-145.49728393554688" z="0.0014286803780123591"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_w_transform_4794">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="22.353336334228516" y="-35.988189697265625" z="0.5"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_w_transform_4795">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="99.32990264892578" y="-87.8660888671875" z="0.5"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_close_to_standing_4796">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-8.088045120239258" y="22.89482879638672" z="0.0030339050572365522"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_close_to_standing_4797">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-1.414651870727539" y="29.472965240478516" z="0.003035430796444416"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_close_to_standing_4798">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="0.23428833484649658" y="20.42462158203125" z="0.00305423722602427"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_close_to_adversary_4799">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-8.124013900756836" y="-78.94554901123047" z="0.03380611166357994"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_close_to_standing_4800">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-17.834218978881836" y="27.11946678161621" z="0.003030128311365843"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_w_transform_4801">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="64.84052276611328" y="-47.459693908691406" z="0.5"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_close_to_standing_4802">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-18.149080276489258" y="30.710859298706055" z="0.003110236953943968"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_w_transform_4803">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="4.529443264007568" y="31.91478157043457" z="0.5"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_w_transform_4804">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="12.767419815063477" y="-52.507781982421875" z="0.5"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
</Actions>
</Init>
<Story name="MyStory">
<Act name="Behavior">
<ManeuverGroup maximumExecutionCount="1" name="ManeuverSequence">
<Actors selectTriggeringEntities="false">
<EntityRef entityRef="adversary"/>
</Actors>
<Maneuver name="LaneChangeSimpleManeuver">
<Event name="AdversaryAccelerates" priority="overwrite">
<Action name="AdversaryAccelerates">
<PrivateAction>
<LongitudinalAction>
<SpeedAction>
<SpeedActionDynamics dynamicsShape="step" value="50" dynamicsDimension="distance"/>
<SpeedActionTarget>
<AbsoluteTargetSpeed value="5.0"/>
</SpeedActionTarget>
</SpeedAction>
</LongitudinalAction>
</PrivateAction>
</Action>
<StartTrigger>
<ConditionGroup>
<Condition name="StartCondition" delay="0" conditionEdge="rising">
<ByEntityCondition>
<TriggeringEntities triggeringEntitiesRule="any">
<EntityRef entityRef="hero"/>
</TriggeringEntities>
<EntityCondition>
<RelativeDistanceCondition entityRef="adversary" relativeDistanceType="cartesianDistance" value="40.0" freespace="false" rule="lessThan"/>
</EntityCondition>
</ByEntityCondition>
</Condition>
</ConditionGroup>
</StartTrigger>
</Event>
<Event name="AdversaryChangesLane" priority="overwrite">
<Action name="AdversaryChangesLane">
<PrivateAction>
<LateralAction>
<LaneChangeAction>
<LaneChangeActionDynamics dynamicsShape="linear" value="25" dynamicsDimension="distance"/>
<LaneChangeTarget>
<RelativeTargetLane entityRef="adversary" value="-1"/>
</LaneChangeTarget>
</LaneChangeAction>
</LateralAction>
</PrivateAction>
</Action>
<StartTrigger>
<ConditionGroup>
<Condition name="AfterAdversaryAccelerates" delay="0" conditionEdge="rising">
<ByValueCondition>
<StoryboardElementStateCondition storyboardElementType="action" storyboardElementRef="AdversaryAccelerates" state="completeState"/>
</ByValueCondition>
</Condition>
</ConditionGroup>
</StartTrigger>
</Event>
</Maneuver>
</ManeuverGroup>
<StartTrigger>
<ConditionGroup>
<Condition name="OverallStartCondition" delay="0" conditionEdge="rising">
<ByEntityCondition>
<TriggeringEntities triggeringEntitiesRule="any">
<EntityRef entityRef="hero"/>
</TriggeringEntities>
<EntityCondition>
<TraveledDistanceCondition value="1.0"/>
</EntityCondition>
</ByEntityCondition>
</Condition>
<Condition name="StartTime" delay="0" conditionEdge="rising">
<ByValueCondition>
<SimulationTimeCondition value="0" rule="equalTo"/>
</ByValueCondition>
</Condition>
</ConditionGroup>
</StartTrigger>
<StopTrigger>
<ConditionGroup>
<Condition name="EndCondition" delay="0" conditionEdge="rising">
<ByEntityCondition>
<TriggeringEntities triggeringEntitiesRule="any">
<EntityRef entityRef="hero"/>
</TriggeringEntities>
<EntityCondition>
<TraveledDistanceCondition value="200.0"/>
</EntityCondition>
</ByEntityCondition>
</Condition>
</ConditionGroup>
</StopTrigger>
</Act>
</Story>
<StopTrigger>
<ConditionGroup>
<Condition name="criteria_RunningStopTest" delay="0" conditionEdge="rising">
<ByValueCondition>
<ParameterCondition parameterRef="" value="" rule="lessThan"/>
</ByValueCondition>
</Condition>
<Condition name="criteria_RunningRedLightTest" delay="0" conditionEdge="rising">
<ByValueCondition>
<ParameterCondition parameterRef="" value="" rule="lessThan"/>
</ByValueCondition>
</Condition>
<Condition name="criteria_WrongLaneTest" delay="0" conditionEdge="rising">
<ByValueCondition>
<ParameterCondition parameterRef="" value="" rule="lessThan"/>
</ByValueCondition>
</Condition>
<Condition name="criteria_OnSidewalkTest" delay="0" conditionEdge="rising">
<ByValueCondition>
<ParameterCondition parameterRef="" value="" rule="lessThan"/>
</ByValueCondition>
</Condition>
<Condition name="criteria_KeepLaneTest" delay="0" conditionEdge="rising">
<ByValueCondition>
<ParameterCondition parameterRef="" value="" rule="lessThan"/>
</ByValueCondition>
</Condition>
<Condition name="criteria_CollisionTest" delay="0" conditionEdge="rising">
<ByValueCondition>
<ParameterCondition parameterRef="" value="" rule="lessThan"/>
</ByValueCondition>
</Condition>
<Condition name="criteria_DrivenDistanceTest" delay="0" conditionEdge="rising">
<ByValueCondition>
<ParameterCondition parameterRef="distance_success" value="100" rule="lessThan"/>
</ByValueCondition>
</Condition>
</ConditionGroup>
</StopTrigger>
</Storyboard>
</OpenSCENARIO>
``` | Here is the result:
```
<?xml version="1.0" ?>
<OpenSCENARIO>
<FileHeader revMajor="1" revMinor="0" date="2020-03-24T12:00:00" description="CARLA:LaneChangeSimple" author=""/>
<ParameterDeclarations/>
<CatalogLocations/>
<RoadNetwork>
<LogicFile filepath="Town04"/>
<SceneGraphFile filepath=""/>
</RoadNetwork>
<Entities>
<ScenarioObject name="hero">
<Vehicle name="vehicle.tesla.model3" vehicleCategory="car">
<ParameterDeclarations/>
<Performance maxSpeed="69.444" maxAcceleration="200" maxDeceleration="10.0"/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2.1" length="4.5" height="1.8"/>
</BoundingBox>
<Axles>
<FrontAxle maxSteering="0.5" wheelDiameter="0.6" trackWidth="1.8" positionX="3.1" positionZ="0.3"/>
<RearAxle maxSteering="0.0" wheelDiameter="0.6" trackWidth="1.8" positionX="0.0" positionZ="0.3"/>
</Axles>
<Properties>
<Property name="type" value="ego_vehicle"/>
</Properties>
</Vehicle>
</ScenarioObject>
<ScenarioObject name="adversary">
<Vehicle name="vehicle.lincoln.mkz_2017" vehicleCategory="car">
<ParameterDeclarations/>
<Performance maxSpeed="69.444" maxAcceleration="200" maxDeceleration="10.0"/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2.1" length="4.5" height="1.8"/>
</BoundingBox>
<Axles>
<FrontAxle maxSteering="0.5" wheelDiameter="0.6" trackWidth="1.8" positionX="3.1" positionZ="0.3"/>
<RearAxle maxSteering="0.0" wheelDiameter="0.6" trackWidth="1.8" positionX="0.0" positionZ="0.3"/>
</Axles>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Vehicle>
</ScenarioObject>
<ScenarioObject name="standing">
<Vehicle name="vehicle.volkswagen.t2" vehicleCategory="car">
<ParameterDeclarations/>
<Performance maxSpeed="69.444" maxAcceleration="200" maxDeceleration="10.0"/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2.1" length="4.5" height="1.8"/>
</BoundingBox>
<Axles>
<FrontAxle maxSteering="0.5" wheelDiameter="0.6" trackWidth="1.8" positionX="3.1" positionZ="0.3"/>
<RearAxle maxSteering="0.0" wheelDiameter="0.6" 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_4793">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_w_transform_4794">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_w_transform_4795">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_close_to_standing_4796">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_close_to_standing_4797">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_close_to_standing_4798">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_close_to_adversary_4799">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_close_to_standing_4800">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_w_transform_4801">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_close_to_standing_4802">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_w_transform_4803">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_w_transform_4804">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_w_transform_4805">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
</Entities>
<Storyboard>
<Init>
<Actions>
<GlobalAction>
<EnvironmentAction>
<Environment name="Environment1">
<TimeOfDay animation="false" dateTime="2019-06-25T12:00:00"/>
<Weather cloudState="free">
<Sun intensity="0.85" azimuth="0" elevation="1.31"/>
<Fog visualRange="100000.0"/>
<Precipitation precipitationType="dry" intensity="0.0"/>
</Weather>
<RoadCondition frictionScaleFactor="1.0"/>
</Environment>
</EnvironmentAction>
</GlobalAction>
<Private entityRef="hero">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-9.4" y="-152.8" z="0.5" h="1.57079632679"/>
</Position>
</TeleportAction>
</PrivateAction>
<PrivateAction>
<ControllerAction>
<AssignControllerAction>
<Controller name="HeroAgent">
<Properties>
<Property name="module" value="external_control"/>
</Properties>
</Controller>
</AssignControllerAction>
<OverrideControllerValueAction>
<Throttle value="0" active="false"/>
<Brake value="0" active="false"/>
<Clutch value="0" active="false"/>
<ParkingBrake value="0" active="false"/>
<SteeringWheel value="0" active="false"/>
<Gear number="0" active="false"/>
</OverrideControllerValueAction>
</ControllerAction>
</PrivateAction>
</Private>
<Private entityRef="adversary">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-9.4" y="-71.0" z="0.5" h="1.57079632679"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="standing">
<PrivateAction>
<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_4793">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-8.615082740783691" y="-145.49728393554688" z="0.0014286803780123591"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_w_transform_4794">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="22.353336334228516" y="-35.988189697265625" z="0.5"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_w_transform_4795">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="99.32990264892578" y="-87.8660888671875" z="0.5"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_close_to_standing_4796">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-8.088045120239258" y="22.89482879638672" z="0.0030339050572365522"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_close_to_standing_4797">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-1.414651870727539" y="29.472965240478516" z="0.003035430796444416"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_close_to_standing_4798">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="0.23428833484649658" y="20.42462158203125" z="0.00305423722602427"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_close_to_adversary_4799">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-8.124013900756836" y="-78.94554901123047" z="0.03380611166357994"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_close_to_standing_4800">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-17.834218978881836" y="27.11946678161621" z="0.003030128311365843"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_w_transform_4801">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="64.84052276611328" y="-47.459693908691406" z="0.5"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_close_to_standing_4802">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-18.149080276489258" y="30.710859298706055" z="0.003110236953943968"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_w_transform_4803">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="4.529443264007568" y="31.91478157043457" z="0.5"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_w_transform_4804">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="12.767419815063477" y="-52.507781982421875" z="0.5"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_w_transform_4805">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="12.282527923583984" y="24.394941329956055" z="0.5"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
</Actions>
</Init>
<Story name="MyStory">
<Act name="Behavior">
<ManeuverGroup maximumExecutionCount="1" name="ManeuverSequence">
<Actors selectTriggeringEntities="false">
<EntityRef entityRef="adversary"/>
</Actors>
<Maneuver name="LaneChangeSimpleManeuver">
<Event name="AdversaryAccelerates" priority="overwrite">
<Action name="AdversaryAccelerates">
<PrivateAction>
<LongitudinalAction>
<SpeedAction>
<SpeedActionDynamics dynamicsShape="step" value="50" dynamicsDimension="distance"/>
<SpeedActionTarget>
<AbsoluteTargetSpeed value="5.0"/>
</SpeedActionTarget>
</SpeedAction>
</LongitudinalAction>
</PrivateAction>
</Action>
<StartTrigger>
<ConditionGroup>
<Condition name="StartCondition" delay="0" conditionEdge="rising">
<ByEntityCondition>
<TriggeringEntities triggeringEntitiesRule="any">
<EntityRef entityRef="hero"/>
</TriggeringEntities>
<EntityCondition>
<RelativeDistanceCondition entityRef="adversary" relativeDistanceType="cartesianDistance" value="40.0" freespace="false" rule="lessThan"/>
</EntityCondition>
</ByEntityCondition>
</Condition>
</ConditionGroup>
</StartTrigger>
</Event>
<Event name="AdversaryChangesLane" priority="overwrite">
<Action name="AdversaryChangesLane">
<PrivateAction>
<LateralAction>
<LaneChangeAction>
<LaneChangeActionDynamics dynamicsShape="linear" value="25" dynamicsDimension="distance"/>
<LaneChangeTarget>
<RelativeTargetLane entityRef="adversary" value="-1"/>
</LaneChangeTarget>
</LaneChangeAction>
</LateralAction>
</PrivateAction>
</Action>
<StartTrigger>
<ConditionGroup>
<Condition name="AfterAdversaryAccelerates" delay="0" conditionEdge="rising">
<ByValueCondition>
<StoryboardElementStateCondition storyboardElementType="action" storyboardElementRef="AdversaryAccelerates" state="completeState"/>
</ByValueCondition>
</Condition>
</ConditionGroup>
</StartTrigger>
</Event>
</Maneuver>
</ManeuverGroup>
<StartTrigger>
<ConditionGroup>
<Condition name="OverallStartCondition" delay="0" conditionEdge="rising">
<ByEntityCondition>
<TriggeringEntities triggeringEntitiesRule="any">
<EntityRef entityRef="hero"/>
</TriggeringEntities>
<EntityCondition>
<TraveledDistanceCondition value="1.0"/>
</EntityCondition>
</ByEntityCondition>
</Condition>
<Condition name="StartTime" delay="0" conditionEdge="rising">
<ByValueCondition>
<SimulationTimeCondition value="0" rule="equalTo"/>
</ByValueCondition>
</Condition>
</ConditionGroup>
</StartTrigger>
<StopTrigger>
<ConditionGroup>
<Condition name="EndCondition" delay="0" conditionEdge="rising">
<ByEntityCondition>
<TriggeringEntities triggeringEntitiesRule="any">
<EntityRef entityRef="hero"/>
</TriggeringEntities>
<EntityCondition>
<TraveledDistanceCondition value="200.0"/>
</EntityCondition>
</ByEntityCondition>
</Condition>
</ConditionGroup>
</StopTrigger>
</Act>
</Story>
<StopTrigger>
<ConditionGroup>
<Condition name="criteria_RunningStopTest" delay="0" conditionEdge="rising">
<ByValueCondition>
<ParameterCondition parameterRef="" value="" rule="lessThan"/>
</ByValueCondition>
</Condition>
<Condition name="criteria_RunningRedLightTest" delay="0" conditionEdge="rising">
<ByValueCondition>
<ParameterCondition parameterRef="" value="" rule="lessThan"/>
</ByValueCondition>
</Condition>
<Condition name="criteria_WrongLaneTest" delay="0" conditionEdge="rising">
<ByValueCondition>
<ParameterCondition parameterRef="" value="" rule="lessThan"/>
</ByValueCondition>
</Condition>
<Condition name="criteria_OnSidewalkTest" delay="0" conditionEdge="rising">
<ByValueCondition>
<ParameterCondition parameterRef="" value="" rule="lessThan"/>
</ByValueCondition>
</Condition>
<Condition name="criteria_KeepLaneTest" delay="0" conditionEdge="rising">
<ByValueCondition>
<ParameterCondition parameterRef="" value="" rule="lessThan"/>
</ByValueCondition>
</Condition>
<Condition name="criteria_CollisionTest" delay="0" conditionEdge="rising">
<ByValueCondition>
<ParameterCondition parameterRef="" value="" rule="lessThan"/>
</ByValueCondition>
</Condition>
<Condition name="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 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_9117">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_close_to_standing_9118">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_close_to_standing_9119">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_w_transform_9120">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_close_to_hero_9121">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_w_transform_9122">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_w_transform_9123">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_close_to_adversary_9125">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_w_transform_9126">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_close_to_adversary_9127">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_close_to_standing_9128">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_w_transform_9129">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_close_to_adversary_9130">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_close_to_hero_9131">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_w_transform_9132">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_close_to_hero_9133">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_w_transform_9134">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_close_to_hero_9135">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_close_to_standing_9136">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_close_to_adversary_9137">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_close_to_adversary_9138">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_close_to_adversary_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_w_transform_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_standing_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>
</Entities>
<Storyboard>
<Init>
<Actions>
<GlobalAction>
<EnvironmentAction>
<Environment name="Environment1">
<TimeOfDay animation="false" dateTime="2019-06-25T12:00:00"/>
<Weather cloudState="free">
<Sun intensity="0.85" azimuth="0" elevation="1.31"/>
<Fog visualRange="100000.0"/>
<Precipitation precipitationType="dry" intensity="0.0"/>
</Weather>
<RoadCondition frictionScaleFactor="1.0"/>
</Environment>
</EnvironmentAction>
</GlobalAction>
<Private entityRef="hero">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-9.4" y="-152.8" z="0.5" h="1.57079632679"/>
</Position>
</TeleportAction>
</PrivateAction>
<PrivateAction>
<ControllerAction>
<AssignControllerAction>
<Controller name="HeroAgent">
<Properties>
<Property name="module" value="external_control"/>
</Properties>
</Controller>
</AssignControllerAction>
<OverrideControllerValueAction>
<Throttle value="0" active="false"/>
<Brake value="0" active="false"/>
<Clutch value="0" active="false"/>
<ParkingBrake value="0" active="false"/>
<SteeringWheel value="0" active="false"/>
<Gear number="0" active="false"/>
</OverrideControllerValueAction>
</ControllerAction>
</PrivateAction>
</Private>
<Private entityRef="adversary">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-9.4" y="-71.0" z="0.5" h="1.57079632679"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="standing">
<PrivateAction>
<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_9117">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-5.324535369873047" y="-146.75949096679688" z="0.0014286803780123591"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_close_to_standing_9118">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-17.64689064025879" y="32.75733184814453" z="0.0030569075606763363"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_close_to_standing_9119">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-5.532926082611084" y="33.15330505371094" z="0.003061599563807249"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_w_transform_9120">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="5.667963027954102" y="5.594189643859863" z="0.5"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_close_to_hero_9121">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-6.768577575683594" y="-151.1776580810547" z="0.0014286803780123591"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_w_transform_9122">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="27.7175350189209" y="48.317962646484375" z="0.5"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_w_transform_9123">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-66.2226791381836" y="35.937808990478516" z="0.5"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_close_to_adversary_9125">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-15.06171703338623" y="-65.31819915771484" z="0.03381717577576637"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_w_transform_9126">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="74.39990234375" y="-10.039945602416992" z="0.5"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_close_to_adversary_9127">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-6.835875034332275" y="-67.72044372558594" z="0.03376850113272667"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_close_to_standing_9128">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-8.764959335327148" y="21.96953582763672" z="0.0030887604225426912"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_w_transform_9129">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-38.33465576171875" y="-5.9899139404296875" z="0.5"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_close_to_adversary_9130">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-3.326672077178955" y="-75.30662536621094" z="0.03376438096165657"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_close_to_hero_9131">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-14.23336410522461" y="-160.42706298828125" z="0.0014286803780123591"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_w_transform_9132">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-7.688538551330566" y="83.28427124023438" z="0.5"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_close_to_hero_9133">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-5.96436071395874" y="-156.41571044921875" z="0.0014286803780123591"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_w_transform_9134">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-36.663047790527344" y="20.898815155029297" z="0.5"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_close_to_hero_9135">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-22.595012664794922" y="-153.1511688232422" z="0.0014286803780123591"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_close_to_standing_9136">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-2.406351327896118" y="25.94807243347168" z="0.003055305453017354"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_close_to_adversary_9137">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-1.441235065460205" y="-71.35505676269531" z="0.03383617475628853"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_close_to_adversary_9138">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-7.704182147979736" y="-74.08137512207031" z="0.03382358327507973"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_close_to_adversary_9139">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-6.5074687004089355" y="-77.36276245117188" z="0.03386161848902702"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_w_transform_9140">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="64.6777114868164" y="-67.97705841064453" z="0.5"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_close_to_standing_9143">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-11.617366790771484" y="38.43437957763672" z="0.0030845641158521175"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
</Actions>
</Init>
<Story name="MyStory">
<Act name="Behavior">
<ManeuverGroup maximumExecutionCount="1" name="ManeuverSequence">
<Actors selectTriggeringEntities="false">
<EntityRef entityRef="adversary"/>
</Actors>
<Maneuver name="LaneChangeSimpleManeuver">
<Event name="AdversaryAccelerates" priority="overwrite">
<Action name="AdversaryAccelerates">
<PrivateAction>
<LongitudinalAction>
<SpeedAction>
<SpeedActionDynamics dynamicsShape="step" value="50" dynamicsDimension="distance"/>
<SpeedActionTarget>
<AbsoluteTargetSpeed value="5.0"/>
</SpeedActionTarget>
</SpeedAction>
</LongitudinalAction>
</PrivateAction>
</Action>
<StartTrigger>
<ConditionGroup>
<Condition name="StartCondition" delay="0" conditionEdge="rising">
<ByEntityCondition>
<TriggeringEntities triggeringEntitiesRule="any">
<EntityRef entityRef="hero"/>
</TriggeringEntities>
<EntityCondition>
<RelativeDistanceCondition entityRef="adversary" relativeDistanceType="cartesianDistance" value="40.0" freespace="false" rule="lessThan"/>
</EntityCondition>
</ByEntityCondition>
</Condition>
</ConditionGroup>
</StartTrigger>
</Event>
<Event name="AdversaryChangesLane" priority="overwrite">
<Action name="AdversaryChangesLane">
<PrivateAction>
<LateralAction>
<LaneChangeAction>
<LaneChangeActionDynamics dynamicsShape="linear" value="25" dynamicsDimension="distance"/>
<LaneChangeTarget>
<RelativeTargetLane entityRef="adversary" value="-1"/>
</LaneChangeTarget>
</LaneChangeAction>
</LateralAction>
</PrivateAction>
</Action>
<StartTrigger>
<ConditionGroup>
<Condition name="AfterAdversaryAccelerates" delay="0" conditionEdge="rising">
<ByValueCondition>
<StoryboardElementStateCondition storyboardElementType="action" storyboardElementRef="AdversaryAccelerates" state="completeState"/>
</ByValueCondition>
</Condition>
</ConditionGroup>
</StartTrigger>
</Event>
</Maneuver>
</ManeuverGroup>
<StartTrigger>
<ConditionGroup>
<Condition name="OverallStartCondition" delay="0" conditionEdge="rising">
<ByEntityCondition>
<TriggeringEntities triggeringEntitiesRule="any">
<EntityRef entityRef="hero"/>
</TriggeringEntities>
<EntityCondition>
<TraveledDistanceCondition value="1.0"/>
</EntityCondition>
</ByEntityCondition>
</Condition>
<Condition name="StartTime" delay="0" conditionEdge="rising">
<ByValueCondition>
<SimulationTimeCondition value="0" rule="equalTo"/>
</ByValueCondition>
</Condition>
</ConditionGroup>
</StartTrigger>
<StopTrigger>
<ConditionGroup>
<Condition name="EndCondition" delay="0" conditionEdge="rising">
<ByEntityCondition>
<TriggeringEntities triggeringEntitiesRule="any">
<EntityRef entityRef="hero"/>
</TriggeringEntities>
<EntityCondition>
<TraveledDistanceCondition value="200.0"/>
</EntityCondition>
</ByEntityCondition>
</Condition>
</ConditionGroup>
</StopTrigger>
</Act>
</Story>
<StopTrigger>
<ConditionGroup>
<Condition name="criteria_RunningStopTest" delay="0" conditionEdge="rising">
<ByValueCondition>
<ParameterCondition parameterRef="" value="" rule="lessThan"/>
</ByValueCondition>
</Condition>
<Condition name="criteria_RunningRedLightTest" delay="0" conditionEdge="rising">
<ByValueCondition>
<ParameterCondition parameterRef="" value="" rule="lessThan"/>
</ByValueCondition>
</Condition>
<Condition name="criteria_WrongLaneTest" delay="0" conditionEdge="rising">
<ByValueCondition>
<ParameterCondition parameterRef="" value="" rule="lessThan"/>
</ByValueCondition>
</Condition>
<Condition name="criteria_OnSidewalkTest" delay="0" conditionEdge="rising">
<ByValueCondition>
<ParameterCondition parameterRef="" value="" rule="lessThan"/>
</ByValueCondition>
</Condition>
<Condition name="criteria_KeepLaneTest" delay="0" conditionEdge="rising">
<ByValueCondition>
<ParameterCondition parameterRef="" value="" rule="lessThan"/>
</ByValueCondition>
</Condition>
<Condition name="criteria_CollisionTest" delay="0" conditionEdge="rising">
<ByValueCondition>
<ParameterCondition parameterRef="" value="" rule="lessThan"/>
</ByValueCondition>
</Condition>
<Condition name="criteria_DrivenDistanceTest" delay="0" conditionEdge="rising">
<ByValueCondition>
<ParameterCondition parameterRef="distance_success" value="100" rule="lessThan"/>
</ByValueCondition>
</Condition>
</ConditionGroup>
</StopTrigger>
</Storyboard>
</OpenSCENARIO>
``` | Here is the result:
```
<?xml version="1.0" ?>
<OpenSCENARIO>
<FileHeader revMajor="1" revMinor="0" date="2020-03-24T12:00:00" description="CARLA:LaneChangeSimple" author=""/>
<ParameterDeclarations/>
<CatalogLocations/>
<RoadNetwork>
<LogicFile filepath="Town04"/>
<SceneGraphFile filepath=""/>
</RoadNetwork>
<Entities>
<ScenarioObject name="hero">
<Vehicle name="vehicle.tesla.model3" vehicleCategory="car">
<ParameterDeclarations/>
<Performance maxSpeed="69.444" maxAcceleration="200" maxDeceleration="10.0"/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2.1" length="4.5" height="1.8"/>
</BoundingBox>
<Axles>
<FrontAxle maxSteering="0.5" wheelDiameter="0.6" trackWidth="1.8" positionX="3.1" positionZ="0.3"/>
<RearAxle maxSteering="0.0" wheelDiameter="0.6" trackWidth="1.8" positionX="0.0" positionZ="0.3"/>
</Axles>
<Properties>
<Property name="type" value="ego_vehicle"/>
</Properties>
</Vehicle>
</ScenarioObject>
<ScenarioObject name="adversary">
<Vehicle name="vehicle.lincoln.mkz_2017" vehicleCategory="car">
<ParameterDeclarations/>
<Performance maxSpeed="69.444" maxAcceleration="200" maxDeceleration="10.0"/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2.1" length="4.5" height="1.8"/>
</BoundingBox>
<Axles>
<FrontAxle maxSteering="0.5" wheelDiameter="0.6" trackWidth="1.8" positionX="3.1" positionZ="0.3"/>
<RearAxle maxSteering="0.0" wheelDiameter="0.6" trackWidth="1.8" positionX="0.0" positionZ="0.3"/>
</Axles>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Vehicle>
</ScenarioObject>
<ScenarioObject name="standing">
<Vehicle name="vehicle.volkswagen.t2" vehicleCategory="car">
<ParameterDeclarations/>
<Performance maxSpeed="69.444" maxAcceleration="200" maxDeceleration="10.0"/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2.1" length="4.5" height="1.8"/>
</BoundingBox>
<Axles>
<FrontAxle maxSteering="0.5" wheelDiameter="0.6" trackWidth="1.8" positionX="3.1" positionZ="0.3"/>
<RearAxle maxSteering="0.0" wheelDiameter="0.6" 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_9117">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_close_to_standing_9118">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_close_to_standing_9119">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_w_transform_9120">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_close_to_hero_9121">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_w_transform_9122">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_w_transform_9123">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_close_to_adversary_9125">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_w_transform_9126">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_close_to_adversary_9127">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_close_to_standing_9128">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_w_transform_9129">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_close_to_adversary_9130">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_close_to_hero_9131">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_w_transform_9132">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_close_to_hero_9133">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_w_transform_9134">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_close_to_hero_9135">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_close_to_standing_9136">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_close_to_adversary_9137">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_close_to_adversary_9138">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_close_to_adversary_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_w_transform_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>
</Entities>
<Storyboard>
<Init>
<Actions>
<GlobalAction>
<EnvironmentAction>
<Environment name="Environment1">
<TimeOfDay animation="false" dateTime="2019-06-25T12:00:00"/>
<Weather cloudState="free">
<Sun intensity="0.85" azimuth="0" elevation="1.31"/>
<Fog visualRange="100000.0"/>
<Precipitation precipitationType="dry" intensity="0.0"/>
</Weather>
<RoadCondition frictionScaleFactor="1.0"/>
</Environment>
</EnvironmentAction>
</GlobalAction>
<Private entityRef="hero">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-9.4" y="-152.8" z="0.5" h="1.57079632679"/>
</Position>
</TeleportAction>
</PrivateAction>
<PrivateAction>
<ControllerAction>
<AssignControllerAction>
<Controller name="HeroAgent">
<Properties>
<Property name="module" value="external_control"/>
</Properties>
</Controller>
</AssignControllerAction>
<OverrideControllerValueAction>
<Throttle value="0" active="false"/>
<Brake value="0" active="false"/>
<Clutch value="0" active="false"/>
<ParkingBrake value="0" active="false"/>
<SteeringWheel value="0" active="false"/>
<Gear number="0" active="false"/>
</OverrideControllerValueAction>
</ControllerAction>
</PrivateAction>
</Private>
<Private entityRef="adversary">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-9.4" y="-71.0" z="0.5" h="1.57079632679"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="standing">
<PrivateAction>
<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_9117">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-5.324535369873047" y="-146.75949096679688" z="0.0014286803780123591"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_close_to_standing_9118">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-17.64689064025879" y="32.75733184814453" z="0.0030569075606763363"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_close_to_standing_9119">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-5.532926082611084" y="33.15330505371094" z="0.003061599563807249"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_w_transform_9120">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="5.667963027954102" y="5.594189643859863" z="0.5"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_close_to_hero_9121">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-6.768577575683594" y="-151.1776580810547" z="0.0014286803780123591"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_w_transform_9122">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="27.7175350189209" y="48.317962646484375" z="0.5"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_w_transform_9123">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-66.2226791381836" y="35.937808990478516" z="0.5"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_close_to_adversary_9125">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-15.06171703338623" y="-65.31819915771484" z="0.03381717577576637"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_w_transform_9126">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="74.39990234375" y="-10.039945602416992" z="0.5"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_close_to_adversary_9127">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-6.835875034332275" y="-67.72044372558594" z="0.03376850113272667"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_close_to_standing_9128">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-8.764959335327148" y="21.96953582763672" z="0.0030887604225426912"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_w_transform_9129">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-38.33465576171875" y="-5.9899139404296875" z="0.5"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_close_to_adversary_9130">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-3.326672077178955" y="-75.30662536621094" z="0.03376438096165657"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_close_to_hero_9131">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-14.23336410522461" y="-160.42706298828125" z="0.0014286803780123591"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_w_transform_9132">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-7.688538551330566" y="83.28427124023438" z="0.5"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_close_to_hero_9133">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-5.96436071395874" y="-156.41571044921875" z="0.0014286803780123591"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_w_transform_9134">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-36.663047790527344" y="20.898815155029297" z="0.5"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_close_to_hero_9135">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-22.595012664794922" y="-153.1511688232422" z="0.0014286803780123591"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_close_to_standing_9136">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-2.406351327896118" y="25.94807243347168" z="0.003055305453017354"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_close_to_adversary_9137">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-1.441235065460205" y="-71.35505676269531" z="0.03383617475628853"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_close_to_adversary_9138">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-7.704182147979736" y="-74.08137512207031" z="0.03382358327507973"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_close_to_adversary_9139">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-6.5074687004089355" y="-77.36276245117188" z="0.03386161848902702"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_w_transform_9140">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="64.6777114868164" y="-67.97705841064453" z="0.5"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
</Actions>
</Init>
<Story name="MyStory">
<Act name="Behavior">
<ManeuverGroup maximumExecutionCount="1" name="ManeuverSequence">
<Actors selectTriggeringEntities="false">
<EntityRef entityRef="adversary"/>
</Actors>
<Maneuver name="LaneChangeSimpleManeuver">
<Event name="AdversaryAccelerates" priority="overwrite">
<Action name="AdversaryAccelerates">
<PrivateAction>
<LongitudinalAction>
<SpeedAction>
<SpeedActionDynamics dynamicsShape="step" value="50" dynamicsDimension="distance"/>
<SpeedActionTarget>
<AbsoluteTargetSpeed value="5.0"/>
</SpeedActionTarget>
</SpeedAction>
</LongitudinalAction>
</PrivateAction>
</Action>
<StartTrigger>
<ConditionGroup>
<Condition name="StartCondition" delay="0" conditionEdge="rising">
<ByEntityCondition>
<TriggeringEntities triggeringEntitiesRule="any">
<EntityRef entityRef="hero"/>
</TriggeringEntities>
<EntityCondition>
<RelativeDistanceCondition entityRef="adversary" relativeDistanceType="cartesianDistance" value="40.0" freespace="false" rule="lessThan"/>
</EntityCondition>
</ByEntityCondition>
</Condition>
</ConditionGroup>
</StartTrigger>
</Event>
<Event name="AdversaryChangesLane" priority="overwrite">
<Action name="AdversaryChangesLane">
<PrivateAction>
<LateralAction>
<LaneChangeAction>
<LaneChangeActionDynamics dynamicsShape="linear" value="25" dynamicsDimension="distance"/>
<LaneChangeTarget>
<RelativeTargetLane entityRef="adversary" value="-1"/>
</LaneChangeTarget>
</LaneChangeAction>
</LateralAction>
</PrivateAction>
</Action>
<StartTrigger>
<ConditionGroup>
<Condition name="AfterAdversaryAccelerates" delay="0" conditionEdge="rising">
<ByValueCondition>
<StoryboardElementStateCondition storyboardElementType="action" storyboardElementRef="AdversaryAccelerates" state="completeState"/>
</ByValueCondition>
</Condition>
</ConditionGroup>
</StartTrigger>
</Event>
</Maneuver>
</ManeuverGroup>
<StartTrigger>
<ConditionGroup>
<Condition name="OverallStartCondition" delay="0" conditionEdge="rising">
<ByEntityCondition>
<TriggeringEntities triggeringEntitiesRule="any">
<EntityRef entityRef="hero"/>
</TriggeringEntities>
<EntityCondition>
<TraveledDistanceCondition value="1.0"/>
</EntityCondition>
</ByEntityCondition>
</Condition>
<Condition name="StartTime" delay="0" conditionEdge="rising">
<ByValueCondition>
<SimulationTimeCondition value="0" rule="equalTo"/>
</ByValueCondition>
</Condition>
</ConditionGroup>
</StartTrigger>
<StopTrigger>
<ConditionGroup>
<Condition name="EndCondition" delay="0" conditionEdge="rising">
<ByEntityCondition>
<TriggeringEntities triggeringEntitiesRule="any">
<EntityRef entityRef="hero"/>
</TriggeringEntities>
<EntityCondition>
<TraveledDistanceCondition value="200.0"/>
</EntityCondition>
</ByEntityCondition>
</Condition>
</ConditionGroup>
</StopTrigger>
</Act>
</Story>
<StopTrigger>
<ConditionGroup>
<Condition name="criteria_RunningStopTest" delay="0" conditionEdge="rising">
<ByValueCondition>
<ParameterCondition parameterRef="" value="" rule="lessThan"/>
</ByValueCondition>
</Condition>
<Condition name="criteria_RunningRedLightTest" delay="0" conditionEdge="rising">
<ByValueCondition>
<ParameterCondition parameterRef="" value="" rule="lessThan"/>
</ByValueCondition>
</Condition>
<Condition name="criteria_WrongLaneTest" delay="0" conditionEdge="rising">
<ByValueCondition>
<ParameterCondition parameterRef="" value="" rule="lessThan"/>
</ByValueCondition>
</Condition>
<Condition name="criteria_OnSidewalkTest" delay="0" conditionEdge="rising">
<ByValueCondition>
<ParameterCondition parameterRef="" value="" rule="lessThan"/>
</ByValueCondition>
</Condition>
<Condition name="criteria_KeepLaneTest" delay="0" conditionEdge="rising">
<ByValueCondition>
<ParameterCondition parameterRef="" value="" rule="lessThan"/>
</ByValueCondition>
</Condition>
<Condition name="criteria_CollisionTest" delay="0" conditionEdge="rising">
<ByValueCondition>
<ParameterCondition parameterRef="" value="" rule="lessThan"/>
</ByValueCondition>
</Condition>
<Condition name="criteria_DrivenDistanceTest" delay="0" conditionEdge="rising">
<ByValueCondition>
<ParameterCondition parameterRef="distance_success" value="100" rule="lessThan"/>
</ByValueCondition>
</Condition>
</ConditionGroup>
</StopTrigger>
</Storyboard>
</OpenSCENARIO>
``` |
i would like to lead you to add pedestrian at location (2.42, -22.63, 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_21037">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_close_to_adversary_21038">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_w_transform_21039">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_w_transform_21040">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
</Entities>
<Storyboard>
<Init>
<Actions>
<GlobalAction>
<EnvironmentAction>
<Environment name="Environment1">
<TimeOfDay animation="false" dateTime="2019-06-25T12:00:00"/>
<Weather cloudState="free">
<Sun intensity="0.85" azimuth="0" elevation="1.31"/>
<Fog visualRange="100000.0"/>
<Precipitation precipitationType="dry" intensity="0.0"/>
</Weather>
<RoadCondition frictionScaleFactor="1.0"/>
</Environment>
</EnvironmentAction>
</GlobalAction>
<Private entityRef="hero">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-9.4" y="-152.8" z="0.5" h="1.57079632679"/>
</Position>
</TeleportAction>
</PrivateAction>
<PrivateAction>
<ControllerAction>
<AssignControllerAction>
<Controller name="HeroAgent">
<Properties>
<Property name="module" value="external_control"/>
</Properties>
</Controller>
</AssignControllerAction>
<OverrideControllerValueAction>
<Throttle value="0" active="false"/>
<Brake value="0" active="false"/>
<Clutch value="0" active="false"/>
<ParkingBrake value="0" active="false"/>
<SteeringWheel value="0" active="false"/>
<Gear number="0" active="false"/>
</OverrideControllerValueAction>
</ControllerAction>
</PrivateAction>
</Private>
<Private entityRef="adversary">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-9.4" y="-71.0" z="0.5" h="1.57079632679"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="standing">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-8.2" y="29.2" z="0.5" h="1.57079632679"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_close_to_standing_21037">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-14.790690422058105" y="34.37330627441406" z="0.0030575559940189123"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_close_to_adversary_21038">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="4.829526424407959" y="-79.84087371826172" z="0.03377952426671982"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_w_transform_21039">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-77.2532730102539" y="81.76553344726562" z="0.5"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_w_transform_21040">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="28.515647888183594" y="28.47166633605957" z="0.5"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
</Actions>
</Init>
<Story name="MyStory">
<Act name="Behavior">
<ManeuverGroup maximumExecutionCount="1" name="ManeuverSequence">
<Actors selectTriggeringEntities="false">
<EntityRef entityRef="adversary"/>
</Actors>
<Maneuver name="LaneChangeSimpleManeuver">
<Event name="AdversaryAccelerates" priority="overwrite">
<Action name="AdversaryAccelerates">
<PrivateAction>
<LongitudinalAction>
<SpeedAction>
<SpeedActionDynamics dynamicsShape="step" value="50" dynamicsDimension="distance"/>
<SpeedActionTarget>
<AbsoluteTargetSpeed value="5.0"/>
</SpeedActionTarget>
</SpeedAction>
</LongitudinalAction>
</PrivateAction>
</Action>
<StartTrigger>
<ConditionGroup>
<Condition name="StartCondition" delay="0" conditionEdge="rising">
<ByEntityCondition>
<TriggeringEntities triggeringEntitiesRule="any">
<EntityRef entityRef="hero"/>
</TriggeringEntities>
<EntityCondition>
<RelativeDistanceCondition entityRef="adversary" relativeDistanceType="cartesianDistance" value="40.0" freespace="false" rule="lessThan"/>
</EntityCondition>
</ByEntityCondition>
</Condition>
</ConditionGroup>
</StartTrigger>
</Event>
<Event name="AdversaryChangesLane" priority="overwrite">
<Action name="AdversaryChangesLane">
<PrivateAction>
<LateralAction>
<LaneChangeAction>
<LaneChangeActionDynamics dynamicsShape="linear" value="25" dynamicsDimension="distance"/>
<LaneChangeTarget>
<RelativeTargetLane entityRef="adversary" value="-1"/>
</LaneChangeTarget>
</LaneChangeAction>
</LateralAction>
</PrivateAction>
</Action>
<StartTrigger>
<ConditionGroup>
<Condition name="AfterAdversaryAccelerates" delay="0" conditionEdge="rising">
<ByValueCondition>
<StoryboardElementStateCondition storyboardElementType="action" storyboardElementRef="AdversaryAccelerates" state="completeState"/>
</ByValueCondition>
</Condition>
</ConditionGroup>
</StartTrigger>
</Event>
</Maneuver>
</ManeuverGroup>
<StartTrigger>
<ConditionGroup>
<Condition name="OverallStartCondition" delay="0" conditionEdge="rising">
<ByEntityCondition>
<TriggeringEntities triggeringEntitiesRule="any">
<EntityRef entityRef="hero"/>
</TriggeringEntities>
<EntityCondition>
<TraveledDistanceCondition value="1.0"/>
</EntityCondition>
</ByEntityCondition>
</Condition>
<Condition name="StartTime" delay="0" conditionEdge="rising">
<ByValueCondition>
<SimulationTimeCondition value="0" rule="equalTo"/>
</ByValueCondition>
</Condition>
</ConditionGroup>
</StartTrigger>
<StopTrigger>
<ConditionGroup>
<Condition name="EndCondition" delay="0" conditionEdge="rising">
<ByEntityCondition>
<TriggeringEntities triggeringEntitiesRule="any">
<EntityRef entityRef="hero"/>
</TriggeringEntities>
<EntityCondition>
<TraveledDistanceCondition value="200.0"/>
</EntityCondition>
</ByEntityCondition>
</Condition>
</ConditionGroup>
</StopTrigger>
</Act>
</Story>
<StopTrigger>
<ConditionGroup>
<Condition name="criteria_RunningStopTest" delay="0" conditionEdge="rising">
<ByValueCondition>
<ParameterCondition parameterRef="" value="" rule="lessThan"/>
</ByValueCondition>
</Condition>
<Condition name="criteria_RunningRedLightTest" delay="0" conditionEdge="rising">
<ByValueCondition>
<ParameterCondition parameterRef="" value="" rule="lessThan"/>
</ByValueCondition>
</Condition>
<Condition name="criteria_WrongLaneTest" delay="0" conditionEdge="rising">
<ByValueCondition>
<ParameterCondition parameterRef="" value="" rule="lessThan"/>
</ByValueCondition>
</Condition>
<Condition name="criteria_OnSidewalkTest" delay="0" conditionEdge="rising">
<ByValueCondition>
<ParameterCondition parameterRef="" value="" rule="lessThan"/>
</ByValueCondition>
</Condition>
<Condition name="criteria_KeepLaneTest" delay="0" conditionEdge="rising">
<ByValueCondition>
<ParameterCondition parameterRef="" value="" rule="lessThan"/>
</ByValueCondition>
</Condition>
<Condition name="criteria_CollisionTest" delay="0" conditionEdge="rising">
<ByValueCondition>
<ParameterCondition parameterRef="" value="" rule="lessThan"/>
</ByValueCondition>
</Condition>
<Condition name="criteria_DrivenDistanceTest" delay="0" conditionEdge="rising">
<ByValueCondition>
<ParameterCondition parameterRef="distance_success" value="100" rule="lessThan"/>
</ByValueCondition>
</Condition>
</ConditionGroup>
</StopTrigger>
</Storyboard>
</OpenSCENARIO>
``` | Here is the result:
```
<?xml version="1.0" ?>
<OpenSCENARIO>
<FileHeader revMajor="1" revMinor="0" date="2020-03-24T12:00:00" description="CARLA:LaneChangeSimple" author=""/>
<ParameterDeclarations/>
<CatalogLocations/>
<RoadNetwork>
<LogicFile filepath="Town04"/>
<SceneGraphFile filepath=""/>
</RoadNetwork>
<Entities>
<ScenarioObject name="hero">
<Vehicle name="vehicle.tesla.model3" vehicleCategory="car">
<ParameterDeclarations/>
<Performance maxSpeed="69.444" maxAcceleration="200" maxDeceleration="10.0"/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2.1" length="4.5" height="1.8"/>
</BoundingBox>
<Axles>
<FrontAxle maxSteering="0.5" wheelDiameter="0.6" trackWidth="1.8" positionX="3.1" positionZ="0.3"/>
<RearAxle maxSteering="0.0" wheelDiameter="0.6" trackWidth="1.8" positionX="0.0" positionZ="0.3"/>
</Axles>
<Properties>
<Property name="type" value="ego_vehicle"/>
</Properties>
</Vehicle>
</ScenarioObject>
<ScenarioObject name="adversary">
<Vehicle name="vehicle.lincoln.mkz_2017" vehicleCategory="car">
<ParameterDeclarations/>
<Performance maxSpeed="69.444" maxAcceleration="200" maxDeceleration="10.0"/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2.1" length="4.5" height="1.8"/>
</BoundingBox>
<Axles>
<FrontAxle maxSteering="0.5" wheelDiameter="0.6" trackWidth="1.8" positionX="3.1" positionZ="0.3"/>
<RearAxle maxSteering="0.0" wheelDiameter="0.6" trackWidth="1.8" positionX="0.0" positionZ="0.3"/>
</Axles>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Vehicle>
</ScenarioObject>
<ScenarioObject name="standing">
<Vehicle name="vehicle.volkswagen.t2" vehicleCategory="car">
<ParameterDeclarations/>
<Performance maxSpeed="69.444" maxAcceleration="200" maxDeceleration="10.0"/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2.1" length="4.5" height="1.8"/>
</BoundingBox>
<Axles>
<FrontAxle maxSteering="0.5" wheelDiameter="0.6" trackWidth="1.8" positionX="3.1" positionZ="0.3"/>
<RearAxle maxSteering="0.0" wheelDiameter="0.6" trackWidth="1.8" positionX="0.0" positionZ="0.3"/>
</Axles>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Vehicle>
</ScenarioObject>
<ScenarioObject name="pedestrian_close_to_standing_21037">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_close_to_adversary_21038">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_w_transform_21039">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_w_transform_21040">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_w_transform_21041">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
</Entities>
<Storyboard>
<Init>
<Actions>
<GlobalAction>
<EnvironmentAction>
<Environment name="Environment1">
<TimeOfDay animation="false" dateTime="2019-06-25T12:00:00"/>
<Weather cloudState="free">
<Sun intensity="0.85" azimuth="0" elevation="1.31"/>
<Fog visualRange="100000.0"/>
<Precipitation precipitationType="dry" intensity="0.0"/>
</Weather>
<RoadCondition frictionScaleFactor="1.0"/>
</Environment>
</EnvironmentAction>
</GlobalAction>
<Private entityRef="hero">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-9.4" y="-152.8" z="0.5" h="1.57079632679"/>
</Position>
</TeleportAction>
</PrivateAction>
<PrivateAction>
<ControllerAction>
<AssignControllerAction>
<Controller name="HeroAgent">
<Properties>
<Property name="module" value="external_control"/>
</Properties>
</Controller>
</AssignControllerAction>
<OverrideControllerValueAction>
<Throttle value="0" active="false"/>
<Brake value="0" active="false"/>
<Clutch value="0" active="false"/>
<ParkingBrake value="0" active="false"/>
<SteeringWheel value="0" active="false"/>
<Gear number="0" active="false"/>
</OverrideControllerValueAction>
</ControllerAction>
</PrivateAction>
</Private>
<Private entityRef="adversary">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-9.4" y="-71.0" z="0.5" h="1.57079632679"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="standing">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-8.2" y="29.2" z="0.5" h="1.57079632679"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_close_to_standing_21037">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-14.790690422058105" y="34.37330627441406" z="0.0030575559940189123"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_close_to_adversary_21038">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="4.829526424407959" y="-79.84087371826172" z="0.03377952426671982"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_w_transform_21039">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-77.2532730102539" y="81.76553344726562" z="0.5"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_w_transform_21040">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="28.515647888183594" y="28.47166633605957" z="0.5"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_w_transform_21041">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="2.4157540798187256" y="-22.634029388427734" z="0.5"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
</Actions>
</Init>
<Story name="MyStory">
<Act name="Behavior">
<ManeuverGroup maximumExecutionCount="1" name="ManeuverSequence">
<Actors selectTriggeringEntities="false">
<EntityRef entityRef="adversary"/>
</Actors>
<Maneuver name="LaneChangeSimpleManeuver">
<Event name="AdversaryAccelerates" priority="overwrite">
<Action name="AdversaryAccelerates">
<PrivateAction>
<LongitudinalAction>
<SpeedAction>
<SpeedActionDynamics dynamicsShape="step" value="50" dynamicsDimension="distance"/>
<SpeedActionTarget>
<AbsoluteTargetSpeed value="5.0"/>
</SpeedActionTarget>
</SpeedAction>
</LongitudinalAction>
</PrivateAction>
</Action>
<StartTrigger>
<ConditionGroup>
<Condition name="StartCondition" delay="0" conditionEdge="rising">
<ByEntityCondition>
<TriggeringEntities triggeringEntitiesRule="any">
<EntityRef entityRef="hero"/>
</TriggeringEntities>
<EntityCondition>
<RelativeDistanceCondition entityRef="adversary" relativeDistanceType="cartesianDistance" value="40.0" freespace="false" rule="lessThan"/>
</EntityCondition>
</ByEntityCondition>
</Condition>
</ConditionGroup>
</StartTrigger>
</Event>
<Event name="AdversaryChangesLane" priority="overwrite">
<Action name="AdversaryChangesLane">
<PrivateAction>
<LateralAction>
<LaneChangeAction>
<LaneChangeActionDynamics dynamicsShape="linear" value="25" dynamicsDimension="distance"/>
<LaneChangeTarget>
<RelativeTargetLane entityRef="adversary" value="-1"/>
</LaneChangeTarget>
</LaneChangeAction>
</LateralAction>
</PrivateAction>
</Action>
<StartTrigger>
<ConditionGroup>
<Condition name="AfterAdversaryAccelerates" delay="0" conditionEdge="rising">
<ByValueCondition>
<StoryboardElementStateCondition storyboardElementType="action" storyboardElementRef="AdversaryAccelerates" state="completeState"/>
</ByValueCondition>
</Condition>
</ConditionGroup>
</StartTrigger>
</Event>
</Maneuver>
</ManeuverGroup>
<StartTrigger>
<ConditionGroup>
<Condition name="OverallStartCondition" delay="0" conditionEdge="rising">
<ByEntityCondition>
<TriggeringEntities triggeringEntitiesRule="any">
<EntityRef entityRef="hero"/>
</TriggeringEntities>
<EntityCondition>
<TraveledDistanceCondition value="1.0"/>
</EntityCondition>
</ByEntityCondition>
</Condition>
<Condition name="StartTime" delay="0" conditionEdge="rising">
<ByValueCondition>
<SimulationTimeCondition value="0" rule="equalTo"/>
</ByValueCondition>
</Condition>
</ConditionGroup>
</StartTrigger>
<StopTrigger>
<ConditionGroup>
<Condition name="EndCondition" delay="0" conditionEdge="rising">
<ByEntityCondition>
<TriggeringEntities triggeringEntitiesRule="any">
<EntityRef entityRef="hero"/>
</TriggeringEntities>
<EntityCondition>
<TraveledDistanceCondition value="200.0"/>
</EntityCondition>
</ByEntityCondition>
</Condition>
</ConditionGroup>
</StopTrigger>
</Act>
</Story>
<StopTrigger>
<ConditionGroup>
<Condition name="criteria_RunningStopTest" delay="0" conditionEdge="rising">
<ByValueCondition>
<ParameterCondition parameterRef="" value="" rule="lessThan"/>
</ByValueCondition>
</Condition>
<Condition name="criteria_RunningRedLightTest" delay="0" conditionEdge="rising">
<ByValueCondition>
<ParameterCondition parameterRef="" value="" rule="lessThan"/>
</ByValueCondition>
</Condition>
<Condition name="criteria_WrongLaneTest" delay="0" conditionEdge="rising">
<ByValueCondition>
<ParameterCondition parameterRef="" value="" rule="lessThan"/>
</ByValueCondition>
</Condition>
<Condition name="criteria_OnSidewalkTest" delay="0" conditionEdge="rising">
<ByValueCondition>
<ParameterCondition parameterRef="" value="" rule="lessThan"/>
</ByValueCondition>
</Condition>
<Condition name="criteria_KeepLaneTest" delay="0" conditionEdge="rising">
<ByValueCondition>
<ParameterCondition parameterRef="" value="" rule="lessThan"/>
</ByValueCondition>
</Condition>
<Condition name="criteria_CollisionTest" delay="0" conditionEdge="rising">
<ByValueCondition>
<ParameterCondition parameterRef="" value="" rule="lessThan"/>
</ByValueCondition>
</Condition>
<Condition name="criteria_DrivenDistanceTest" delay="0" conditionEdge="rising">
<ByValueCondition>
<ParameterCondition parameterRef="distance_success" value="100" rule="lessThan"/>
</ByValueCondition>
</Condition>
</ConditionGroup>
</StopTrigger>
</Storyboard>
</OpenSCENARIO>
``` |
i would like you to demonstrate remove pedestrian actor named pedestrian_w_transform_16234?
```
<?xml version="1.0" ?>
<OpenSCENARIO>
<FileHeader revMajor="1" revMinor="0" date="2020-03-24T12:00:00" description="CARLA:LaneChangeSimple" author=""/>
<ParameterDeclarations/>
<CatalogLocations/>
<RoadNetwork>
<LogicFile filepath="Town04"/>
<SceneGraphFile filepath=""/>
</RoadNetwork>
<Entities>
<ScenarioObject name="hero">
<Vehicle name="vehicle.tesla.model3" vehicleCategory="car">
<ParameterDeclarations/>
<Performance maxSpeed="69.444" maxAcceleration="200" maxDeceleration="10.0"/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2.1" length="4.5" height="1.8"/>
</BoundingBox>
<Axles>
<FrontAxle maxSteering="0.5" wheelDiameter="0.6" trackWidth="1.8" positionX="3.1" positionZ="0.3"/>
<RearAxle maxSteering="0.0" wheelDiameter="0.6" trackWidth="1.8" positionX="0.0" positionZ="0.3"/>
</Axles>
<Properties>
<Property name="type" value="ego_vehicle"/>
</Properties>
</Vehicle>
</ScenarioObject>
<ScenarioObject name="adversary">
<Vehicle name="vehicle.lincoln.mkz_2017" vehicleCategory="car">
<ParameterDeclarations/>
<Performance maxSpeed="69.444" maxAcceleration="200" maxDeceleration="10.0"/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2.1" length="4.5" height="1.8"/>
</BoundingBox>
<Axles>
<FrontAxle maxSteering="0.5" wheelDiameter="0.6" trackWidth="1.8" positionX="3.1" positionZ="0.3"/>
<RearAxle maxSteering="0.0" wheelDiameter="0.6" trackWidth="1.8" positionX="0.0" positionZ="0.3"/>
</Axles>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Vehicle>
</ScenarioObject>
<ScenarioObject name="standing">
<Vehicle name="vehicle.volkswagen.t2" vehicleCategory="car">
<ParameterDeclarations/>
<Performance maxSpeed="69.444" maxAcceleration="200" maxDeceleration="10.0"/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2.1" length="4.5" height="1.8"/>
</BoundingBox>
<Axles>
<FrontAxle maxSteering="0.5" wheelDiameter="0.6" trackWidth="1.8" positionX="3.1" positionZ="0.3"/>
<RearAxle maxSteering="0.0" wheelDiameter="0.6" 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_16228">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_close_to_hero_16229">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_close_to_adversary_16230">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_w_transform_16232">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_close_to_hero_16233">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_w_transform_16234">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
</Entities>
<Storyboard>
<Init>
<Actions>
<GlobalAction>
<EnvironmentAction>
<Environment name="Environment1">
<TimeOfDay animation="false" dateTime="2019-06-25T12:00:00"/>
<Weather cloudState="free">
<Sun intensity="0.85" azimuth="0" elevation="1.31"/>
<Fog visualRange="100000.0"/>
<Precipitation precipitationType="dry" intensity="0.0"/>
</Weather>
<RoadCondition frictionScaleFactor="1.0"/>
</Environment>
</EnvironmentAction>
</GlobalAction>
<Private entityRef="hero">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-9.4" y="-152.8" z="0.5" h="1.57079632679"/>
</Position>
</TeleportAction>
</PrivateAction>
<PrivateAction>
<ControllerAction>
<AssignControllerAction>
<Controller name="HeroAgent">
<Properties>
<Property name="module" value="external_control"/>
</Properties>
</Controller>
</AssignControllerAction>
<OverrideControllerValueAction>
<Throttle value="0" active="false"/>
<Brake value="0" active="false"/>
<Clutch value="0" active="false"/>
<ParkingBrake value="0" active="false"/>
<SteeringWheel value="0" active="false"/>
<Gear number="0" active="false"/>
</OverrideControllerValueAction>
</ControllerAction>
</PrivateAction>
</Private>
<Private entityRef="adversary">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-9.4" y="-71.0" z="0.5" h="1.57079632679"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="standing">
<PrivateAction>
<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_16228">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-10.440508842468262" y="-145.43959045410156" z="0.0014286803780123591"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_close_to_hero_16229">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-19.092973709106445" y="-151.5633544921875" z="0.0014286803780123591"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_close_to_adversary_16230">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-8.719072341918945" y="-56.131675720214844" z="0.033848877996206284"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_w_transform_16232">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-28.49403190612793" y="77.43648529052734" z="0.5"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_close_to_hero_16233">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-2.291325569152832" y="-150.0950927734375" z="0.0014286803780123591"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_w_transform_16234">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="8.209485054016113" y="26.883106231689453" z="0.5"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
</Actions>
</Init>
<Story name="MyStory">
<Act name="Behavior">
<ManeuverGroup maximumExecutionCount="1" name="ManeuverSequence">
<Actors selectTriggeringEntities="false">
<EntityRef entityRef="adversary"/>
</Actors>
<Maneuver name="LaneChangeSimpleManeuver">
<Event name="AdversaryAccelerates" priority="overwrite">
<Action name="AdversaryAccelerates">
<PrivateAction>
<LongitudinalAction>
<SpeedAction>
<SpeedActionDynamics dynamicsShape="step" value="50" dynamicsDimension="distance"/>
<SpeedActionTarget>
<AbsoluteTargetSpeed value="5.0"/>
</SpeedActionTarget>
</SpeedAction>
</LongitudinalAction>
</PrivateAction>
</Action>
<StartTrigger>
<ConditionGroup>
<Condition name="StartCondition" delay="0" conditionEdge="rising">
<ByEntityCondition>
<TriggeringEntities triggeringEntitiesRule="any">
<EntityRef entityRef="hero"/>
</TriggeringEntities>
<EntityCondition>
<RelativeDistanceCondition entityRef="adversary" relativeDistanceType="cartesianDistance" value="40.0" freespace="false" rule="lessThan"/>
</EntityCondition>
</ByEntityCondition>
</Condition>
</ConditionGroup>
</StartTrigger>
</Event>
<Event name="AdversaryChangesLane" priority="overwrite">
<Action name="AdversaryChangesLane">
<PrivateAction>
<LateralAction>
<LaneChangeAction>
<LaneChangeActionDynamics dynamicsShape="linear" value="25" dynamicsDimension="distance"/>
<LaneChangeTarget>
<RelativeTargetLane entityRef="adversary" value="-1"/>
</LaneChangeTarget>
</LaneChangeAction>
</LateralAction>
</PrivateAction>
</Action>
<StartTrigger>
<ConditionGroup>
<Condition name="AfterAdversaryAccelerates" delay="0" conditionEdge="rising">
<ByValueCondition>
<StoryboardElementStateCondition storyboardElementType="action" storyboardElementRef="AdversaryAccelerates" state="completeState"/>
</ByValueCondition>
</Condition>
</ConditionGroup>
</StartTrigger>
</Event>
</Maneuver>
</ManeuverGroup>
<StartTrigger>
<ConditionGroup>
<Condition name="OverallStartCondition" delay="0" conditionEdge="rising">
<ByEntityCondition>
<TriggeringEntities triggeringEntitiesRule="any">
<EntityRef entityRef="hero"/>
</TriggeringEntities>
<EntityCondition>
<TraveledDistanceCondition value="1.0"/>
</EntityCondition>
</ByEntityCondition>
</Condition>
<Condition name="StartTime" delay="0" conditionEdge="rising">
<ByValueCondition>
<SimulationTimeCondition value="0" rule="equalTo"/>
</ByValueCondition>
</Condition>
</ConditionGroup>
</StartTrigger>
<StopTrigger>
<ConditionGroup>
<Condition name="EndCondition" delay="0" conditionEdge="rising">
<ByEntityCondition>
<TriggeringEntities triggeringEntitiesRule="any">
<EntityRef entityRef="hero"/>
</TriggeringEntities>
<EntityCondition>
<TraveledDistanceCondition value="200.0"/>
</EntityCondition>
</ByEntityCondition>
</Condition>
</ConditionGroup>
</StopTrigger>
</Act>
</Story>
<StopTrigger>
<ConditionGroup>
<Condition name="criteria_RunningStopTest" delay="0" conditionEdge="rising">
<ByValueCondition>
<ParameterCondition parameterRef="" value="" rule="lessThan"/>
</ByValueCondition>
</Condition>
<Condition name="criteria_RunningRedLightTest" delay="0" conditionEdge="rising">
<ByValueCondition>
<ParameterCondition parameterRef="" value="" rule="lessThan"/>
</ByValueCondition>
</Condition>
<Condition name="criteria_WrongLaneTest" delay="0" conditionEdge="rising">
<ByValueCondition>
<ParameterCondition parameterRef="" value="" rule="lessThan"/>
</ByValueCondition>
</Condition>
<Condition name="criteria_OnSidewalkTest" delay="0" conditionEdge="rising">
<ByValueCondition>
<ParameterCondition parameterRef="" value="" rule="lessThan"/>
</ByValueCondition>
</Condition>
<Condition name="criteria_KeepLaneTest" delay="0" conditionEdge="rising">
<ByValueCondition>
<ParameterCondition parameterRef="" value="" rule="lessThan"/>
</ByValueCondition>
</Condition>
<Condition name="criteria_CollisionTest" delay="0" conditionEdge="rising">
<ByValueCondition>
<ParameterCondition parameterRef="" value="" rule="lessThan"/>
</ByValueCondition>
</Condition>
<Condition name="criteria_DrivenDistanceTest" delay="0" conditionEdge="rising">
<ByValueCondition>
<ParameterCondition parameterRef="distance_success" value="100" rule="lessThan"/>
</ByValueCondition>
</Condition>
</ConditionGroup>
</StopTrigger>
</Storyboard>
</OpenSCENARIO>
``` | Here is the result:
```
<?xml version="1.0" ?>
<OpenSCENARIO>
<FileHeader revMajor="1" revMinor="0" date="2020-03-24T12:00:00" description="CARLA:LaneChangeSimple" author=""/>
<ParameterDeclarations/>
<CatalogLocations/>
<RoadNetwork>
<LogicFile filepath="Town04"/>
<SceneGraphFile filepath=""/>
</RoadNetwork>
<Entities>
<ScenarioObject name="hero">
<Vehicle name="vehicle.tesla.model3" vehicleCategory="car">
<ParameterDeclarations/>
<Performance maxSpeed="69.444" maxAcceleration="200" maxDeceleration="10.0"/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2.1" length="4.5" height="1.8"/>
</BoundingBox>
<Axles>
<FrontAxle maxSteering="0.5" wheelDiameter="0.6" trackWidth="1.8" positionX="3.1" positionZ="0.3"/>
<RearAxle maxSteering="0.0" wheelDiameter="0.6" trackWidth="1.8" positionX="0.0" positionZ="0.3"/>
</Axles>
<Properties>
<Property name="type" value="ego_vehicle"/>
</Properties>
</Vehicle>
</ScenarioObject>
<ScenarioObject name="adversary">
<Vehicle name="vehicle.lincoln.mkz_2017" vehicleCategory="car">
<ParameterDeclarations/>
<Performance maxSpeed="69.444" maxAcceleration="200" maxDeceleration="10.0"/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2.1" length="4.5" height="1.8"/>
</BoundingBox>
<Axles>
<FrontAxle maxSteering="0.5" wheelDiameter="0.6" trackWidth="1.8" positionX="3.1" positionZ="0.3"/>
<RearAxle maxSteering="0.0" wheelDiameter="0.6" trackWidth="1.8" positionX="0.0" positionZ="0.3"/>
</Axles>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Vehicle>
</ScenarioObject>
<ScenarioObject name="standing">
<Vehicle name="vehicle.volkswagen.t2" vehicleCategory="car">
<ParameterDeclarations/>
<Performance maxSpeed="69.444" maxAcceleration="200" maxDeceleration="10.0"/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2.1" length="4.5" height="1.8"/>
</BoundingBox>
<Axles>
<FrontAxle maxSteering="0.5" wheelDiameter="0.6" trackWidth="1.8" positionX="3.1" positionZ="0.3"/>
<RearAxle maxSteering="0.0" wheelDiameter="0.6" 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_16228">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_close_to_hero_16229">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_close_to_adversary_16230">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_w_transform_16232">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_close_to_hero_16233">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
</Entities>
<Storyboard>
<Init>
<Actions>
<GlobalAction>
<EnvironmentAction>
<Environment name="Environment1">
<TimeOfDay animation="false" dateTime="2019-06-25T12:00:00"/>
<Weather cloudState="free">
<Sun intensity="0.85" azimuth="0" elevation="1.31"/>
<Fog visualRange="100000.0"/>
<Precipitation precipitationType="dry" intensity="0.0"/>
</Weather>
<RoadCondition frictionScaleFactor="1.0"/>
</Environment>
</EnvironmentAction>
</GlobalAction>
<Private entityRef="hero">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-9.4" y="-152.8" z="0.5" h="1.57079632679"/>
</Position>
</TeleportAction>
</PrivateAction>
<PrivateAction>
<ControllerAction>
<AssignControllerAction>
<Controller name="HeroAgent">
<Properties>
<Property name="module" value="external_control"/>
</Properties>
</Controller>
</AssignControllerAction>
<OverrideControllerValueAction>
<Throttle value="0" active="false"/>
<Brake value="0" active="false"/>
<Clutch value="0" active="false"/>
<ParkingBrake value="0" active="false"/>
<SteeringWheel value="0" active="false"/>
<Gear number="0" active="false"/>
</OverrideControllerValueAction>
</ControllerAction>
</PrivateAction>
</Private>
<Private entityRef="adversary">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-9.4" y="-71.0" z="0.5" h="1.57079632679"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="standing">
<PrivateAction>
<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_16228">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-10.440508842468262" y="-145.43959045410156" z="0.0014286803780123591"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_close_to_hero_16229">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-19.092973709106445" y="-151.5633544921875" z="0.0014286803780123591"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_close_to_adversary_16230">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-8.719072341918945" y="-56.131675720214844" z="0.033848877996206284"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_w_transform_16232">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-28.49403190612793" y="77.43648529052734" z="0.5"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_close_to_hero_16233">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-2.291325569152832" y="-150.0950927734375" z="0.0014286803780123591"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
</Actions>
</Init>
<Story name="MyStory">
<Act name="Behavior">
<ManeuverGroup maximumExecutionCount="1" name="ManeuverSequence">
<Actors selectTriggeringEntities="false">
<EntityRef entityRef="adversary"/>
</Actors>
<Maneuver name="LaneChangeSimpleManeuver">
<Event name="AdversaryAccelerates" priority="overwrite">
<Action name="AdversaryAccelerates">
<PrivateAction>
<LongitudinalAction>
<SpeedAction>
<SpeedActionDynamics dynamicsShape="step" value="50" dynamicsDimension="distance"/>
<SpeedActionTarget>
<AbsoluteTargetSpeed value="5.0"/>
</SpeedActionTarget>
</SpeedAction>
</LongitudinalAction>
</PrivateAction>
</Action>
<StartTrigger>
<ConditionGroup>
<Condition name="StartCondition" delay="0" conditionEdge="rising">
<ByEntityCondition>
<TriggeringEntities triggeringEntitiesRule="any">
<EntityRef entityRef="hero"/>
</TriggeringEntities>
<EntityCondition>
<RelativeDistanceCondition entityRef="adversary" relativeDistanceType="cartesianDistance" value="40.0" freespace="false" rule="lessThan"/>
</EntityCondition>
</ByEntityCondition>
</Condition>
</ConditionGroup>
</StartTrigger>
</Event>
<Event name="AdversaryChangesLane" priority="overwrite">
<Action name="AdversaryChangesLane">
<PrivateAction>
<LateralAction>
<LaneChangeAction>
<LaneChangeActionDynamics dynamicsShape="linear" value="25" dynamicsDimension="distance"/>
<LaneChangeTarget>
<RelativeTargetLane entityRef="adversary" value="-1"/>
</LaneChangeTarget>
</LaneChangeAction>
</LateralAction>
</PrivateAction>
</Action>
<StartTrigger>
<ConditionGroup>
<Condition name="AfterAdversaryAccelerates" delay="0" conditionEdge="rising">
<ByValueCondition>
<StoryboardElementStateCondition storyboardElementType="action" storyboardElementRef="AdversaryAccelerates" state="completeState"/>
</ByValueCondition>
</Condition>
</ConditionGroup>
</StartTrigger>
</Event>
</Maneuver>
</ManeuverGroup>
<StartTrigger>
<ConditionGroup>
<Condition name="OverallStartCondition" delay="0" conditionEdge="rising">
<ByEntityCondition>
<TriggeringEntities triggeringEntitiesRule="any">
<EntityRef entityRef="hero"/>
</TriggeringEntities>
<EntityCondition>
<TraveledDistanceCondition value="1.0"/>
</EntityCondition>
</ByEntityCondition>
</Condition>
<Condition name="StartTime" delay="0" conditionEdge="rising">
<ByValueCondition>
<SimulationTimeCondition value="0" rule="equalTo"/>
</ByValueCondition>
</Condition>
</ConditionGroup>
</StartTrigger>
<StopTrigger>
<ConditionGroup>
<Condition name="EndCondition" delay="0" conditionEdge="rising">
<ByEntityCondition>
<TriggeringEntities triggeringEntitiesRule="any">
<EntityRef entityRef="hero"/>
</TriggeringEntities>
<EntityCondition>
<TraveledDistanceCondition value="200.0"/>
</EntityCondition>
</ByEntityCondition>
</Condition>
</ConditionGroup>
</StopTrigger>
</Act>
</Story>
<StopTrigger>
<ConditionGroup>
<Condition name="criteria_RunningStopTest" delay="0" conditionEdge="rising">
<ByValueCondition>
<ParameterCondition parameterRef="" value="" rule="lessThan"/>
</ByValueCondition>
</Condition>
<Condition name="criteria_RunningRedLightTest" delay="0" conditionEdge="rising">
<ByValueCondition>
<ParameterCondition parameterRef="" value="" rule="lessThan"/>
</ByValueCondition>
</Condition>
<Condition name="criteria_WrongLaneTest" delay="0" conditionEdge="rising">
<ByValueCondition>
<ParameterCondition parameterRef="" value="" rule="lessThan"/>
</ByValueCondition>
</Condition>
<Condition name="criteria_OnSidewalkTest" delay="0" conditionEdge="rising">
<ByValueCondition>
<ParameterCondition parameterRef="" value="" rule="lessThan"/>
</ByValueCondition>
</Condition>
<Condition name="criteria_KeepLaneTest" delay="0" conditionEdge="rising">
<ByValueCondition>
<ParameterCondition parameterRef="" value="" rule="lessThan"/>
</ByValueCondition>
</Condition>
<Condition name="criteria_CollisionTest" delay="0" conditionEdge="rising">
<ByValueCondition>
<ParameterCondition parameterRef="" value="" rule="lessThan"/>
</ByValueCondition>
</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>
</Entities>
<Storyboard>
<Init>
<Actions>
<GlobalAction>
<EnvironmentAction>
<Environment name="Environment1">
<TimeOfDay animation="false" dateTime="2019-06-25T12:00:00"/>
<Weather cloudState="free">
<Sun intensity="0.85" azimuth="0" elevation="1.31"/>
<Fog visualRange="100000.0"/>
<Precipitation precipitationType="dry" intensity="0.0"/>
</Weather>
<RoadCondition frictionScaleFactor="1.0"/>
</Environment>
</EnvironmentAction>
</GlobalAction>
<Private entityRef="hero">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-9.4" y="-152.8" z="0.5" h="1.57079632679"/>
</Position>
</TeleportAction>
</PrivateAction>
<PrivateAction>
<ControllerAction>
<AssignControllerAction>
<Controller name="HeroAgent">
<Properties>
<Property name="module" value="external_control"/>
</Properties>
</Controller>
</AssignControllerAction>
<OverrideControllerValueAction>
<Throttle value="0" active="false"/>
<Brake value="0" active="false"/>
<Clutch value="0" active="false"/>
<ParkingBrake value="0" active="false"/>
<SteeringWheel value="0" active="false"/>
<Gear number="0" active="false"/>
</OverrideControllerValueAction>
</ControllerAction>
</PrivateAction>
</Private>
<Private entityRef="adversary">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-9.4" y="-71.0" z="0.5" h="1.57079632679"/>
</Position>
</TeleportAction>
</PrivateAction>
</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_5236">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
</Entities>
<Storyboard>
<Init>
<Actions>
<GlobalAction>
<EnvironmentAction>
<Environment name="Environment1">
<TimeOfDay animation="false" dateTime="2019-06-25T12:00:00"/>
<Weather cloudState="free">
<Sun intensity="0.85" azimuth="0" elevation="1.31"/>
<Fog visualRange="100000.0"/>
<Precipitation precipitationType="dry" intensity="0.0"/>
</Weather>
<RoadCondition frictionScaleFactor="1.0"/>
</Environment>
</EnvironmentAction>
</GlobalAction>
<Private entityRef="hero">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-9.4" y="-152.8" z="0.5" h="1.57079632679"/>
</Position>
</TeleportAction>
</PrivateAction>
<PrivateAction>
<ControllerAction>
<AssignControllerAction>
<Controller name="HeroAgent">
<Properties>
<Property name="module" value="external_control"/>
</Properties>
</Controller>
</AssignControllerAction>
<OverrideControllerValueAction>
<Throttle value="0" active="false"/>
<Brake value="0" active="false"/>
<Clutch value="0" active="false"/>
<ParkingBrake value="0" active="false"/>
<SteeringWheel value="0" active="false"/>
<Gear number="0" active="false"/>
</OverrideControllerValueAction>
</ControllerAction>
</PrivateAction>
</Private>
<Private entityRef="adversary">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-9.4" y="-71.0" z="0.5" h="1.57079632679"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="standing">
<PrivateAction>
<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_5236">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-8.770533561706543" y="-159.29718017578125" z="0.0014286803780123591"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
</Actions>
</Init>
<Story name="MyStory">
<Act name="Behavior">
<ManeuverGroup maximumExecutionCount="1" name="ManeuverSequence">
<Actors selectTriggeringEntities="false">
<EntityRef entityRef="adversary"/>
</Actors>
<Maneuver name="LaneChangeSimpleManeuver">
<Event name="AdversaryAccelerates" priority="overwrite">
<Action name="AdversaryAccelerates">
<PrivateAction>
<LongitudinalAction>
<SpeedAction>
<SpeedActionDynamics dynamicsShape="step" value="50" dynamicsDimension="distance"/>
<SpeedActionTarget>
<AbsoluteTargetSpeed value="5.0"/>
</SpeedActionTarget>
</SpeedAction>
</LongitudinalAction>
</PrivateAction>
</Action>
<StartTrigger>
<ConditionGroup>
<Condition name="StartCondition" delay="0" conditionEdge="rising">
<ByEntityCondition>
<TriggeringEntities triggeringEntitiesRule="any">
<EntityRef entityRef="hero"/>
</TriggeringEntities>
<EntityCondition>
<RelativeDistanceCondition entityRef="adversary" relativeDistanceType="cartesianDistance" value="40.0" freespace="false" rule="lessThan"/>
</EntityCondition>
</ByEntityCondition>
</Condition>
</ConditionGroup>
</StartTrigger>
</Event>
<Event name="AdversaryChangesLane" priority="overwrite">
<Action name="AdversaryChangesLane">
<PrivateAction>
<LateralAction>
<LaneChangeAction>
<LaneChangeActionDynamics dynamicsShape="linear" value="25" dynamicsDimension="distance"/>
<LaneChangeTarget>
<RelativeTargetLane entityRef="adversary" value="-1"/>
</LaneChangeTarget>
</LaneChangeAction>
</LateralAction>
</PrivateAction>
</Action>
<StartTrigger>
<ConditionGroup>
<Condition name="AfterAdversaryAccelerates" delay="0" conditionEdge="rising">
<ByValueCondition>
<StoryboardElementStateCondition storyboardElementType="action" storyboardElementRef="AdversaryAccelerates" state="completeState"/>
</ByValueCondition>
</Condition>
</ConditionGroup>
</StartTrigger>
</Event>
</Maneuver>
</ManeuverGroup>
<StartTrigger>
<ConditionGroup>
<Condition name="OverallStartCondition" delay="0" conditionEdge="rising">
<ByEntityCondition>
<TriggeringEntities triggeringEntitiesRule="any">
<EntityRef entityRef="hero"/>
</TriggeringEntities>
<EntityCondition>
<TraveledDistanceCondition value="1.0"/>
</EntityCondition>
</ByEntityCondition>
</Condition>
<Condition name="StartTime" delay="0" conditionEdge="rising">
<ByValueCondition>
<SimulationTimeCondition value="0" rule="equalTo"/>
</ByValueCondition>
</Condition>
</ConditionGroup>
</StartTrigger>
<StopTrigger>
<ConditionGroup>
<Condition name="EndCondition" delay="0" conditionEdge="rising">
<ByEntityCondition>
<TriggeringEntities triggeringEntitiesRule="any">
<EntityRef entityRef="hero"/>
</TriggeringEntities>
<EntityCondition>
<TraveledDistanceCondition value="200.0"/>
</EntityCondition>
</ByEntityCondition>
</Condition>
</ConditionGroup>
</StopTrigger>
</Act>
</Story>
<StopTrigger>
<ConditionGroup>
<Condition name="criteria_RunningStopTest" delay="0" conditionEdge="rising">
<ByValueCondition>
<ParameterCondition parameterRef="" value="" rule="lessThan"/>
</ByValueCondition>
</Condition>
<Condition name="criteria_RunningRedLightTest" delay="0" conditionEdge="rising">
<ByValueCondition>
<ParameterCondition parameterRef="" value="" rule="lessThan"/>
</ByValueCondition>
</Condition>
<Condition name="criteria_WrongLaneTest" delay="0" conditionEdge="rising">
<ByValueCondition>
<ParameterCondition parameterRef="" value="" rule="lessThan"/>
</ByValueCondition>
</Condition>
<Condition name="criteria_OnSidewalkTest" delay="0" conditionEdge="rising">
<ByValueCondition>
<ParameterCondition parameterRef="" value="" rule="lessThan"/>
</ByValueCondition>
</Condition>
<Condition name="criteria_KeepLaneTest" delay="0" conditionEdge="rising">
<ByValueCondition>
<ParameterCondition parameterRef="" value="" rule="lessThan"/>
</ByValueCondition>
</Condition>
<Condition name="criteria_CollisionTest" delay="0" conditionEdge="rising">
<ByValueCondition>
<ParameterCondition parameterRef="" value="" rule="lessThan"/>
</ByValueCondition>
</Condition>
<Condition name="criteria_DrivenDistanceTest" delay="0" conditionEdge="rising">
<ByValueCondition>
<ParameterCondition parameterRef="distance_success" value="100" rule="lessThan"/>
</ByValueCondition>
</Condition>
</ConditionGroup>
</StopTrigger>
</Storyboard>
</OpenSCENARIO>
``` |
i would like to tell you to add pedestrian at location (29.97, 67.91, 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_21274">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_w_transform_21275">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_close_to_hero_21276">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_close_to_hero_21277">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
</Entities>
<Storyboard>
<Init>
<Actions>
<GlobalAction>
<EnvironmentAction>
<Environment name="Environment1">
<TimeOfDay animation="false" dateTime="2019-06-25T12:00:00"/>
<Weather cloudState="free">
<Sun intensity="0.85" azimuth="0" elevation="1.31"/>
<Fog visualRange="100000.0"/>
<Precipitation precipitationType="dry" intensity="0.0"/>
</Weather>
<RoadCondition frictionScaleFactor="1.0"/>
</Environment>
</EnvironmentAction>
</GlobalAction>
<Private entityRef="hero">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-9.4" y="-152.8" z="0.5" h="1.57079632679"/>
</Position>
</TeleportAction>
</PrivateAction>
<PrivateAction>
<ControllerAction>
<AssignControllerAction>
<Controller name="HeroAgent">
<Properties>
<Property name="module" value="external_control"/>
</Properties>
</Controller>
</AssignControllerAction>
<OverrideControllerValueAction>
<Throttle value="0" active="false"/>
<Brake value="0" active="false"/>
<Clutch value="0" active="false"/>
<ParkingBrake value="0" active="false"/>
<SteeringWheel value="0" active="false"/>
<Gear number="0" active="false"/>
</OverrideControllerValueAction>
</ControllerAction>
</PrivateAction>
</Private>
<Private entityRef="adversary">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-9.4" y="-71.0" z="0.5" h="1.57079632679"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="standing">
<PrivateAction>
<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_21274">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-1.6910876035690308" y="-146.77151489257812" z="0.0014286803780123591"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_w_transform_21275">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-57.92443084716797" y="-43.726192474365234" z="0.5"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_close_to_hero_21276">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-6.172215938568115" y="-161.93763732910156" z="0.0014286803780123591"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_close_to_hero_21277">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-6.660041332244873" y="-145.40687561035156" z="0.0014286803780123591"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
</Actions>
</Init>
<Story name="MyStory">
<Act name="Behavior">
<ManeuverGroup maximumExecutionCount="1" name="ManeuverSequence">
<Actors selectTriggeringEntities="false">
<EntityRef entityRef="adversary"/>
</Actors>
<Maneuver name="LaneChangeSimpleManeuver">
<Event name="AdversaryAccelerates" priority="overwrite">
<Action name="AdversaryAccelerates">
<PrivateAction>
<LongitudinalAction>
<SpeedAction>
<SpeedActionDynamics dynamicsShape="step" value="50" dynamicsDimension="distance"/>
<SpeedActionTarget>
<AbsoluteTargetSpeed value="5.0"/>
</SpeedActionTarget>
</SpeedAction>
</LongitudinalAction>
</PrivateAction>
</Action>
<StartTrigger>
<ConditionGroup>
<Condition name="StartCondition" delay="0" conditionEdge="rising">
<ByEntityCondition>
<TriggeringEntities triggeringEntitiesRule="any">
<EntityRef entityRef="hero"/>
</TriggeringEntities>
<EntityCondition>
<RelativeDistanceCondition entityRef="adversary" relativeDistanceType="cartesianDistance" value="40.0" freespace="false" rule="lessThan"/>
</EntityCondition>
</ByEntityCondition>
</Condition>
</ConditionGroup>
</StartTrigger>
</Event>
<Event name="AdversaryChangesLane" priority="overwrite">
<Action name="AdversaryChangesLane">
<PrivateAction>
<LateralAction>
<LaneChangeAction>
<LaneChangeActionDynamics dynamicsShape="linear" value="25" dynamicsDimension="distance"/>
<LaneChangeTarget>
<RelativeTargetLane entityRef="adversary" value="-1"/>
</LaneChangeTarget>
</LaneChangeAction>
</LateralAction>
</PrivateAction>
</Action>
<StartTrigger>
<ConditionGroup>
<Condition name="AfterAdversaryAccelerates" delay="0" conditionEdge="rising">
<ByValueCondition>
<StoryboardElementStateCondition storyboardElementType="action" storyboardElementRef="AdversaryAccelerates" state="completeState"/>
</ByValueCondition>
</Condition>
</ConditionGroup>
</StartTrigger>
</Event>
</Maneuver>
</ManeuverGroup>
<StartTrigger>
<ConditionGroup>
<Condition name="OverallStartCondition" delay="0" conditionEdge="rising">
<ByEntityCondition>
<TriggeringEntities triggeringEntitiesRule="any">
<EntityRef entityRef="hero"/>
</TriggeringEntities>
<EntityCondition>
<TraveledDistanceCondition value="1.0"/>
</EntityCondition>
</ByEntityCondition>
</Condition>
<Condition name="StartTime" delay="0" conditionEdge="rising">
<ByValueCondition>
<SimulationTimeCondition value="0" rule="equalTo"/>
</ByValueCondition>
</Condition>
</ConditionGroup>
</StartTrigger>
<StopTrigger>
<ConditionGroup>
<Condition name="EndCondition" delay="0" conditionEdge="rising">
<ByEntityCondition>
<TriggeringEntities triggeringEntitiesRule="any">
<EntityRef entityRef="hero"/>
</TriggeringEntities>
<EntityCondition>
<TraveledDistanceCondition value="200.0"/>
</EntityCondition>
</ByEntityCondition>
</Condition>
</ConditionGroup>
</StopTrigger>
</Act>
</Story>
<StopTrigger>
<ConditionGroup>
<Condition name="criteria_RunningStopTest" delay="0" conditionEdge="rising">
<ByValueCondition>
<ParameterCondition parameterRef="" value="" rule="lessThan"/>
</ByValueCondition>
</Condition>
<Condition name="criteria_RunningRedLightTest" delay="0" conditionEdge="rising">
<ByValueCondition>
<ParameterCondition parameterRef="" value="" rule="lessThan"/>
</ByValueCondition>
</Condition>
<Condition name="criteria_WrongLaneTest" delay="0" conditionEdge="rising">
<ByValueCondition>
<ParameterCondition parameterRef="" value="" rule="lessThan"/>
</ByValueCondition>
</Condition>
<Condition name="criteria_OnSidewalkTest" delay="0" conditionEdge="rising">
<ByValueCondition>
<ParameterCondition parameterRef="" value="" rule="lessThan"/>
</ByValueCondition>
</Condition>
<Condition name="criteria_KeepLaneTest" delay="0" conditionEdge="rising">
<ByValueCondition>
<ParameterCondition parameterRef="" value="" rule="lessThan"/>
</ByValueCondition>
</Condition>
<Condition name="criteria_CollisionTest" delay="0" conditionEdge="rising">
<ByValueCondition>
<ParameterCondition parameterRef="" value="" rule="lessThan"/>
</ByValueCondition>
</Condition>
<Condition name="criteria_DrivenDistanceTest" delay="0" conditionEdge="rising">
<ByValueCondition>
<ParameterCondition parameterRef="distance_success" value="100" rule="lessThan"/>
</ByValueCondition>
</Condition>
</ConditionGroup>
</StopTrigger>
</Storyboard>
</OpenSCENARIO>
``` | Here is the result:
```
<?xml version="1.0" ?>
<OpenSCENARIO>
<FileHeader revMajor="1" revMinor="0" date="2020-03-24T12:00:00" description="CARLA:LaneChangeSimple" author=""/>
<ParameterDeclarations/>
<CatalogLocations/>
<RoadNetwork>
<LogicFile filepath="Town04"/>
<SceneGraphFile filepath=""/>
</RoadNetwork>
<Entities>
<ScenarioObject name="hero">
<Vehicle name="vehicle.tesla.model3" vehicleCategory="car">
<ParameterDeclarations/>
<Performance maxSpeed="69.444" maxAcceleration="200" maxDeceleration="10.0"/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2.1" length="4.5" height="1.8"/>
</BoundingBox>
<Axles>
<FrontAxle maxSteering="0.5" wheelDiameter="0.6" trackWidth="1.8" positionX="3.1" positionZ="0.3"/>
<RearAxle maxSteering="0.0" wheelDiameter="0.6" trackWidth="1.8" positionX="0.0" positionZ="0.3"/>
</Axles>
<Properties>
<Property name="type" value="ego_vehicle"/>
</Properties>
</Vehicle>
</ScenarioObject>
<ScenarioObject name="adversary">
<Vehicle name="vehicle.lincoln.mkz_2017" vehicleCategory="car">
<ParameterDeclarations/>
<Performance maxSpeed="69.444" maxAcceleration="200" maxDeceleration="10.0"/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2.1" length="4.5" height="1.8"/>
</BoundingBox>
<Axles>
<FrontAxle maxSteering="0.5" wheelDiameter="0.6" trackWidth="1.8" positionX="3.1" positionZ="0.3"/>
<RearAxle maxSteering="0.0" wheelDiameter="0.6" trackWidth="1.8" positionX="0.0" positionZ="0.3"/>
</Axles>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Vehicle>
</ScenarioObject>
<ScenarioObject name="standing">
<Vehicle name="vehicle.volkswagen.t2" vehicleCategory="car">
<ParameterDeclarations/>
<Performance maxSpeed="69.444" maxAcceleration="200" maxDeceleration="10.0"/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2.1" length="4.5" height="1.8"/>
</BoundingBox>
<Axles>
<FrontAxle maxSteering="0.5" wheelDiameter="0.6" trackWidth="1.8" positionX="3.1" positionZ="0.3"/>
<RearAxle maxSteering="0.0" wheelDiameter="0.6" 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_21274">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_w_transform_21275">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_close_to_hero_21276">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_close_to_hero_21277">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_w_transform_21278">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
</Entities>
<Storyboard>
<Init>
<Actions>
<GlobalAction>
<EnvironmentAction>
<Environment name="Environment1">
<TimeOfDay animation="false" dateTime="2019-06-25T12:00:00"/>
<Weather cloudState="free">
<Sun intensity="0.85" azimuth="0" elevation="1.31"/>
<Fog visualRange="100000.0"/>
<Precipitation precipitationType="dry" intensity="0.0"/>
</Weather>
<RoadCondition frictionScaleFactor="1.0"/>
</Environment>
</EnvironmentAction>
</GlobalAction>
<Private entityRef="hero">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-9.4" y="-152.8" z="0.5" h="1.57079632679"/>
</Position>
</TeleportAction>
</PrivateAction>
<PrivateAction>
<ControllerAction>
<AssignControllerAction>
<Controller name="HeroAgent">
<Properties>
<Property name="module" value="external_control"/>
</Properties>
</Controller>
</AssignControllerAction>
<OverrideControllerValueAction>
<Throttle value="0" active="false"/>
<Brake value="0" active="false"/>
<Clutch value="0" active="false"/>
<ParkingBrake value="0" active="false"/>
<SteeringWheel value="0" active="false"/>
<Gear number="0" active="false"/>
</OverrideControllerValueAction>
</ControllerAction>
</PrivateAction>
</Private>
<Private entityRef="adversary">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-9.4" y="-71.0" z="0.5" h="1.57079632679"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="standing">
<PrivateAction>
<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_21274">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-1.6910876035690308" y="-146.77151489257812" z="0.0014286803780123591"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_w_transform_21275">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-57.92443084716797" y="-43.726192474365234" z="0.5"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_close_to_hero_21276">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-6.172215938568115" y="-161.93763732910156" z="0.0014286803780123591"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_close_to_hero_21277">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-6.660041332244873" y="-145.40687561035156" z="0.0014286803780123591"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_w_transform_21278">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="29.96778106689453" y="67.91075134277344" z="0.5"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
</Actions>
</Init>
<Story name="MyStory">
<Act name="Behavior">
<ManeuverGroup maximumExecutionCount="1" name="ManeuverSequence">
<Actors selectTriggeringEntities="false">
<EntityRef entityRef="adversary"/>
</Actors>
<Maneuver name="LaneChangeSimpleManeuver">
<Event name="AdversaryAccelerates" priority="overwrite">
<Action name="AdversaryAccelerates">
<PrivateAction>
<LongitudinalAction>
<SpeedAction>
<SpeedActionDynamics dynamicsShape="step" value="50" dynamicsDimension="distance"/>
<SpeedActionTarget>
<AbsoluteTargetSpeed value="5.0"/>
</SpeedActionTarget>
</SpeedAction>
</LongitudinalAction>
</PrivateAction>
</Action>
<StartTrigger>
<ConditionGroup>
<Condition name="StartCondition" delay="0" conditionEdge="rising">
<ByEntityCondition>
<TriggeringEntities triggeringEntitiesRule="any">
<EntityRef entityRef="hero"/>
</TriggeringEntities>
<EntityCondition>
<RelativeDistanceCondition entityRef="adversary" relativeDistanceType="cartesianDistance" value="40.0" freespace="false" rule="lessThan"/>
</EntityCondition>
</ByEntityCondition>
</Condition>
</ConditionGroup>
</StartTrigger>
</Event>
<Event name="AdversaryChangesLane" priority="overwrite">
<Action name="AdversaryChangesLane">
<PrivateAction>
<LateralAction>
<LaneChangeAction>
<LaneChangeActionDynamics dynamicsShape="linear" value="25" dynamicsDimension="distance"/>
<LaneChangeTarget>
<RelativeTargetLane entityRef="adversary" value="-1"/>
</LaneChangeTarget>
</LaneChangeAction>
</LateralAction>
</PrivateAction>
</Action>
<StartTrigger>
<ConditionGroup>
<Condition name="AfterAdversaryAccelerates" delay="0" conditionEdge="rising">
<ByValueCondition>
<StoryboardElementStateCondition storyboardElementType="action" storyboardElementRef="AdversaryAccelerates" state="completeState"/>
</ByValueCondition>
</Condition>
</ConditionGroup>
</StartTrigger>
</Event>
</Maneuver>
</ManeuverGroup>
<StartTrigger>
<ConditionGroup>
<Condition name="OverallStartCondition" delay="0" conditionEdge="rising">
<ByEntityCondition>
<TriggeringEntities triggeringEntitiesRule="any">
<EntityRef entityRef="hero"/>
</TriggeringEntities>
<EntityCondition>
<TraveledDistanceCondition value="1.0"/>
</EntityCondition>
</ByEntityCondition>
</Condition>
<Condition name="StartTime" delay="0" conditionEdge="rising">
<ByValueCondition>
<SimulationTimeCondition value="0" rule="equalTo"/>
</ByValueCondition>
</Condition>
</ConditionGroup>
</StartTrigger>
<StopTrigger>
<ConditionGroup>
<Condition name="EndCondition" delay="0" conditionEdge="rising">
<ByEntityCondition>
<TriggeringEntities triggeringEntitiesRule="any">
<EntityRef entityRef="hero"/>
</TriggeringEntities>
<EntityCondition>
<TraveledDistanceCondition value="200.0"/>
</EntityCondition>
</ByEntityCondition>
</Condition>
</ConditionGroup>
</StopTrigger>
</Act>
</Story>
<StopTrigger>
<ConditionGroup>
<Condition name="criteria_RunningStopTest" delay="0" conditionEdge="rising">
<ByValueCondition>
<ParameterCondition parameterRef="" value="" rule="lessThan"/>
</ByValueCondition>
</Condition>
<Condition name="criteria_RunningRedLightTest" delay="0" conditionEdge="rising">
<ByValueCondition>
<ParameterCondition parameterRef="" value="" rule="lessThan"/>
</ByValueCondition>
</Condition>
<Condition name="criteria_WrongLaneTest" delay="0" conditionEdge="rising">
<ByValueCondition>
<ParameterCondition parameterRef="" value="" rule="lessThan"/>
</ByValueCondition>
</Condition>
<Condition name="criteria_OnSidewalkTest" delay="0" conditionEdge="rising">
<ByValueCondition>
<ParameterCondition parameterRef="" value="" rule="lessThan"/>
</ByValueCondition>
</Condition>
<Condition name="criteria_KeepLaneTest" delay="0" conditionEdge="rising">
<ByValueCondition>
<ParameterCondition parameterRef="" value="" rule="lessThan"/>
</ByValueCondition>
</Condition>
<Condition name="criteria_CollisionTest" delay="0" conditionEdge="rising">
<ByValueCondition>
<ParameterCondition parameterRef="" value="" rule="lessThan"/>
</ByValueCondition>
</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 (-33.04, 72.48, 0.5)?
```
<?xml version="1.0" ?>
<OpenSCENARIO>
<FileHeader revMajor="1" revMinor="0" date="2020-03-24T12:00:00" description="CARLA:LaneChangeSimple" author=""/>
<ParameterDeclarations/>
<CatalogLocations/>
<RoadNetwork>
<LogicFile filepath="Town04"/>
<SceneGraphFile filepath=""/>
</RoadNetwork>
<Entities>
<ScenarioObject name="hero">
<Vehicle name="vehicle.tesla.model3" vehicleCategory="car">
<ParameterDeclarations/>
<Performance maxSpeed="69.444" maxAcceleration="200" maxDeceleration="10.0"/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2.1" length="4.5" height="1.8"/>
</BoundingBox>
<Axles>
<FrontAxle maxSteering="0.5" wheelDiameter="0.6" trackWidth="1.8" positionX="3.1" positionZ="0.3"/>
<RearAxle maxSteering="0.0" wheelDiameter="0.6" trackWidth="1.8" positionX="0.0" positionZ="0.3"/>
</Axles>
<Properties>
<Property name="type" value="ego_vehicle"/>
</Properties>
</Vehicle>
</ScenarioObject>
<ScenarioObject name="adversary">
<Vehicle name="vehicle.lincoln.mkz_2017" vehicleCategory="car">
<ParameterDeclarations/>
<Performance maxSpeed="69.444" maxAcceleration="200" maxDeceleration="10.0"/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2.1" length="4.5" height="1.8"/>
</BoundingBox>
<Axles>
<FrontAxle maxSteering="0.5" wheelDiameter="0.6" trackWidth="1.8" positionX="3.1" positionZ="0.3"/>
<RearAxle maxSteering="0.0" wheelDiameter="0.6" trackWidth="1.8" positionX="0.0" positionZ="0.3"/>
</Axles>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Vehicle>
</ScenarioObject>
<ScenarioObject name="standing">
<Vehicle name="vehicle.volkswagen.t2" vehicleCategory="car">
<ParameterDeclarations/>
<Performance maxSpeed="69.444" maxAcceleration="200" maxDeceleration="10.0"/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2.1" length="4.5" height="1.8"/>
</BoundingBox>
<Axles>
<FrontAxle maxSteering="0.5" wheelDiameter="0.6" trackWidth="1.8" positionX="3.1" positionZ="0.3"/>
<RearAxle maxSteering="0.0" wheelDiameter="0.6" trackWidth="1.8" positionX="0.0" positionZ="0.3"/>
</Axles>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Vehicle>
</ScenarioObject>
<ScenarioObject name="pedestrian_close_to_standing_19923">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_w_transform_19924">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_close_to_standing_19926">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_w_transform_19927">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_w_transform_19928">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_close_to_adversary_19929">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_w_transform_19931">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_w_transform_19932">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_close_to_adversary_19933">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_close_to_hero_19934">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_close_to_hero_19935">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_close_to_adversary_19936">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_close_to_standing_19937">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
</Entities>
<Storyboard>
<Init>
<Actions>
<GlobalAction>
<EnvironmentAction>
<Environment name="Environment1">
<TimeOfDay animation="false" dateTime="2019-06-25T12:00:00"/>
<Weather cloudState="free">
<Sun intensity="0.85" azimuth="0" elevation="1.31"/>
<Fog visualRange="100000.0"/>
<Precipitation precipitationType="dry" intensity="0.0"/>
</Weather>
<RoadCondition frictionScaleFactor="1.0"/>
</Environment>
</EnvironmentAction>
</GlobalAction>
<Private entityRef="hero">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-9.4" y="-152.8" z="0.5" h="1.57079632679"/>
</Position>
</TeleportAction>
</PrivateAction>
<PrivateAction>
<ControllerAction>
<AssignControllerAction>
<Controller name="HeroAgent">
<Properties>
<Property name="module" value="external_control"/>
</Properties>
</Controller>
</AssignControllerAction>
<OverrideControllerValueAction>
<Throttle value="0" active="false"/>
<Brake value="0" active="false"/>
<Clutch value="0" active="false"/>
<ParkingBrake value="0" active="false"/>
<SteeringWheel value="0" active="false"/>
<Gear number="0" active="false"/>
</OverrideControllerValueAction>
</ControllerAction>
</PrivateAction>
</Private>
<Private entityRef="adversary">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-9.4" y="-71.0" z="0.5" h="1.57079632679"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="standing">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-8.2" y="29.2" z="0.5" h="1.57079632679"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_close_to_standing_19923">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-9.573493003845215" y="21.41835594177246" z="0.0030538940336555243"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_w_transform_19924">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-36.90110397338867" y="44.26987838745117" z="0.5"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_close_to_standing_19926">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-4.744479179382324" y="27.108806610107422" z="0.003081855596974492"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_w_transform_19927">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="71.08575439453125" y="-72.58331298828125" z="0.5"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_w_transform_19928">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-35.083335876464844" y="87.03567504882812" z="0.5"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_close_to_adversary_19929">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-9.547134399414062" y="-67.74853515625" z="0.03378314897418022"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_w_transform_19931">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="39.86309051513672" y="-20.415292739868164" z="0.5"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_w_transform_19932">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="74.82196807861328" y="48.982810974121094" z="0.5"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_close_to_adversary_19933">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-9.619379043579102" y="-74.45446014404297" z="0.033803023397922516"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_close_to_hero_19934">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-13.106497764587402" y="-161.9003143310547" z="0.0014286803780123591"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_close_to_hero_19935">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-5.9374847412109375" y="-157.7984619140625" z="0.0014286803780123591"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_close_to_adversary_19936">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-4.612253665924072" y="-74.83106994628906" z="0.03386974334716797"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_close_to_standing_19937">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-15.573220252990723" y="33.500118255615234" z="0.003079643240198493"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
</Actions>
</Init>
<Story name="MyStory">
<Act name="Behavior">
<ManeuverGroup maximumExecutionCount="1" name="ManeuverSequence">
<Actors selectTriggeringEntities="false">
<EntityRef entityRef="adversary"/>
</Actors>
<Maneuver name="LaneChangeSimpleManeuver">
<Event name="AdversaryAccelerates" priority="overwrite">
<Action name="AdversaryAccelerates">
<PrivateAction>
<LongitudinalAction>
<SpeedAction>
<SpeedActionDynamics dynamicsShape="step" value="50" dynamicsDimension="distance"/>
<SpeedActionTarget>
<AbsoluteTargetSpeed value="5.0"/>
</SpeedActionTarget>
</SpeedAction>
</LongitudinalAction>
</PrivateAction>
</Action>
<StartTrigger>
<ConditionGroup>
<Condition name="StartCondition" delay="0" conditionEdge="rising">
<ByEntityCondition>
<TriggeringEntities triggeringEntitiesRule="any">
<EntityRef entityRef="hero"/>
</TriggeringEntities>
<EntityCondition>
<RelativeDistanceCondition entityRef="adversary" relativeDistanceType="cartesianDistance" value="40.0" freespace="false" rule="lessThan"/>
</EntityCondition>
</ByEntityCondition>
</Condition>
</ConditionGroup>
</StartTrigger>
</Event>
<Event name="AdversaryChangesLane" priority="overwrite">
<Action name="AdversaryChangesLane">
<PrivateAction>
<LateralAction>
<LaneChangeAction>
<LaneChangeActionDynamics dynamicsShape="linear" value="25" dynamicsDimension="distance"/>
<LaneChangeTarget>
<RelativeTargetLane entityRef="adversary" value="-1"/>
</LaneChangeTarget>
</LaneChangeAction>
</LateralAction>
</PrivateAction>
</Action>
<StartTrigger>
<ConditionGroup>
<Condition name="AfterAdversaryAccelerates" delay="0" conditionEdge="rising">
<ByValueCondition>
<StoryboardElementStateCondition storyboardElementType="action" storyboardElementRef="AdversaryAccelerates" state="completeState"/>
</ByValueCondition>
</Condition>
</ConditionGroup>
</StartTrigger>
</Event>
</Maneuver>
</ManeuverGroup>
<StartTrigger>
<ConditionGroup>
<Condition name="OverallStartCondition" delay="0" conditionEdge="rising">
<ByEntityCondition>
<TriggeringEntities triggeringEntitiesRule="any">
<EntityRef entityRef="hero"/>
</TriggeringEntities>
<EntityCondition>
<TraveledDistanceCondition value="1.0"/>
</EntityCondition>
</ByEntityCondition>
</Condition>
<Condition name="StartTime" delay="0" conditionEdge="rising">
<ByValueCondition>
<SimulationTimeCondition value="0" rule="equalTo"/>
</ByValueCondition>
</Condition>
</ConditionGroup>
</StartTrigger>
<StopTrigger>
<ConditionGroup>
<Condition name="EndCondition" delay="0" conditionEdge="rising">
<ByEntityCondition>
<TriggeringEntities triggeringEntitiesRule="any">
<EntityRef entityRef="hero"/>
</TriggeringEntities>
<EntityCondition>
<TraveledDistanceCondition value="200.0"/>
</EntityCondition>
</ByEntityCondition>
</Condition>
</ConditionGroup>
</StopTrigger>
</Act>
</Story>
<StopTrigger>
<ConditionGroup>
<Condition name="criteria_RunningStopTest" delay="0" conditionEdge="rising">
<ByValueCondition>
<ParameterCondition parameterRef="" value="" rule="lessThan"/>
</ByValueCondition>
</Condition>
<Condition name="criteria_RunningRedLightTest" delay="0" conditionEdge="rising">
<ByValueCondition>
<ParameterCondition parameterRef="" value="" rule="lessThan"/>
</ByValueCondition>
</Condition>
<Condition name="criteria_WrongLaneTest" delay="0" conditionEdge="rising">
<ByValueCondition>
<ParameterCondition parameterRef="" value="" rule="lessThan"/>
</ByValueCondition>
</Condition>
<Condition name="criteria_OnSidewalkTest" delay="0" conditionEdge="rising">
<ByValueCondition>
<ParameterCondition parameterRef="" value="" rule="lessThan"/>
</ByValueCondition>
</Condition>
<Condition name="criteria_KeepLaneTest" delay="0" conditionEdge="rising">
<ByValueCondition>
<ParameterCondition parameterRef="" value="" rule="lessThan"/>
</ByValueCondition>
</Condition>
<Condition name="criteria_CollisionTest" delay="0" conditionEdge="rising">
<ByValueCondition>
<ParameterCondition parameterRef="" value="" rule="lessThan"/>
</ByValueCondition>
</Condition>
<Condition name="criteria_DrivenDistanceTest" delay="0" conditionEdge="rising">
<ByValueCondition>
<ParameterCondition parameterRef="distance_success" value="100" rule="lessThan"/>
</ByValueCondition>
</Condition>
</ConditionGroup>
</StopTrigger>
</Storyboard>
</OpenSCENARIO>
``` | Here is the result:
```
<?xml version="1.0" ?>
<OpenSCENARIO>
<FileHeader revMajor="1" revMinor="0" date="2020-03-24T12:00:00" description="CARLA:LaneChangeSimple" author=""/>
<ParameterDeclarations/>
<CatalogLocations/>
<RoadNetwork>
<LogicFile filepath="Town04"/>
<SceneGraphFile filepath=""/>
</RoadNetwork>
<Entities>
<ScenarioObject name="hero">
<Vehicle name="vehicle.tesla.model3" vehicleCategory="car">
<ParameterDeclarations/>
<Performance maxSpeed="69.444" maxAcceleration="200" maxDeceleration="10.0"/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2.1" length="4.5" height="1.8"/>
</BoundingBox>
<Axles>
<FrontAxle maxSteering="0.5" wheelDiameter="0.6" trackWidth="1.8" positionX="3.1" positionZ="0.3"/>
<RearAxle maxSteering="0.0" wheelDiameter="0.6" trackWidth="1.8" positionX="0.0" positionZ="0.3"/>
</Axles>
<Properties>
<Property name="type" value="ego_vehicle"/>
</Properties>
</Vehicle>
</ScenarioObject>
<ScenarioObject name="adversary">
<Vehicle name="vehicle.lincoln.mkz_2017" vehicleCategory="car">
<ParameterDeclarations/>
<Performance maxSpeed="69.444" maxAcceleration="200" maxDeceleration="10.0"/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2.1" length="4.5" height="1.8"/>
</BoundingBox>
<Axles>
<FrontAxle maxSteering="0.5" wheelDiameter="0.6" trackWidth="1.8" positionX="3.1" positionZ="0.3"/>
<RearAxle maxSteering="0.0" wheelDiameter="0.6" trackWidth="1.8" positionX="0.0" positionZ="0.3"/>
</Axles>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Vehicle>
</ScenarioObject>
<ScenarioObject name="standing">
<Vehicle name="vehicle.volkswagen.t2" vehicleCategory="car">
<ParameterDeclarations/>
<Performance maxSpeed="69.444" maxAcceleration="200" maxDeceleration="10.0"/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2.1" length="4.5" height="1.8"/>
</BoundingBox>
<Axles>
<FrontAxle maxSteering="0.5" wheelDiameter="0.6" trackWidth="1.8" positionX="3.1" positionZ="0.3"/>
<RearAxle maxSteering="0.0" wheelDiameter="0.6" trackWidth="1.8" positionX="0.0" positionZ="0.3"/>
</Axles>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Vehicle>
</ScenarioObject>
<ScenarioObject name="pedestrian_close_to_standing_19923">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_w_transform_19924">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_close_to_standing_19926">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_w_transform_19927">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_w_transform_19928">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_close_to_adversary_19929">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_w_transform_19931">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_w_transform_19932">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_close_to_adversary_19933">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_close_to_hero_19934">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_close_to_hero_19935">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_close_to_adversary_19936">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_close_to_standing_19937">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_w_transform_19938">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
</Entities>
<Storyboard>
<Init>
<Actions>
<GlobalAction>
<EnvironmentAction>
<Environment name="Environment1">
<TimeOfDay animation="false" dateTime="2019-06-25T12:00:00"/>
<Weather cloudState="free">
<Sun intensity="0.85" azimuth="0" elevation="1.31"/>
<Fog visualRange="100000.0"/>
<Precipitation precipitationType="dry" intensity="0.0"/>
</Weather>
<RoadCondition frictionScaleFactor="1.0"/>
</Environment>
</EnvironmentAction>
</GlobalAction>
<Private entityRef="hero">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-9.4" y="-152.8" z="0.5" h="1.57079632679"/>
</Position>
</TeleportAction>
</PrivateAction>
<PrivateAction>
<ControllerAction>
<AssignControllerAction>
<Controller name="HeroAgent">
<Properties>
<Property name="module" value="external_control"/>
</Properties>
</Controller>
</AssignControllerAction>
<OverrideControllerValueAction>
<Throttle value="0" active="false"/>
<Brake value="0" active="false"/>
<Clutch value="0" active="false"/>
<ParkingBrake value="0" active="false"/>
<SteeringWheel value="0" active="false"/>
<Gear number="0" active="false"/>
</OverrideControllerValueAction>
</ControllerAction>
</PrivateAction>
</Private>
<Private entityRef="adversary">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-9.4" y="-71.0" z="0.5" h="1.57079632679"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="standing">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-8.2" y="29.2" z="0.5" h="1.57079632679"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_close_to_standing_19923">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-9.573493003845215" y="21.41835594177246" z="0.0030538940336555243"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_w_transform_19924">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-36.90110397338867" y="44.26987838745117" z="0.5"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_close_to_standing_19926">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-4.744479179382324" y="27.108806610107422" z="0.003081855596974492"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_w_transform_19927">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="71.08575439453125" y="-72.58331298828125" z="0.5"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_w_transform_19928">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-35.083335876464844" y="87.03567504882812" z="0.5"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_close_to_adversary_19929">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-9.547134399414062" y="-67.74853515625" z="0.03378314897418022"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_w_transform_19931">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="39.86309051513672" y="-20.415292739868164" z="0.5"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_w_transform_19932">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="74.82196807861328" y="48.982810974121094" z="0.5"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_close_to_adversary_19933">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-9.619379043579102" y="-74.45446014404297" z="0.033803023397922516"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_close_to_hero_19934">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-13.106497764587402" y="-161.9003143310547" z="0.0014286803780123591"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_close_to_hero_19935">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-5.9374847412109375" y="-157.7984619140625" z="0.0014286803780123591"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_close_to_adversary_19936">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-4.612253665924072" y="-74.83106994628906" z="0.03386974334716797"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_close_to_standing_19937">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-15.573220252990723" y="33.500118255615234" z="0.003079643240198493"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_w_transform_19938">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-33.04165267944336" y="72.48136901855469" z="0.5"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
</Actions>
</Init>
<Story name="MyStory">
<Act name="Behavior">
<ManeuverGroup maximumExecutionCount="1" name="ManeuverSequence">
<Actors selectTriggeringEntities="false">
<EntityRef entityRef="adversary"/>
</Actors>
<Maneuver name="LaneChangeSimpleManeuver">
<Event name="AdversaryAccelerates" priority="overwrite">
<Action name="AdversaryAccelerates">
<PrivateAction>
<LongitudinalAction>
<SpeedAction>
<SpeedActionDynamics dynamicsShape="step" value="50" dynamicsDimension="distance"/>
<SpeedActionTarget>
<AbsoluteTargetSpeed value="5.0"/>
</SpeedActionTarget>
</SpeedAction>
</LongitudinalAction>
</PrivateAction>
</Action>
<StartTrigger>
<ConditionGroup>
<Condition name="StartCondition" delay="0" conditionEdge="rising">
<ByEntityCondition>
<TriggeringEntities triggeringEntitiesRule="any">
<EntityRef entityRef="hero"/>
</TriggeringEntities>
<EntityCondition>
<RelativeDistanceCondition entityRef="adversary" relativeDistanceType="cartesianDistance" value="40.0" freespace="false" rule="lessThan"/>
</EntityCondition>
</ByEntityCondition>
</Condition>
</ConditionGroup>
</StartTrigger>
</Event>
<Event name="AdversaryChangesLane" priority="overwrite">
<Action name="AdversaryChangesLane">
<PrivateAction>
<LateralAction>
<LaneChangeAction>
<LaneChangeActionDynamics dynamicsShape="linear" value="25" dynamicsDimension="distance"/>
<LaneChangeTarget>
<RelativeTargetLane entityRef="adversary" value="-1"/>
</LaneChangeTarget>
</LaneChangeAction>
</LateralAction>
</PrivateAction>
</Action>
<StartTrigger>
<ConditionGroup>
<Condition name="AfterAdversaryAccelerates" delay="0" conditionEdge="rising">
<ByValueCondition>
<StoryboardElementStateCondition storyboardElementType="action" storyboardElementRef="AdversaryAccelerates" state="completeState"/>
</ByValueCondition>
</Condition>
</ConditionGroup>
</StartTrigger>
</Event>
</Maneuver>
</ManeuverGroup>
<StartTrigger>
<ConditionGroup>
<Condition name="OverallStartCondition" delay="0" conditionEdge="rising">
<ByEntityCondition>
<TriggeringEntities triggeringEntitiesRule="any">
<EntityRef entityRef="hero"/>
</TriggeringEntities>
<EntityCondition>
<TraveledDistanceCondition value="1.0"/>
</EntityCondition>
</ByEntityCondition>
</Condition>
<Condition name="StartTime" delay="0" conditionEdge="rising">
<ByValueCondition>
<SimulationTimeCondition value="0" rule="equalTo"/>
</ByValueCondition>
</Condition>
</ConditionGroup>
</StartTrigger>
<StopTrigger>
<ConditionGroup>
<Condition name="EndCondition" delay="0" conditionEdge="rising">
<ByEntityCondition>
<TriggeringEntities triggeringEntitiesRule="any">
<EntityRef entityRef="hero"/>
</TriggeringEntities>
<EntityCondition>
<TraveledDistanceCondition value="200.0"/>
</EntityCondition>
</ByEntityCondition>
</Condition>
</ConditionGroup>
</StopTrigger>
</Act>
</Story>
<StopTrigger>
<ConditionGroup>
<Condition name="criteria_RunningStopTest" delay="0" conditionEdge="rising">
<ByValueCondition>
<ParameterCondition parameterRef="" value="" rule="lessThan"/>
</ByValueCondition>
</Condition>
<Condition name="criteria_RunningRedLightTest" delay="0" conditionEdge="rising">
<ByValueCondition>
<ParameterCondition parameterRef="" value="" rule="lessThan"/>
</ByValueCondition>
</Condition>
<Condition name="criteria_WrongLaneTest" delay="0" conditionEdge="rising">
<ByValueCondition>
<ParameterCondition parameterRef="" value="" rule="lessThan"/>
</ByValueCondition>
</Condition>
<Condition name="criteria_OnSidewalkTest" delay="0" conditionEdge="rising">
<ByValueCondition>
<ParameterCondition parameterRef="" value="" rule="lessThan"/>
</ByValueCondition>
</Condition>
<Condition name="criteria_KeepLaneTest" delay="0" conditionEdge="rising">
<ByValueCondition>
<ParameterCondition parameterRef="" value="" rule="lessThan"/>
</ByValueCondition>
</Condition>
<Condition name="criteria_CollisionTest" delay="0" conditionEdge="rising">
<ByValueCondition>
<ParameterCondition parameterRef="" value="" rule="lessThan"/>
</ByValueCondition>
</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_adversary_23422">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_close_to_standing_23423">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_close_to_adversary_23424">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_close_to_hero_23425">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_w_transform_23426">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_w_transform_23427">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_close_to_hero_23428">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_close_to_standing_23429">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_w_transform_23430">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_close_to_adversary_23431">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_w_transform_23432">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_w_transform_23433">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_w_transform_23434">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_close_to_standing_23435">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_w_transform_23436">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_close_to_standing_23437">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_w_transform_23438">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
</Entities>
<Storyboard>
<Init>
<Actions>
<GlobalAction>
<EnvironmentAction>
<Environment name="Environment1">
<TimeOfDay animation="false" dateTime="2019-06-25T12:00:00"/>
<Weather cloudState="free">
<Sun intensity="0.85" azimuth="0" elevation="1.31"/>
<Fog visualRange="100000.0"/>
<Precipitation precipitationType="dry" intensity="0.0"/>
</Weather>
<RoadCondition frictionScaleFactor="1.0"/>
</Environment>
</EnvironmentAction>
</GlobalAction>
<Private entityRef="hero">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-9.4" y="-152.8" z="0.5" h="1.57079632679"/>
</Position>
</TeleportAction>
</PrivateAction>
<PrivateAction>
<ControllerAction>
<AssignControllerAction>
<Controller name="HeroAgent">
<Properties>
<Property name="module" value="external_control"/>
</Properties>
</Controller>
</AssignControllerAction>
<OverrideControllerValueAction>
<Throttle value="0" active="false"/>
<Brake value="0" active="false"/>
<Clutch value="0" active="false"/>
<ParkingBrake value="0" active="false"/>
<SteeringWheel value="0" active="false"/>
<Gear number="0" active="false"/>
</OverrideControllerValueAction>
</ControllerAction>
</PrivateAction>
</Private>
<Private entityRef="adversary">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-9.4" y="-71.0" z="0.5" h="1.57079632679"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="standing">
<PrivateAction>
<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_23422">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-11.836771011352539" y="-70.80806732177734" z="0.033806800842285156"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_close_to_standing_23423">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-2.783076524734497" y="37.6500129699707" z="0.0030648040119558573"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_close_to_adversary_23424">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-15.483975410461426" y="-62.750885009765625" z="0.03381462022662163"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_close_to_hero_23425">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-5.4582743644714355" y="-150.7545928955078" z="0.0014286803780123591"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_w_transform_23426">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="2.210761308670044" y="-83.97945404052734" z="0.5"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_w_transform_23427">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="25.264814376831055" y="-70.58739471435547" z="0.5"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_close_to_hero_23428">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-13.063871383666992" y="-156.99862670898438" z="0.0014286803780123591"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_close_to_standing_23429">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-2.1325342655181885" y="27.1617431640625" z="0.003060912946239114"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_w_transform_23430">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-71.62904357910156" y="77.17283630371094" z="0.5"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_close_to_adversary_23431">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-17.625795364379883" y="-69.35610961914062" z="0.03378204256296158"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_w_transform_23432">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="79.72886657714844" y="-76.0284652709961" z="0.5"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_w_transform_23433">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="5.435349941253662" y="-3.4341936111450195" z="0.5"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_w_transform_23434">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-34.0518684387207" y="64.94418334960938" z="0.5"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_close_to_standing_23435">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-13.40356731414795" y="26.41399383544922" z="0.0030631637200713158"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_w_transform_23436">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="17.56167221069336" y="75.6607437133789" z="0.5"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_close_to_standing_23437">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="1.1412177085876465" y="23.358095169067383" z="0.003062286414206028"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_w_transform_23438">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="82.96598052978516" y="-30.844985961914062" z="0.5"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
</Actions>
</Init>
<Story name="MyStory">
<Act name="Behavior">
<ManeuverGroup maximumExecutionCount="1" name="ManeuverSequence">
<Actors selectTriggeringEntities="false">
<EntityRef entityRef="adversary"/>
</Actors>
<Maneuver name="LaneChangeSimpleManeuver">
<Event name="AdversaryAccelerates" priority="overwrite">
<Action name="AdversaryAccelerates">
<PrivateAction>
<LongitudinalAction>
<SpeedAction>
<SpeedActionDynamics dynamicsShape="step" value="50" dynamicsDimension="distance"/>
<SpeedActionTarget>
<AbsoluteTargetSpeed value="5.0"/>
</SpeedActionTarget>
</SpeedAction>
</LongitudinalAction>
</PrivateAction>
</Action>
<StartTrigger>
<ConditionGroup>
<Condition name="StartCondition" delay="0" conditionEdge="rising">
<ByEntityCondition>
<TriggeringEntities triggeringEntitiesRule="any">
<EntityRef entityRef="hero"/>
</TriggeringEntities>
<EntityCondition>
<RelativeDistanceCondition entityRef="adversary" relativeDistanceType="cartesianDistance" value="40.0" freespace="false" rule="lessThan"/>
</EntityCondition>
</ByEntityCondition>
</Condition>
</ConditionGroup>
</StartTrigger>
</Event>
<Event name="AdversaryChangesLane" priority="overwrite">
<Action name="AdversaryChangesLane">
<PrivateAction>
<LateralAction>
<LaneChangeAction>
<LaneChangeActionDynamics dynamicsShape="linear" value="25" dynamicsDimension="distance"/>
<LaneChangeTarget>
<RelativeTargetLane entityRef="adversary" value="-1"/>
</LaneChangeTarget>
</LaneChangeAction>
</LateralAction>
</PrivateAction>
</Action>
<StartTrigger>
<ConditionGroup>
<Condition name="AfterAdversaryAccelerates" delay="0" conditionEdge="rising">
<ByValueCondition>
<StoryboardElementStateCondition storyboardElementType="action" storyboardElementRef="AdversaryAccelerates" state="completeState"/>
</ByValueCondition>
</Condition>
</ConditionGroup>
</StartTrigger>
</Event>
</Maneuver>
</ManeuverGroup>
<StartTrigger>
<ConditionGroup>
<Condition name="OverallStartCondition" delay="0" conditionEdge="rising">
<ByEntityCondition>
<TriggeringEntities triggeringEntitiesRule="any">
<EntityRef entityRef="hero"/>
</TriggeringEntities>
<EntityCondition>
<TraveledDistanceCondition value="1.0"/>
</EntityCondition>
</ByEntityCondition>
</Condition>
<Condition name="StartTime" delay="0" conditionEdge="rising">
<ByValueCondition>
<SimulationTimeCondition value="0" rule="equalTo"/>
</ByValueCondition>
</Condition>
</ConditionGroup>
</StartTrigger>
<StopTrigger>
<ConditionGroup>
<Condition name="EndCondition" delay="0" conditionEdge="rising">
<ByEntityCondition>
<TriggeringEntities triggeringEntitiesRule="any">
<EntityRef entityRef="hero"/>
</TriggeringEntities>
<EntityCondition>
<TraveledDistanceCondition value="200.0"/>
</EntityCondition>
</ByEntityCondition>
</Condition>
</ConditionGroup>
</StopTrigger>
</Act>
</Story>
<StopTrigger>
<ConditionGroup>
<Condition name="criteria_RunningStopTest" delay="0" conditionEdge="rising">
<ByValueCondition>
<ParameterCondition parameterRef="" value="" rule="lessThan"/>
</ByValueCondition>
</Condition>
<Condition name="criteria_RunningRedLightTest" delay="0" conditionEdge="rising">
<ByValueCondition>
<ParameterCondition parameterRef="" value="" rule="lessThan"/>
</ByValueCondition>
</Condition>
<Condition name="criteria_WrongLaneTest" delay="0" conditionEdge="rising">
<ByValueCondition>
<ParameterCondition parameterRef="" value="" rule="lessThan"/>
</ByValueCondition>
</Condition>
<Condition name="criteria_OnSidewalkTest" delay="0" conditionEdge="rising">
<ByValueCondition>
<ParameterCondition parameterRef="" value="" rule="lessThan"/>
</ByValueCondition>
</Condition>
<Condition name="criteria_KeepLaneTest" delay="0" conditionEdge="rising">
<ByValueCondition>
<ParameterCondition parameterRef="" value="" rule="lessThan"/>
</ByValueCondition>
</Condition>
<Condition name="criteria_CollisionTest" delay="0" conditionEdge="rising">
<ByValueCondition>
<ParameterCondition parameterRef="" value="" rule="lessThan"/>
</ByValueCondition>
</Condition>
<Condition name="criteria_DrivenDistanceTest" delay="0" conditionEdge="rising">
<ByValueCondition>
<ParameterCondition parameterRef="distance_success" value="100" rule="lessThan"/>
</ByValueCondition>
</Condition>
</ConditionGroup>
</StopTrigger>
</Storyboard>
</OpenSCENARIO>
``` | Here is the result:
```
<?xml version="1.0" ?>
<OpenSCENARIO>
<FileHeader revMajor="1" revMinor="0" date="2020-03-24T12:00:00" description="CARLA:LaneChangeSimple" author=""/>
<ParameterDeclarations/>
<CatalogLocations/>
<RoadNetwork>
<LogicFile filepath="Town04"/>
<SceneGraphFile filepath=""/>
</RoadNetwork>
<Entities>
<ScenarioObject name="hero">
<Vehicle name="vehicle.tesla.model3" vehicleCategory="car">
<ParameterDeclarations/>
<Performance maxSpeed="69.444" maxAcceleration="200" maxDeceleration="10.0"/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2.1" length="4.5" height="1.8"/>
</BoundingBox>
<Axles>
<FrontAxle maxSteering="0.5" wheelDiameter="0.6" trackWidth="1.8" positionX="3.1" positionZ="0.3"/>
<RearAxle maxSteering="0.0" wheelDiameter="0.6" trackWidth="1.8" positionX="0.0" positionZ="0.3"/>
</Axles>
<Properties>
<Property name="type" value="ego_vehicle"/>
</Properties>
</Vehicle>
</ScenarioObject>
<ScenarioObject name="adversary">
<Vehicle name="vehicle.lincoln.mkz_2017" vehicleCategory="car">
<ParameterDeclarations/>
<Performance maxSpeed="69.444" maxAcceleration="200" maxDeceleration="10.0"/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2.1" length="4.5" height="1.8"/>
</BoundingBox>
<Axles>
<FrontAxle maxSteering="0.5" wheelDiameter="0.6" trackWidth="1.8" positionX="3.1" positionZ="0.3"/>
<RearAxle maxSteering="0.0" wheelDiameter="0.6" trackWidth="1.8" positionX="0.0" positionZ="0.3"/>
</Axles>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Vehicle>
</ScenarioObject>
<ScenarioObject name="standing">
<Vehicle name="vehicle.volkswagen.t2" vehicleCategory="car">
<ParameterDeclarations/>
<Performance maxSpeed="69.444" maxAcceleration="200" maxDeceleration="10.0"/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2.1" length="4.5" height="1.8"/>
</BoundingBox>
<Axles>
<FrontAxle maxSteering="0.5" wheelDiameter="0.6" trackWidth="1.8" positionX="3.1" positionZ="0.3"/>
<RearAxle maxSteering="0.0" wheelDiameter="0.6" 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_23422">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_close_to_standing_23423">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_close_to_adversary_23424">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_close_to_hero_23425">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_w_transform_23426">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_w_transform_23427">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_close_to_hero_23428">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_close_to_standing_23429">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_w_transform_23430">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_close_to_adversary_23431">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_w_transform_23432">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_w_transform_23433">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_w_transform_23434">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_close_to_standing_23435">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_w_transform_23436">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_close_to_standing_23437">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_w_transform_23438">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_close_to_hero_23440">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
</Entities>
<Storyboard>
<Init>
<Actions>
<GlobalAction>
<EnvironmentAction>
<Environment name="Environment1">
<TimeOfDay animation="false" dateTime="2019-06-25T12:00:00"/>
<Weather cloudState="free">
<Sun intensity="0.85" azimuth="0" elevation="1.31"/>
<Fog visualRange="100000.0"/>
<Precipitation precipitationType="dry" intensity="0.0"/>
</Weather>
<RoadCondition frictionScaleFactor="1.0"/>
</Environment>
</EnvironmentAction>
</GlobalAction>
<Private entityRef="hero">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-9.4" y="-152.8" z="0.5" h="1.57079632679"/>
</Position>
</TeleportAction>
</PrivateAction>
<PrivateAction>
<ControllerAction>
<AssignControllerAction>
<Controller name="HeroAgent">
<Properties>
<Property name="module" value="external_control"/>
</Properties>
</Controller>
</AssignControllerAction>
<OverrideControllerValueAction>
<Throttle value="0" active="false"/>
<Brake value="0" active="false"/>
<Clutch value="0" active="false"/>
<ParkingBrake value="0" active="false"/>
<SteeringWheel value="0" active="false"/>
<Gear number="0" active="false"/>
</OverrideControllerValueAction>
</ControllerAction>
</PrivateAction>
</Private>
<Private entityRef="adversary">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-9.4" y="-71.0" z="0.5" h="1.57079632679"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="standing">
<PrivateAction>
<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_23422">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-11.836771011352539" y="-70.80806732177734" z="0.033806800842285156"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_close_to_standing_23423">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-2.783076524734497" y="37.6500129699707" z="0.0030648040119558573"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_close_to_adversary_23424">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-15.483975410461426" y="-62.750885009765625" z="0.03381462022662163"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_close_to_hero_23425">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-5.4582743644714355" y="-150.7545928955078" z="0.0014286803780123591"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_w_transform_23426">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="2.210761308670044" y="-83.97945404052734" z="0.5"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_w_transform_23427">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="25.264814376831055" y="-70.58739471435547" z="0.5"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_close_to_hero_23428">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-13.063871383666992" y="-156.99862670898438" z="0.0014286803780123591"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_close_to_standing_23429">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-2.1325342655181885" y="27.1617431640625" z="0.003060912946239114"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_w_transform_23430">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-71.62904357910156" y="77.17283630371094" z="0.5"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_close_to_adversary_23431">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-17.625795364379883" y="-69.35610961914062" z="0.03378204256296158"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_w_transform_23432">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="79.72886657714844" y="-76.0284652709961" z="0.5"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_w_transform_23433">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="5.435349941253662" y="-3.4341936111450195" z="0.5"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_w_transform_23434">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-34.0518684387207" y="64.94418334960938" z="0.5"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_close_to_standing_23435">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-13.40356731414795" y="26.41399383544922" z="0.0030631637200713158"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_w_transform_23436">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="17.56167221069336" y="75.6607437133789" z="0.5"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_close_to_standing_23437">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="1.1412177085876465" y="23.358095169067383" z="0.003062286414206028"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_w_transform_23438">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="82.96598052978516" y="-30.844985961914062" z="0.5"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_close_to_hero_23440">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-15.664761543273926" y="-144.32632446289062" z="0.0014286803780123591"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
</Actions>
</Init>
<Story name="MyStory">
<Act name="Behavior">
<ManeuverGroup maximumExecutionCount="1" name="ManeuverSequence">
<Actors selectTriggeringEntities="false">
<EntityRef entityRef="adversary"/>
</Actors>
<Maneuver name="LaneChangeSimpleManeuver">
<Event name="AdversaryAccelerates" priority="overwrite">
<Action name="AdversaryAccelerates">
<PrivateAction>
<LongitudinalAction>
<SpeedAction>
<SpeedActionDynamics dynamicsShape="step" value="50" dynamicsDimension="distance"/>
<SpeedActionTarget>
<AbsoluteTargetSpeed value="5.0"/>
</SpeedActionTarget>
</SpeedAction>
</LongitudinalAction>
</PrivateAction>
</Action>
<StartTrigger>
<ConditionGroup>
<Condition name="StartCondition" delay="0" conditionEdge="rising">
<ByEntityCondition>
<TriggeringEntities triggeringEntitiesRule="any">
<EntityRef entityRef="hero"/>
</TriggeringEntities>
<EntityCondition>
<RelativeDistanceCondition entityRef="adversary" relativeDistanceType="cartesianDistance" value="40.0" freespace="false" rule="lessThan"/>
</EntityCondition>
</ByEntityCondition>
</Condition>
</ConditionGroup>
</StartTrigger>
</Event>
<Event name="AdversaryChangesLane" priority="overwrite">
<Action name="AdversaryChangesLane">
<PrivateAction>
<LateralAction>
<LaneChangeAction>
<LaneChangeActionDynamics dynamicsShape="linear" value="25" dynamicsDimension="distance"/>
<LaneChangeTarget>
<RelativeTargetLane entityRef="adversary" value="-1"/>
</LaneChangeTarget>
</LaneChangeAction>
</LateralAction>
</PrivateAction>
</Action>
<StartTrigger>
<ConditionGroup>
<Condition name="AfterAdversaryAccelerates" delay="0" conditionEdge="rising">
<ByValueCondition>
<StoryboardElementStateCondition storyboardElementType="action" storyboardElementRef="AdversaryAccelerates" state="completeState"/>
</ByValueCondition>
</Condition>
</ConditionGroup>
</StartTrigger>
</Event>
</Maneuver>
</ManeuverGroup>
<StartTrigger>
<ConditionGroup>
<Condition name="OverallStartCondition" delay="0" conditionEdge="rising">
<ByEntityCondition>
<TriggeringEntities triggeringEntitiesRule="any">
<EntityRef entityRef="hero"/>
</TriggeringEntities>
<EntityCondition>
<TraveledDistanceCondition value="1.0"/>
</EntityCondition>
</ByEntityCondition>
</Condition>
<Condition name="StartTime" delay="0" conditionEdge="rising">
<ByValueCondition>
<SimulationTimeCondition value="0" rule="equalTo"/>
</ByValueCondition>
</Condition>
</ConditionGroup>
</StartTrigger>
<StopTrigger>
<ConditionGroup>
<Condition name="EndCondition" delay="0" conditionEdge="rising">
<ByEntityCondition>
<TriggeringEntities triggeringEntitiesRule="any">
<EntityRef entityRef="hero"/>
</TriggeringEntities>
<EntityCondition>
<TraveledDistanceCondition value="200.0"/>
</EntityCondition>
</ByEntityCondition>
</Condition>
</ConditionGroup>
</StopTrigger>
</Act>
</Story>
<StopTrigger>
<ConditionGroup>
<Condition name="criteria_RunningStopTest" delay="0" conditionEdge="rising">
<ByValueCondition>
<ParameterCondition parameterRef="" value="" rule="lessThan"/>
</ByValueCondition>
</Condition>
<Condition name="criteria_RunningRedLightTest" delay="0" conditionEdge="rising">
<ByValueCondition>
<ParameterCondition parameterRef="" value="" rule="lessThan"/>
</ByValueCondition>
</Condition>
<Condition name="criteria_WrongLaneTest" delay="0" conditionEdge="rising">
<ByValueCondition>
<ParameterCondition parameterRef="" value="" rule="lessThan"/>
</ByValueCondition>
</Condition>
<Condition name="criteria_OnSidewalkTest" delay="0" conditionEdge="rising">
<ByValueCondition>
<ParameterCondition parameterRef="" value="" rule="lessThan"/>
</ByValueCondition>
</Condition>
<Condition name="criteria_KeepLaneTest" delay="0" conditionEdge="rising">
<ByValueCondition>
<ParameterCondition parameterRef="" value="" rule="lessThan"/>
</ByValueCondition>
</Condition>
<Condition name="criteria_CollisionTest" delay="0" conditionEdge="rising">
<ByValueCondition>
<ParameterCondition parameterRef="" value="" rule="lessThan"/>
</ByValueCondition>
</Condition>
<Condition name="criteria_DrivenDistanceTest" delay="0" conditionEdge="rising">
<ByValueCondition>
<ParameterCondition parameterRef="distance_success" value="100" rule="lessThan"/>
</ByValueCondition>
</Condition>
</ConditionGroup>
</StopTrigger>
</Storyboard>
</OpenSCENARIO>
``` |
i need you to remove pedestrian actor named pedestrian_w_transform_5285?
```
<?xml version="1.0" ?>
<OpenSCENARIO>
<FileHeader revMajor="1" revMinor="0" date="2020-03-24T12:00:00" description="CARLA:LaneChangeSimple" author=""/>
<ParameterDeclarations/>
<CatalogLocations/>
<RoadNetwork>
<LogicFile filepath="Town04"/>
<SceneGraphFile filepath=""/>
</RoadNetwork>
<Entities>
<ScenarioObject name="hero">
<Vehicle name="vehicle.tesla.model3" vehicleCategory="car">
<ParameterDeclarations/>
<Performance maxSpeed="69.444" maxAcceleration="200" maxDeceleration="10.0"/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2.1" length="4.5" height="1.8"/>
</BoundingBox>
<Axles>
<FrontAxle maxSteering="0.5" wheelDiameter="0.6" trackWidth="1.8" positionX="3.1" positionZ="0.3"/>
<RearAxle maxSteering="0.0" wheelDiameter="0.6" trackWidth="1.8" positionX="0.0" positionZ="0.3"/>
</Axles>
<Properties>
<Property name="type" value="ego_vehicle"/>
</Properties>
</Vehicle>
</ScenarioObject>
<ScenarioObject name="adversary">
<Vehicle name="vehicle.lincoln.mkz_2017" vehicleCategory="car">
<ParameterDeclarations/>
<Performance maxSpeed="69.444" maxAcceleration="200" maxDeceleration="10.0"/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2.1" length="4.5" height="1.8"/>
</BoundingBox>
<Axles>
<FrontAxle maxSteering="0.5" wheelDiameter="0.6" trackWidth="1.8" positionX="3.1" positionZ="0.3"/>
<RearAxle maxSteering="0.0" wheelDiameter="0.6" trackWidth="1.8" positionX="0.0" positionZ="0.3"/>
</Axles>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Vehicle>
</ScenarioObject>
<ScenarioObject name="standing">
<Vehicle name="vehicle.volkswagen.t2" vehicleCategory="car">
<ParameterDeclarations/>
<Performance maxSpeed="69.444" maxAcceleration="200" maxDeceleration="10.0"/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2.1" length="4.5" height="1.8"/>
</BoundingBox>
<Axles>
<FrontAxle maxSteering="0.5" wheelDiameter="0.6" trackWidth="1.8" positionX="3.1" positionZ="0.3"/>
<RearAxle maxSteering="0.0" wheelDiameter="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_5270">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_close_to_hero_5271">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_close_to_standing_5272">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_w_transform_5273">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_close_to_hero_5274">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_w_transform_5276">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_close_to_standing_5278">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_close_to_hero_5280">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_w_transform_5283">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_w_transform_5284">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_w_transform_5285">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_w_transform_5286">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_w_transform_5288">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
</Entities>
<Storyboard>
<Init>
<Actions>
<GlobalAction>
<EnvironmentAction>
<Environment name="Environment1">
<TimeOfDay animation="false" dateTime="2019-06-25T12:00:00"/>
<Weather cloudState="free">
<Sun intensity="0.85" azimuth="0" elevation="1.31"/>
<Fog visualRange="100000.0"/>
<Precipitation precipitationType="dry" intensity="0.0"/>
</Weather>
<RoadCondition frictionScaleFactor="1.0"/>
</Environment>
</EnvironmentAction>
</GlobalAction>
<Private entityRef="hero">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-9.4" y="-152.8" z="0.5" h="1.57079632679"/>
</Position>
</TeleportAction>
</PrivateAction>
<PrivateAction>
<ControllerAction>
<AssignControllerAction>
<Controller name="HeroAgent">
<Properties>
<Property name="module" value="external_control"/>
</Properties>
</Controller>
</AssignControllerAction>
<OverrideControllerValueAction>
<Throttle value="0" active="false"/>
<Brake value="0" active="false"/>
<Clutch value="0" active="false"/>
<ParkingBrake value="0" active="false"/>
<SteeringWheel value="0" active="false"/>
<Gear number="0" active="false"/>
</OverrideControllerValueAction>
</ControllerAction>
</PrivateAction>
</Private>
<Private entityRef="adversary">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-9.4" y="-71.0" z="0.5" h="1.57079632679"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="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_5270">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="82.07479858398438" y="44.23979568481445" z="0.5"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_close_to_hero_5271">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-10.319400787353516" y="-147.15811157226562" z="0.0014286803780123591"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_close_to_standing_5272">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-13.275127410888672" y="25.60024070739746" z="0.003040656913071871"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_w_transform_5273">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-66.84284973144531" y="46.35194778442383" z="0.5"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_close_to_hero_5274">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-22.677902221679688" y="-132.71290588378906" z="0.0014286803780123591"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_w_transform_5276">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-10.152571678161621" y="55.5595817565918" z="0.5"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_close_to_standing_5278">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-16.68254280090332" y="44.53974533081055" z="0.0030648040119558573"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_close_to_hero_5280">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-18.146081924438477" y="-146.762939453125" z="0.0014286803780123591"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_w_transform_5283">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-96.01095581054688" y="47.45365524291992" z="0.5"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_w_transform_5284">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-15.013092041015625" y="-30.48291778564453" z="0.5"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_w_transform_5285">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="16.396865844726562" y="-98.32949829101562" z="0.5"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_w_transform_5286">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="64.39774322509766" y="-5.336731433868408" z="0.5"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_w_transform_5288">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-20.483755111694336" y="27.867027282714844" z="0.5"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
</Actions>
</Init>
<Story name="MyStory">
<Act name="Behavior">
<ManeuverGroup maximumExecutionCount="1" name="ManeuverSequence">
<Actors selectTriggeringEntities="false">
<EntityRef entityRef="adversary"/>
</Actors>
<Maneuver name="LaneChangeSimpleManeuver">
<Event name="AdversaryAccelerates" priority="overwrite">
<Action name="AdversaryAccelerates">
<PrivateAction>
<LongitudinalAction>
<SpeedAction>
<SpeedActionDynamics dynamicsShape="step" value="50" dynamicsDimension="distance"/>
<SpeedActionTarget>
<AbsoluteTargetSpeed value="5.0"/>
</SpeedActionTarget>
</SpeedAction>
</LongitudinalAction>
</PrivateAction>
</Action>
<StartTrigger>
<ConditionGroup>
<Condition name="StartCondition" delay="0" conditionEdge="rising">
<ByEntityCondition>
<TriggeringEntities triggeringEntitiesRule="any">
<EntityRef entityRef="hero"/>
</TriggeringEntities>
<EntityCondition>
<RelativeDistanceCondition entityRef="adversary" relativeDistanceType="cartesianDistance" value="40.0" freespace="false" rule="lessThan"/>
</EntityCondition>
</ByEntityCondition>
</Condition>
</ConditionGroup>
</StartTrigger>
</Event>
<Event name="AdversaryChangesLane" priority="overwrite">
<Action name="AdversaryChangesLane">
<PrivateAction>
<LateralAction>
<LaneChangeAction>
<LaneChangeActionDynamics dynamicsShape="linear" value="25" dynamicsDimension="distance"/>
<LaneChangeTarget>
<RelativeTargetLane entityRef="adversary" value="-1"/>
</LaneChangeTarget>
</LaneChangeAction>
</LateralAction>
</PrivateAction>
</Action>
<StartTrigger>
<ConditionGroup>
<Condition name="AfterAdversaryAccelerates" delay="0" conditionEdge="rising">
<ByValueCondition>
<StoryboardElementStateCondition storyboardElementType="action" storyboardElementRef="AdversaryAccelerates" state="completeState"/>
</ByValueCondition>
</Condition>
</ConditionGroup>
</StartTrigger>
</Event>
</Maneuver>
</ManeuverGroup>
<StartTrigger>
<ConditionGroup>
<Condition name="OverallStartCondition" delay="0" conditionEdge="rising">
<ByEntityCondition>
<TriggeringEntities triggeringEntitiesRule="any">
<EntityRef entityRef="hero"/>
</TriggeringEntities>
<EntityCondition>
<TraveledDistanceCondition value="1.0"/>
</EntityCondition>
</ByEntityCondition>
</Condition>
<Condition name="StartTime" delay="0" conditionEdge="rising">
<ByValueCondition>
<SimulationTimeCondition value="0" rule="equalTo"/>
</ByValueCondition>
</Condition>
</ConditionGroup>
</StartTrigger>
<StopTrigger>
<ConditionGroup>
<Condition name="EndCondition" delay="0" conditionEdge="rising">
<ByEntityCondition>
<TriggeringEntities triggeringEntitiesRule="any">
<EntityRef entityRef="hero"/>
</TriggeringEntities>
<EntityCondition>
<TraveledDistanceCondition value="200.0"/>
</EntityCondition>
</ByEntityCondition>
</Condition>
</ConditionGroup>
</StopTrigger>
</Act>
</Story>
<StopTrigger>
<ConditionGroup>
<Condition name="criteria_RunningStopTest" delay="0" conditionEdge="rising">
<ByValueCondition>
<ParameterCondition parameterRef="" value="" rule="lessThan"/>
</ByValueCondition>
</Condition>
<Condition name="criteria_RunningRedLightTest" delay="0" conditionEdge="rising">
<ByValueCondition>
<ParameterCondition parameterRef="" value="" rule="lessThan"/>
</ByValueCondition>
</Condition>
<Condition name="criteria_WrongLaneTest" delay="0" conditionEdge="rising">
<ByValueCondition>
<ParameterCondition parameterRef="" value="" rule="lessThan"/>
</ByValueCondition>
</Condition>
<Condition name="criteria_OnSidewalkTest" delay="0" conditionEdge="rising">
<ByValueCondition>
<ParameterCondition parameterRef="" value="" rule="lessThan"/>
</ByValueCondition>
</Condition>
<Condition name="criteria_KeepLaneTest" delay="0" conditionEdge="rising">
<ByValueCondition>
<ParameterCondition parameterRef="" value="" rule="lessThan"/>
</ByValueCondition>
</Condition>
<Condition name="criteria_CollisionTest" delay="0" conditionEdge="rising">
<ByValueCondition>
<ParameterCondition parameterRef="" value="" rule="lessThan"/>
</ByValueCondition>
</Condition>
<Condition name="criteria_DrivenDistanceTest" delay="0" conditionEdge="rising">
<ByValueCondition>
<ParameterCondition parameterRef="distance_success" value="100" rule="lessThan"/>
</ByValueCondition>
</Condition>
</ConditionGroup>
</StopTrigger>
</Storyboard>
</OpenSCENARIO>
``` | Here is the result:
```
<?xml version="1.0" ?>
<OpenSCENARIO>
<FileHeader revMajor="1" revMinor="0" date="2020-03-24T12:00:00" description="CARLA:LaneChangeSimple" author=""/>
<ParameterDeclarations/>
<CatalogLocations/>
<RoadNetwork>
<LogicFile filepath="Town04"/>
<SceneGraphFile filepath=""/>
</RoadNetwork>
<Entities>
<ScenarioObject name="hero">
<Vehicle name="vehicle.tesla.model3" vehicleCategory="car">
<ParameterDeclarations/>
<Performance maxSpeed="69.444" maxAcceleration="200" maxDeceleration="10.0"/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2.1" length="4.5" height="1.8"/>
</BoundingBox>
<Axles>
<FrontAxle maxSteering="0.5" wheelDiameter="0.6" trackWidth="1.8" positionX="3.1" positionZ="0.3"/>
<RearAxle maxSteering="0.0" wheelDiameter="0.6" trackWidth="1.8" positionX="0.0" positionZ="0.3"/>
</Axles>
<Properties>
<Property name="type" value="ego_vehicle"/>
</Properties>
</Vehicle>
</ScenarioObject>
<ScenarioObject name="adversary">
<Vehicle name="vehicle.lincoln.mkz_2017" vehicleCategory="car">
<ParameterDeclarations/>
<Performance maxSpeed="69.444" maxAcceleration="200" maxDeceleration="10.0"/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2.1" length="4.5" height="1.8"/>
</BoundingBox>
<Axles>
<FrontAxle maxSteering="0.5" wheelDiameter="0.6" trackWidth="1.8" positionX="3.1" positionZ="0.3"/>
<RearAxle maxSteering="0.0" wheelDiameter="0.6" trackWidth="1.8" positionX="0.0" positionZ="0.3"/>
</Axles>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Vehicle>
</ScenarioObject>
<ScenarioObject name="standing">
<Vehicle name="vehicle.volkswagen.t2" vehicleCategory="car">
<ParameterDeclarations/>
<Performance maxSpeed="69.444" maxAcceleration="200" maxDeceleration="10.0"/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2.1" length="4.5" height="1.8"/>
</BoundingBox>
<Axles>
<FrontAxle maxSteering="0.5" wheelDiameter="0.6" trackWidth="1.8" positionX="3.1" positionZ="0.3"/>
<RearAxle maxSteering="0.0" wheelDiameter="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_5270">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_close_to_hero_5271">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_close_to_standing_5272">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_w_transform_5273">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_close_to_hero_5274">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_w_transform_5276">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_close_to_standing_5278">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_close_to_hero_5280">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_w_transform_5283">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_w_transform_5284">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_w_transform_5286">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_w_transform_5288">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
</Entities>
<Storyboard>
<Init>
<Actions>
<GlobalAction>
<EnvironmentAction>
<Environment name="Environment1">
<TimeOfDay animation="false" dateTime="2019-06-25T12:00:00"/>
<Weather cloudState="free">
<Sun intensity="0.85" azimuth="0" elevation="1.31"/>
<Fog visualRange="100000.0"/>
<Precipitation precipitationType="dry" intensity="0.0"/>
</Weather>
<RoadCondition frictionScaleFactor="1.0"/>
</Environment>
</EnvironmentAction>
</GlobalAction>
<Private entityRef="hero">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-9.4" y="-152.8" z="0.5" h="1.57079632679"/>
</Position>
</TeleportAction>
</PrivateAction>
<PrivateAction>
<ControllerAction>
<AssignControllerAction>
<Controller name="HeroAgent">
<Properties>
<Property name="module" value="external_control"/>
</Properties>
</Controller>
</AssignControllerAction>
<OverrideControllerValueAction>
<Throttle value="0" active="false"/>
<Brake value="0" active="false"/>
<Clutch value="0" active="false"/>
<ParkingBrake value="0" active="false"/>
<SteeringWheel value="0" active="false"/>
<Gear number="0" active="false"/>
</OverrideControllerValueAction>
</ControllerAction>
</PrivateAction>
</Private>
<Private entityRef="adversary">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-9.4" y="-71.0" z="0.5" h="1.57079632679"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="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_5270">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="82.07479858398438" y="44.23979568481445" z="0.5"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_close_to_hero_5271">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-10.319400787353516" y="-147.15811157226562" z="0.0014286803780123591"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_close_to_standing_5272">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-13.275127410888672" y="25.60024070739746" z="0.003040656913071871"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_w_transform_5273">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-66.84284973144531" y="46.35194778442383" z="0.5"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_close_to_hero_5274">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-22.677902221679688" y="-132.71290588378906" z="0.0014286803780123591"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_w_transform_5276">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-10.152571678161621" y="55.5595817565918" z="0.5"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_close_to_standing_5278">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-16.68254280090332" y="44.53974533081055" z="0.0030648040119558573"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_close_to_hero_5280">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-18.146081924438477" y="-146.762939453125" z="0.0014286803780123591"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_w_transform_5283">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-96.01095581054688" y="47.45365524291992" z="0.5"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_w_transform_5284">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-15.013092041015625" y="-30.48291778564453" z="0.5"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_w_transform_5286">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="64.39774322509766" y="-5.336731433868408" z="0.5"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_w_transform_5288">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-20.483755111694336" y="27.867027282714844" z="0.5"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
</Actions>
</Init>
<Story name="MyStory">
<Act name="Behavior">
<ManeuverGroup maximumExecutionCount="1" name="ManeuverSequence">
<Actors selectTriggeringEntities="false">
<EntityRef entityRef="adversary"/>
</Actors>
<Maneuver name="LaneChangeSimpleManeuver">
<Event name="AdversaryAccelerates" priority="overwrite">
<Action name="AdversaryAccelerates">
<PrivateAction>
<LongitudinalAction>
<SpeedAction>
<SpeedActionDynamics dynamicsShape="step" value="50" dynamicsDimension="distance"/>
<SpeedActionTarget>
<AbsoluteTargetSpeed value="5.0"/>
</SpeedActionTarget>
</SpeedAction>
</LongitudinalAction>
</PrivateAction>
</Action>
<StartTrigger>
<ConditionGroup>
<Condition name="StartCondition" delay="0" conditionEdge="rising">
<ByEntityCondition>
<TriggeringEntities triggeringEntitiesRule="any">
<EntityRef entityRef="hero"/>
</TriggeringEntities>
<EntityCondition>
<RelativeDistanceCondition entityRef="adversary" relativeDistanceType="cartesianDistance" value="40.0" freespace="false" rule="lessThan"/>
</EntityCondition>
</ByEntityCondition>
</Condition>
</ConditionGroup>
</StartTrigger>
</Event>
<Event name="AdversaryChangesLane" priority="overwrite">
<Action name="AdversaryChangesLane">
<PrivateAction>
<LateralAction>
<LaneChangeAction>
<LaneChangeActionDynamics dynamicsShape="linear" value="25" dynamicsDimension="distance"/>
<LaneChangeTarget>
<RelativeTargetLane entityRef="adversary" value="-1"/>
</LaneChangeTarget>
</LaneChangeAction>
</LateralAction>
</PrivateAction>
</Action>
<StartTrigger>
<ConditionGroup>
<Condition name="AfterAdversaryAccelerates" delay="0" conditionEdge="rising">
<ByValueCondition>
<StoryboardElementStateCondition storyboardElementType="action" storyboardElementRef="AdversaryAccelerates" state="completeState"/>
</ByValueCondition>
</Condition>
</ConditionGroup>
</StartTrigger>
</Event>
</Maneuver>
</ManeuverGroup>
<StartTrigger>
<ConditionGroup>
<Condition name="OverallStartCondition" delay="0" conditionEdge="rising">
<ByEntityCondition>
<TriggeringEntities triggeringEntitiesRule="any">
<EntityRef entityRef="hero"/>
</TriggeringEntities>
<EntityCondition>
<TraveledDistanceCondition value="1.0"/>
</EntityCondition>
</ByEntityCondition>
</Condition>
<Condition name="StartTime" delay="0" conditionEdge="rising">
<ByValueCondition>
<SimulationTimeCondition value="0" rule="equalTo"/>
</ByValueCondition>
</Condition>
</ConditionGroup>
</StartTrigger>
<StopTrigger>
<ConditionGroup>
<Condition name="EndCondition" delay="0" conditionEdge="rising">
<ByEntityCondition>
<TriggeringEntities triggeringEntitiesRule="any">
<EntityRef entityRef="hero"/>
</TriggeringEntities>
<EntityCondition>
<TraveledDistanceCondition value="200.0"/>
</EntityCondition>
</ByEntityCondition>
</Condition>
</ConditionGroup>
</StopTrigger>
</Act>
</Story>
<StopTrigger>
<ConditionGroup>
<Condition name="criteria_RunningStopTest" delay="0" conditionEdge="rising">
<ByValueCondition>
<ParameterCondition parameterRef="" value="" rule="lessThan"/>
</ByValueCondition>
</Condition>
<Condition name="criteria_RunningRedLightTest" delay="0" conditionEdge="rising">
<ByValueCondition>
<ParameterCondition parameterRef="" value="" rule="lessThan"/>
</ByValueCondition>
</Condition>
<Condition name="criteria_WrongLaneTest" delay="0" conditionEdge="rising">
<ByValueCondition>
<ParameterCondition parameterRef="" value="" rule="lessThan"/>
</ByValueCondition>
</Condition>
<Condition name="criteria_OnSidewalkTest" delay="0" conditionEdge="rising">
<ByValueCondition>
<ParameterCondition parameterRef="" value="" rule="lessThan"/>
</ByValueCondition>
</Condition>
<Condition name="criteria_KeepLaneTest" delay="0" conditionEdge="rising">
<ByValueCondition>
<ParameterCondition parameterRef="" value="" rule="lessThan"/>
</ByValueCondition>
</Condition>
<Condition name="criteria_CollisionTest" delay="0" conditionEdge="rising">
<ByValueCondition>
<ParameterCondition parameterRef="" value="" rule="lessThan"/>
</ByValueCondition>
</Condition>
<Condition name="criteria_DrivenDistanceTest" delay="0" conditionEdge="rising">
<ByValueCondition>
<ParameterCondition parameterRef="distance_success" value="100" rule="lessThan"/>
</ByValueCondition>
</Condition>
</ConditionGroup>
</StopTrigger>
</Storyboard>
</OpenSCENARIO>
``` |
i would like to lead you to add pedestrian at location (-20.28, -61.93, 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_15220">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_w_transform_15221">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_close_to_hero_15222">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_w_transform_15223">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_close_to_standing_15224">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_close_to_hero_15225">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_close_to_hero_15226">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_close_to_hero_15227">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_w_transform_15228">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_close_to_adversary_15229">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_w_transform_15230">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_close_to_hero_15231">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_close_to_hero_15232">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_w_transform_15233">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_w_transform_15234">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
</Entities>
<Storyboard>
<Init>
<Actions>
<GlobalAction>
<EnvironmentAction>
<Environment name="Environment1">
<TimeOfDay animation="false" dateTime="2019-06-25T12:00:00"/>
<Weather cloudState="free">
<Sun intensity="0.85" azimuth="0" elevation="1.31"/>
<Fog visualRange="100000.0"/>
<Precipitation precipitationType="dry" intensity="0.0"/>
</Weather>
<RoadCondition frictionScaleFactor="1.0"/>
</Environment>
</EnvironmentAction>
</GlobalAction>
<Private entityRef="hero">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-9.4" y="-152.8" z="0.5" h="1.57079632679"/>
</Position>
</TeleportAction>
</PrivateAction>
<PrivateAction>
<ControllerAction>
<AssignControllerAction>
<Controller name="HeroAgent">
<Properties>
<Property name="module" value="external_control"/>
</Properties>
</Controller>
</AssignControllerAction>
<OverrideControllerValueAction>
<Throttle value="0" active="false"/>
<Brake value="0" active="false"/>
<Clutch value="0" active="false"/>
<ParkingBrake value="0" active="false"/>
<SteeringWheel value="0" active="false"/>
<Gear number="0" active="false"/>
</OverrideControllerValueAction>
</ControllerAction>
</PrivateAction>
</Private>
<Private entityRef="adversary">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-9.4" y="-71.0" z="0.5" h="1.57079632679"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="standing">
<PrivateAction>
<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_15220">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="2.7449774742126465" y="-150.32620239257812" z="0.0014286803780123591"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_w_transform_15221">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-83.8262939453125" y="-47.12211227416992" z="0.5"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_close_to_hero_15222">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-12.942112922668457" y="-146.1875457763672" z="0.0014286803780123591"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_w_transform_15223">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-73.30357360839844" y="-63.62491226196289" z="0.5"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_close_to_standing_15224">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-7.828265190124512" y="21.35584259033203" z="0.0030334852635860443"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_close_to_hero_15225">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-17.157695770263672" y="-147.5871124267578" z="0.0014286803780123591"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_close_to_hero_15226">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-8.812739372253418" y="-149.097900390625" z="0.0014286803780123591"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_close_to_hero_15227">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-18.24095344543457" y="-145.6753387451172" z="0.0014286803780123591"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_w_transform_15228">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-47.34227752685547" y="-87.7155532836914" z="0.5"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_close_to_adversary_15229">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="1.1089777946472168" y="-67.52330017089844" z="0.03382530063390732"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_w_transform_15230">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="94.02401733398438" y="87.2996597290039" z="0.5"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_close_to_hero_15231">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-6.966492652893066" y="-159.88259887695312" z="0.0014286803780123591"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_close_to_hero_15232">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-12.033751487731934" y="-158.63340759277344" z="0.0014286803780123591"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_w_transform_15233">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-47.639015197753906" y="-89.44610595703125" z="0.5"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_w_transform_15234">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="84.41915130615234" y="46.98739242553711" z="0.5"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
</Actions>
</Init>
<Story name="MyStory">
<Act name="Behavior">
<ManeuverGroup maximumExecutionCount="1" name="ManeuverSequence">
<Actors selectTriggeringEntities="false">
<EntityRef entityRef="adversary"/>
</Actors>
<Maneuver name="LaneChangeSimpleManeuver">
<Event name="AdversaryAccelerates" priority="overwrite">
<Action name="AdversaryAccelerates">
<PrivateAction>
<LongitudinalAction>
<SpeedAction>
<SpeedActionDynamics dynamicsShape="step" value="50" dynamicsDimension="distance"/>
<SpeedActionTarget>
<AbsoluteTargetSpeed value="5.0"/>
</SpeedActionTarget>
</SpeedAction>
</LongitudinalAction>
</PrivateAction>
</Action>
<StartTrigger>
<ConditionGroup>
<Condition name="StartCondition" delay="0" conditionEdge="rising">
<ByEntityCondition>
<TriggeringEntities triggeringEntitiesRule="any">
<EntityRef entityRef="hero"/>
</TriggeringEntities>
<EntityCondition>
<RelativeDistanceCondition entityRef="adversary" relativeDistanceType="cartesianDistance" value="40.0" freespace="false" rule="lessThan"/>
</EntityCondition>
</ByEntityCondition>
</Condition>
</ConditionGroup>
</StartTrigger>
</Event>
<Event name="AdversaryChangesLane" priority="overwrite">
<Action name="AdversaryChangesLane">
<PrivateAction>
<LateralAction>
<LaneChangeAction>
<LaneChangeActionDynamics dynamicsShape="linear" value="25" dynamicsDimension="distance"/>
<LaneChangeTarget>
<RelativeTargetLane entityRef="adversary" value="-1"/>
</LaneChangeTarget>
</LaneChangeAction>
</LateralAction>
</PrivateAction>
</Action>
<StartTrigger>
<ConditionGroup>
<Condition name="AfterAdversaryAccelerates" delay="0" conditionEdge="rising">
<ByValueCondition>
<StoryboardElementStateCondition storyboardElementType="action" storyboardElementRef="AdversaryAccelerates" state="completeState"/>
</ByValueCondition>
</Condition>
</ConditionGroup>
</StartTrigger>
</Event>
</Maneuver>
</ManeuverGroup>
<StartTrigger>
<ConditionGroup>
<Condition name="OverallStartCondition" delay="0" conditionEdge="rising">
<ByEntityCondition>
<TriggeringEntities triggeringEntitiesRule="any">
<EntityRef entityRef="hero"/>
</TriggeringEntities>
<EntityCondition>
<TraveledDistanceCondition value="1.0"/>
</EntityCondition>
</ByEntityCondition>
</Condition>
<Condition name="StartTime" delay="0" conditionEdge="rising">
<ByValueCondition>
<SimulationTimeCondition value="0" rule="equalTo"/>
</ByValueCondition>
</Condition>
</ConditionGroup>
</StartTrigger>
<StopTrigger>
<ConditionGroup>
<Condition name="EndCondition" delay="0" conditionEdge="rising">
<ByEntityCondition>
<TriggeringEntities triggeringEntitiesRule="any">
<EntityRef entityRef="hero"/>
</TriggeringEntities>
<EntityCondition>
<TraveledDistanceCondition value="200.0"/>
</EntityCondition>
</ByEntityCondition>
</Condition>
</ConditionGroup>
</StopTrigger>
</Act>
</Story>
<StopTrigger>
<ConditionGroup>
<Condition name="criteria_RunningStopTest" delay="0" conditionEdge="rising">
<ByValueCondition>
<ParameterCondition parameterRef="" value="" rule="lessThan"/>
</ByValueCondition>
</Condition>
<Condition name="criteria_RunningRedLightTest" delay="0" conditionEdge="rising">
<ByValueCondition>
<ParameterCondition parameterRef="" value="" rule="lessThan"/>
</ByValueCondition>
</Condition>
<Condition name="criteria_WrongLaneTest" delay="0" conditionEdge="rising">
<ByValueCondition>
<ParameterCondition parameterRef="" value="" rule="lessThan"/>
</ByValueCondition>
</Condition>
<Condition name="criteria_OnSidewalkTest" delay="0" conditionEdge="rising">
<ByValueCondition>
<ParameterCondition parameterRef="" value="" rule="lessThan"/>
</ByValueCondition>
</Condition>
<Condition name="criteria_KeepLaneTest" delay="0" conditionEdge="rising">
<ByValueCondition>
<ParameterCondition parameterRef="" value="" rule="lessThan"/>
</ByValueCondition>
</Condition>
<Condition name="criteria_CollisionTest" delay="0" conditionEdge="rising">
<ByValueCondition>
<ParameterCondition parameterRef="" value="" rule="lessThan"/>
</ByValueCondition>
</Condition>
<Condition name="criteria_DrivenDistanceTest" delay="0" conditionEdge="rising">
<ByValueCondition>
<ParameterCondition parameterRef="distance_success" value="100" rule="lessThan"/>
</ByValueCondition>
</Condition>
</ConditionGroup>
</StopTrigger>
</Storyboard>
</OpenSCENARIO>
``` | Here is the result:
```
<?xml version="1.0" ?>
<OpenSCENARIO>
<FileHeader revMajor="1" revMinor="0" date="2020-03-24T12:00:00" description="CARLA:LaneChangeSimple" author=""/>
<ParameterDeclarations/>
<CatalogLocations/>
<RoadNetwork>
<LogicFile filepath="Town04"/>
<SceneGraphFile filepath=""/>
</RoadNetwork>
<Entities>
<ScenarioObject name="hero">
<Vehicle name="vehicle.tesla.model3" vehicleCategory="car">
<ParameterDeclarations/>
<Performance maxSpeed="69.444" maxAcceleration="200" maxDeceleration="10.0"/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2.1" length="4.5" height="1.8"/>
</BoundingBox>
<Axles>
<FrontAxle maxSteering="0.5" wheelDiameter="0.6" trackWidth="1.8" positionX="3.1" positionZ="0.3"/>
<RearAxle maxSteering="0.0" wheelDiameter="0.6" trackWidth="1.8" positionX="0.0" positionZ="0.3"/>
</Axles>
<Properties>
<Property name="type" value="ego_vehicle"/>
</Properties>
</Vehicle>
</ScenarioObject>
<ScenarioObject name="adversary">
<Vehicle name="vehicle.lincoln.mkz_2017" vehicleCategory="car">
<ParameterDeclarations/>
<Performance maxSpeed="69.444" maxAcceleration="200" maxDeceleration="10.0"/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2.1" length="4.5" height="1.8"/>
</BoundingBox>
<Axles>
<FrontAxle maxSteering="0.5" wheelDiameter="0.6" trackWidth="1.8" positionX="3.1" positionZ="0.3"/>
<RearAxle maxSteering="0.0" wheelDiameter="0.6" trackWidth="1.8" positionX="0.0" positionZ="0.3"/>
</Axles>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Vehicle>
</ScenarioObject>
<ScenarioObject name="standing">
<Vehicle name="vehicle.volkswagen.t2" vehicleCategory="car">
<ParameterDeclarations/>
<Performance maxSpeed="69.444" maxAcceleration="200" maxDeceleration="10.0"/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2.1" length="4.5" height="1.8"/>
</BoundingBox>
<Axles>
<FrontAxle maxSteering="0.5" wheelDiameter="0.6" trackWidth="1.8" positionX="3.1" positionZ="0.3"/>
<RearAxle maxSteering="0.0" wheelDiameter="0.6" 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_15220">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_w_transform_15221">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_close_to_hero_15222">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_w_transform_15223">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_close_to_standing_15224">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_close_to_hero_15225">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_close_to_hero_15226">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_close_to_hero_15227">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_w_transform_15228">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_close_to_adversary_15229">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_w_transform_15230">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_close_to_hero_15231">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_close_to_hero_15232">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_w_transform_15233">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_w_transform_15234">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_w_transform_15235">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
</Entities>
<Storyboard>
<Init>
<Actions>
<GlobalAction>
<EnvironmentAction>
<Environment name="Environment1">
<TimeOfDay animation="false" dateTime="2019-06-25T12:00:00"/>
<Weather cloudState="free">
<Sun intensity="0.85" azimuth="0" elevation="1.31"/>
<Fog visualRange="100000.0"/>
<Precipitation precipitationType="dry" intensity="0.0"/>
</Weather>
<RoadCondition frictionScaleFactor="1.0"/>
</Environment>
</EnvironmentAction>
</GlobalAction>
<Private entityRef="hero">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-9.4" y="-152.8" z="0.5" h="1.57079632679"/>
</Position>
</TeleportAction>
</PrivateAction>
<PrivateAction>
<ControllerAction>
<AssignControllerAction>
<Controller name="HeroAgent">
<Properties>
<Property name="module" value="external_control"/>
</Properties>
</Controller>
</AssignControllerAction>
<OverrideControllerValueAction>
<Throttle value="0" active="false"/>
<Brake value="0" active="false"/>
<Clutch value="0" active="false"/>
<ParkingBrake value="0" active="false"/>
<SteeringWheel value="0" active="false"/>
<Gear number="0" active="false"/>
</OverrideControllerValueAction>
</ControllerAction>
</PrivateAction>
</Private>
<Private entityRef="adversary">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-9.4" y="-71.0" z="0.5" h="1.57079632679"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="standing">
<PrivateAction>
<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_15220">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="2.7449774742126465" y="-150.32620239257812" z="0.0014286803780123591"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_w_transform_15221">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-83.8262939453125" y="-47.12211227416992" z="0.5"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_close_to_hero_15222">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-12.942112922668457" y="-146.1875457763672" z="0.0014286803780123591"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_w_transform_15223">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-73.30357360839844" y="-63.62491226196289" z="0.5"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_close_to_standing_15224">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-7.828265190124512" y="21.35584259033203" z="0.0030334852635860443"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_close_to_hero_15225">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-17.157695770263672" y="-147.5871124267578" z="0.0014286803780123591"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_close_to_hero_15226">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-8.812739372253418" y="-149.097900390625" z="0.0014286803780123591"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_close_to_hero_15227">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-18.24095344543457" y="-145.6753387451172" z="0.0014286803780123591"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_w_transform_15228">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-47.34227752685547" y="-87.7155532836914" z="0.5"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_close_to_adversary_15229">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="1.1089777946472168" y="-67.52330017089844" z="0.03382530063390732"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_w_transform_15230">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="94.02401733398438" y="87.2996597290039" z="0.5"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_close_to_hero_15231">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-6.966492652893066" y="-159.88259887695312" z="0.0014286803780123591"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_close_to_hero_15232">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-12.033751487731934" y="-158.63340759277344" z="0.0014286803780123591"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_w_transform_15233">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-47.639015197753906" y="-89.44610595703125" z="0.5"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_w_transform_15234">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="84.41915130615234" y="46.98739242553711" z="0.5"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_w_transform_15235">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-20.28009605407715" y="-61.92959213256836" z="0.5"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
</Actions>
</Init>
<Story name="MyStory">
<Act name="Behavior">
<ManeuverGroup maximumExecutionCount="1" name="ManeuverSequence">
<Actors selectTriggeringEntities="false">
<EntityRef entityRef="adversary"/>
</Actors>
<Maneuver name="LaneChangeSimpleManeuver">
<Event name="AdversaryAccelerates" priority="overwrite">
<Action name="AdversaryAccelerates">
<PrivateAction>
<LongitudinalAction>
<SpeedAction>
<SpeedActionDynamics dynamicsShape="step" value="50" dynamicsDimension="distance"/>
<SpeedActionTarget>
<AbsoluteTargetSpeed value="5.0"/>
</SpeedActionTarget>
</SpeedAction>
</LongitudinalAction>
</PrivateAction>
</Action>
<StartTrigger>
<ConditionGroup>
<Condition name="StartCondition" delay="0" conditionEdge="rising">
<ByEntityCondition>
<TriggeringEntities triggeringEntitiesRule="any">
<EntityRef entityRef="hero"/>
</TriggeringEntities>
<EntityCondition>
<RelativeDistanceCondition entityRef="adversary" relativeDistanceType="cartesianDistance" value="40.0" freespace="false" rule="lessThan"/>
</EntityCondition>
</ByEntityCondition>
</Condition>
</ConditionGroup>
</StartTrigger>
</Event>
<Event name="AdversaryChangesLane" priority="overwrite">
<Action name="AdversaryChangesLane">
<PrivateAction>
<LateralAction>
<LaneChangeAction>
<LaneChangeActionDynamics dynamicsShape="linear" value="25" dynamicsDimension="distance"/>
<LaneChangeTarget>
<RelativeTargetLane entityRef="adversary" value="-1"/>
</LaneChangeTarget>
</LaneChangeAction>
</LateralAction>
</PrivateAction>
</Action>
<StartTrigger>
<ConditionGroup>
<Condition name="AfterAdversaryAccelerates" delay="0" conditionEdge="rising">
<ByValueCondition>
<StoryboardElementStateCondition storyboardElementType="action" storyboardElementRef="AdversaryAccelerates" state="completeState"/>
</ByValueCondition>
</Condition>
</ConditionGroup>
</StartTrigger>
</Event>
</Maneuver>
</ManeuverGroup>
<StartTrigger>
<ConditionGroup>
<Condition name="OverallStartCondition" delay="0" conditionEdge="rising">
<ByEntityCondition>
<TriggeringEntities triggeringEntitiesRule="any">
<EntityRef entityRef="hero"/>
</TriggeringEntities>
<EntityCondition>
<TraveledDistanceCondition value="1.0"/>
</EntityCondition>
</ByEntityCondition>
</Condition>
<Condition name="StartTime" delay="0" conditionEdge="rising">
<ByValueCondition>
<SimulationTimeCondition value="0" rule="equalTo"/>
</ByValueCondition>
</Condition>
</ConditionGroup>
</StartTrigger>
<StopTrigger>
<ConditionGroup>
<Condition name="EndCondition" delay="0" conditionEdge="rising">
<ByEntityCondition>
<TriggeringEntities triggeringEntitiesRule="any">
<EntityRef entityRef="hero"/>
</TriggeringEntities>
<EntityCondition>
<TraveledDistanceCondition value="200.0"/>
</EntityCondition>
</ByEntityCondition>
</Condition>
</ConditionGroup>
</StopTrigger>
</Act>
</Story>
<StopTrigger>
<ConditionGroup>
<Condition name="criteria_RunningStopTest" delay="0" conditionEdge="rising">
<ByValueCondition>
<ParameterCondition parameterRef="" value="" rule="lessThan"/>
</ByValueCondition>
</Condition>
<Condition name="criteria_RunningRedLightTest" delay="0" conditionEdge="rising">
<ByValueCondition>
<ParameterCondition parameterRef="" value="" rule="lessThan"/>
</ByValueCondition>
</Condition>
<Condition name="criteria_WrongLaneTest" delay="0" conditionEdge="rising">
<ByValueCondition>
<ParameterCondition parameterRef="" value="" rule="lessThan"/>
</ByValueCondition>
</Condition>
<Condition name="criteria_OnSidewalkTest" delay="0" conditionEdge="rising">
<ByValueCondition>
<ParameterCondition parameterRef="" value="" rule="lessThan"/>
</ByValueCondition>
</Condition>
<Condition name="criteria_KeepLaneTest" delay="0" conditionEdge="rising">
<ByValueCondition>
<ParameterCondition parameterRef="" value="" rule="lessThan"/>
</ByValueCondition>
</Condition>
<Condition name="criteria_CollisionTest" delay="0" conditionEdge="rising">
<ByValueCondition>
<ParameterCondition parameterRef="" value="" rule="lessThan"/>
</ByValueCondition>
</Condition>
<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>
</Entities>
<Storyboard>
<Init>
<Actions>
<GlobalAction>
<EnvironmentAction>
<Environment name="Environment1">
<TimeOfDay animation="false" dateTime="2019-06-25T12:00:00"/>
<Weather cloudState="free">
<Sun intensity="0.85" azimuth="0" elevation="1.31"/>
<Fog visualRange="100000.0"/>
<Precipitation precipitationType="dry" intensity="0.0"/>
</Weather>
<RoadCondition frictionScaleFactor="1.0"/>
</Environment>
</EnvironmentAction>
</GlobalAction>
<Private entityRef="hero">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-9.4" y="-152.8" z="0.5" h="1.57079632679"/>
</Position>
</TeleportAction>
</PrivateAction>
<PrivateAction>
<ControllerAction>
<AssignControllerAction>
<Controller name="HeroAgent">
<Properties>
<Property name="module" value="external_control"/>
</Properties>
</Controller>
</AssignControllerAction>
<OverrideControllerValueAction>
<Throttle value="0" active="false"/>
<Brake value="0" active="false"/>
<Clutch value="0" active="false"/>
<ParkingBrake value="0" active="false"/>
<SteeringWheel value="0" active="false"/>
<Gear number="0" active="false"/>
</OverrideControllerValueAction>
</ControllerAction>
</PrivateAction>
</Private>
<Private entityRef="adversary">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-9.4" y="-71.0" z="0.5" h="1.57079632679"/>
</Position>
</TeleportAction>
</PrivateAction>
</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_24500">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
</Entities>
<Storyboard>
<Init>
<Actions>
<GlobalAction>
<EnvironmentAction>
<Environment name="Environment1">
<TimeOfDay animation="false" dateTime="2019-06-25T12:00:00"/>
<Weather cloudState="free">
<Sun intensity="0.85" azimuth="0" elevation="1.31"/>
<Fog visualRange="100000.0"/>
<Precipitation precipitationType="dry" intensity="0.0"/>
</Weather>
<RoadCondition frictionScaleFactor="1.0"/>
</Environment>
</EnvironmentAction>
</GlobalAction>
<Private entityRef="hero">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-9.4" y="-152.8" z="0.5" h="1.57079632679"/>
</Position>
</TeleportAction>
</PrivateAction>
<PrivateAction>
<ControllerAction>
<AssignControllerAction>
<Controller name="HeroAgent">
<Properties>
<Property name="module" value="external_control"/>
</Properties>
</Controller>
</AssignControllerAction>
<OverrideControllerValueAction>
<Throttle value="0" active="false"/>
<Brake value="0" active="false"/>
<Clutch value="0" active="false"/>
<ParkingBrake value="0" active="false"/>
<SteeringWheel value="0" active="false"/>
<Gear number="0" active="false"/>
</OverrideControllerValueAction>
</ControllerAction>
</PrivateAction>
</Private>
<Private entityRef="adversary">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-9.4" y="-71.0" z="0.5" h="1.57079632679"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="standing">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-8.2" y="29.2" z="0.5" h="1.57079632679"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_close_to_standing_24500">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-11.964712142944336" y="28.424697875976562" z="0.0030343628022819757"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
</Actions>
</Init>
<Story name="MyStory">
<Act name="Behavior">
<ManeuverGroup maximumExecutionCount="1" name="ManeuverSequence">
<Actors selectTriggeringEntities="false">
<EntityRef entityRef="adversary"/>
</Actors>
<Maneuver name="LaneChangeSimpleManeuver">
<Event name="AdversaryAccelerates" priority="overwrite">
<Action name="AdversaryAccelerates">
<PrivateAction>
<LongitudinalAction>
<SpeedAction>
<SpeedActionDynamics dynamicsShape="step" value="50" dynamicsDimension="distance"/>
<SpeedActionTarget>
<AbsoluteTargetSpeed value="5.0"/>
</SpeedActionTarget>
</SpeedAction>
</LongitudinalAction>
</PrivateAction>
</Action>
<StartTrigger>
<ConditionGroup>
<Condition name="StartCondition" delay="0" conditionEdge="rising">
<ByEntityCondition>
<TriggeringEntities triggeringEntitiesRule="any">
<EntityRef entityRef="hero"/>
</TriggeringEntities>
<EntityCondition>
<RelativeDistanceCondition entityRef="adversary" relativeDistanceType="cartesianDistance" value="40.0" freespace="false" rule="lessThan"/>
</EntityCondition>
</ByEntityCondition>
</Condition>
</ConditionGroup>
</StartTrigger>
</Event>
<Event name="AdversaryChangesLane" priority="overwrite">
<Action name="AdversaryChangesLane">
<PrivateAction>
<LateralAction>
<LaneChangeAction>
<LaneChangeActionDynamics dynamicsShape="linear" value="25" dynamicsDimension="distance"/>
<LaneChangeTarget>
<RelativeTargetLane entityRef="adversary" value="-1"/>
</LaneChangeTarget>
</LaneChangeAction>
</LateralAction>
</PrivateAction>
</Action>
<StartTrigger>
<ConditionGroup>
<Condition name="AfterAdversaryAccelerates" delay="0" conditionEdge="rising">
<ByValueCondition>
<StoryboardElementStateCondition storyboardElementType="action" storyboardElementRef="AdversaryAccelerates" state="completeState"/>
</ByValueCondition>
</Condition>
</ConditionGroup>
</StartTrigger>
</Event>
</Maneuver>
</ManeuverGroup>
<StartTrigger>
<ConditionGroup>
<Condition name="OverallStartCondition" delay="0" conditionEdge="rising">
<ByEntityCondition>
<TriggeringEntities triggeringEntitiesRule="any">
<EntityRef entityRef="hero"/>
</TriggeringEntities>
<EntityCondition>
<TraveledDistanceCondition value="1.0"/>
</EntityCondition>
</ByEntityCondition>
</Condition>
<Condition name="StartTime" delay="0" conditionEdge="rising">
<ByValueCondition>
<SimulationTimeCondition value="0" rule="equalTo"/>
</ByValueCondition>
</Condition>
</ConditionGroup>
</StartTrigger>
<StopTrigger>
<ConditionGroup>
<Condition name="EndCondition" delay="0" conditionEdge="rising">
<ByEntityCondition>
<TriggeringEntities triggeringEntitiesRule="any">
<EntityRef entityRef="hero"/>
</TriggeringEntities>
<EntityCondition>
<TraveledDistanceCondition value="200.0"/>
</EntityCondition>
</ByEntityCondition>
</Condition>
</ConditionGroup>
</StopTrigger>
</Act>
</Story>
<StopTrigger>
<ConditionGroup>
<Condition name="criteria_RunningStopTest" delay="0" conditionEdge="rising">
<ByValueCondition>
<ParameterCondition parameterRef="" value="" rule="lessThan"/>
</ByValueCondition>
</Condition>
<Condition name="criteria_RunningRedLightTest" delay="0" conditionEdge="rising">
<ByValueCondition>
<ParameterCondition parameterRef="" value="" rule="lessThan"/>
</ByValueCondition>
</Condition>
<Condition name="criteria_WrongLaneTest" delay="0" conditionEdge="rising">
<ByValueCondition>
<ParameterCondition parameterRef="" value="" rule="lessThan"/>
</ByValueCondition>
</Condition>
<Condition name="criteria_OnSidewalkTest" delay="0" conditionEdge="rising">
<ByValueCondition>
<ParameterCondition parameterRef="" value="" rule="lessThan"/>
</ByValueCondition>
</Condition>
<Condition name="criteria_KeepLaneTest" delay="0" conditionEdge="rising">
<ByValueCondition>
<ParameterCondition parameterRef="" value="" rule="lessThan"/>
</ByValueCondition>
</Condition>
<Condition name="criteria_CollisionTest" delay="0" conditionEdge="rising">
<ByValueCondition>
<ParameterCondition parameterRef="" value="" rule="lessThan"/>
</ByValueCondition>
</Condition>
<Condition name="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>
</Entities>
<Storyboard>
<Init>
<Actions>
<GlobalAction>
<EnvironmentAction>
<Environment name="Environment1">
<TimeOfDay animation="false" dateTime="2019-06-25T12:00:00"/>
<Weather cloudState="free">
<Sun intensity="0.85" azimuth="0" elevation="1.31"/>
<Fog visualRange="100000.0"/>
<Precipitation precipitationType="dry" intensity="0.0"/>
</Weather>
<RoadCondition frictionScaleFactor="1.0"/>
</Environment>
</EnvironmentAction>
</GlobalAction>
<Private entityRef="hero">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-9.4" y="-152.8" z="0.5" h="1.57079632679"/>
</Position>
</TeleportAction>
</PrivateAction>
<PrivateAction>
<ControllerAction>
<AssignControllerAction>
<Controller name="HeroAgent">
<Properties>
<Property name="module" value="external_control"/>
</Properties>
</Controller>
</AssignControllerAction>
<OverrideControllerValueAction>
<Throttle value="0" active="false"/>
<Brake value="0" active="false"/>
<Clutch value="0" active="false"/>
<ParkingBrake value="0" active="false"/>
<SteeringWheel value="0" active="false"/>
<Gear number="0" active="false"/>
</OverrideControllerValueAction>
</ControllerAction>
</PrivateAction>
</Private>
<Private entityRef="adversary">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-9.4" y="-71.0" z="0.5" h="1.57079632679"/>
</Position>
</TeleportAction>
</PrivateAction>
</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_22190">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
</Entities>
<Storyboard>
<Init>
<Actions>
<GlobalAction>
<EnvironmentAction>
<Environment name="Environment1">
<TimeOfDay animation="false" dateTime="2019-06-25T12:00:00"/>
<Weather cloudState="free">
<Sun intensity="0.85" azimuth="0" elevation="1.31"/>
<Fog visualRange="100000.0"/>
<Precipitation precipitationType="dry" intensity="0.0"/>
</Weather>
<RoadCondition frictionScaleFactor="1.0"/>
</Environment>
</EnvironmentAction>
</GlobalAction>
<Private entityRef="hero">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-9.4" y="-152.8" z="0.5" h="1.57079632679"/>
</Position>
</TeleportAction>
</PrivateAction>
<PrivateAction>
<ControllerAction>
<AssignControllerAction>
<Controller name="HeroAgent">
<Properties>
<Property name="module" value="external_control"/>
</Properties>
</Controller>
</AssignControllerAction>
<OverrideControllerValueAction>
<Throttle value="0" active="false"/>
<Brake value="0" active="false"/>
<Clutch value="0" active="false"/>
<ParkingBrake value="0" active="false"/>
<SteeringWheel value="0" active="false"/>
<Gear number="0" active="false"/>
</OverrideControllerValueAction>
</ControllerAction>
</PrivateAction>
</Private>
<Private entityRef="adversary">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-9.4" y="-71.0" z="0.5" h="1.57079632679"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="standing">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-8.2" y="29.2" z="0.5" h="1.57079632679"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_close_to_standing_22190">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-4.986869812011719" y="34.6296272277832" z="0.0030575180426239967"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
</Actions>
</Init>
<Story name="MyStory">
<Act name="Behavior">
<ManeuverGroup maximumExecutionCount="1" name="ManeuverSequence">
<Actors selectTriggeringEntities="false">
<EntityRef entityRef="adversary"/>
</Actors>
<Maneuver name="LaneChangeSimpleManeuver">
<Event name="AdversaryAccelerates" priority="overwrite">
<Action name="AdversaryAccelerates">
<PrivateAction>
<LongitudinalAction>
<SpeedAction>
<SpeedActionDynamics dynamicsShape="step" value="50" dynamicsDimension="distance"/>
<SpeedActionTarget>
<AbsoluteTargetSpeed value="5.0"/>
</SpeedActionTarget>
</SpeedAction>
</LongitudinalAction>
</PrivateAction>
</Action>
<StartTrigger>
<ConditionGroup>
<Condition name="StartCondition" delay="0" conditionEdge="rising">
<ByEntityCondition>
<TriggeringEntities triggeringEntitiesRule="any">
<EntityRef entityRef="hero"/>
</TriggeringEntities>
<EntityCondition>
<RelativeDistanceCondition entityRef="adversary" relativeDistanceType="cartesianDistance" value="40.0" freespace="false" rule="lessThan"/>
</EntityCondition>
</ByEntityCondition>
</Condition>
</ConditionGroup>
</StartTrigger>
</Event>
<Event name="AdversaryChangesLane" priority="overwrite">
<Action name="AdversaryChangesLane">
<PrivateAction>
<LateralAction>
<LaneChangeAction>
<LaneChangeActionDynamics dynamicsShape="linear" value="25" dynamicsDimension="distance"/>
<LaneChangeTarget>
<RelativeTargetLane entityRef="adversary" value="-1"/>
</LaneChangeTarget>
</LaneChangeAction>
</LateralAction>
</PrivateAction>
</Action>
<StartTrigger>
<ConditionGroup>
<Condition name="AfterAdversaryAccelerates" delay="0" conditionEdge="rising">
<ByValueCondition>
<StoryboardElementStateCondition storyboardElementType="action" storyboardElementRef="AdversaryAccelerates" state="completeState"/>
</ByValueCondition>
</Condition>
</ConditionGroup>
</StartTrigger>
</Event>
</Maneuver>
</ManeuverGroup>
<StartTrigger>
<ConditionGroup>
<Condition name="OverallStartCondition" delay="0" conditionEdge="rising">
<ByEntityCondition>
<TriggeringEntities triggeringEntitiesRule="any">
<EntityRef entityRef="hero"/>
</TriggeringEntities>
<EntityCondition>
<TraveledDistanceCondition value="1.0"/>
</EntityCondition>
</ByEntityCondition>
</Condition>
<Condition name="StartTime" delay="0" conditionEdge="rising">
<ByValueCondition>
<SimulationTimeCondition value="0" rule="equalTo"/>
</ByValueCondition>
</Condition>
</ConditionGroup>
</StartTrigger>
<StopTrigger>
<ConditionGroup>
<Condition name="EndCondition" delay="0" conditionEdge="rising">
<ByEntityCondition>
<TriggeringEntities triggeringEntitiesRule="any">
<EntityRef entityRef="hero"/>
</TriggeringEntities>
<EntityCondition>
<TraveledDistanceCondition value="200.0"/>
</EntityCondition>
</ByEntityCondition>
</Condition>
</ConditionGroup>
</StopTrigger>
</Act>
</Story>
<StopTrigger>
<ConditionGroup>
<Condition name="criteria_RunningStopTest" delay="0" conditionEdge="rising">
<ByValueCondition>
<ParameterCondition parameterRef="" value="" rule="lessThan"/>
</ByValueCondition>
</Condition>
<Condition name="criteria_RunningRedLightTest" delay="0" conditionEdge="rising">
<ByValueCondition>
<ParameterCondition parameterRef="" value="" rule="lessThan"/>
</ByValueCondition>
</Condition>
<Condition name="criteria_WrongLaneTest" delay="0" conditionEdge="rising">
<ByValueCondition>
<ParameterCondition parameterRef="" value="" rule="lessThan"/>
</ByValueCondition>
</Condition>
<Condition name="criteria_OnSidewalkTest" delay="0" conditionEdge="rising">
<ByValueCondition>
<ParameterCondition parameterRef="" value="" rule="lessThan"/>
</ByValueCondition>
</Condition>
<Condition name="criteria_KeepLaneTest" delay="0" conditionEdge="rising">
<ByValueCondition>
<ParameterCondition parameterRef="" value="" rule="lessThan"/>
</ByValueCondition>
</Condition>
<Condition name="criteria_CollisionTest" delay="0" conditionEdge="rising">
<ByValueCondition>
<ParameterCondition parameterRef="" value="" rule="lessThan"/>
</ByValueCondition>
</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_2053">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_w_transform_2054">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_w_transform_2055">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_close_to_adversary_2056">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_w_transform_2057">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_close_to_standing_2058">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_w_transform_2059">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_close_to_hero_2060">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_w_transform_2061">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_w_transform_2063">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_close_to_adversary_2064">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_close_to_hero_2065">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
</Entities>
<Storyboard>
<Init>
<Actions>
<GlobalAction>
<EnvironmentAction>
<Environment name="Environment1">
<TimeOfDay animation="false" dateTime="2019-06-25T12:00:00"/>
<Weather cloudState="free">
<Sun intensity="0.85" azimuth="0" elevation="1.31"/>
<Fog visualRange="100000.0"/>
<Precipitation precipitationType="dry" intensity="0.0"/>
</Weather>
<RoadCondition frictionScaleFactor="1.0"/>
</Environment>
</EnvironmentAction>
</GlobalAction>
<Private entityRef="hero">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-9.4" y="-152.8" z="0.5" h="1.57079632679"/>
</Position>
</TeleportAction>
</PrivateAction>
<PrivateAction>
<ControllerAction>
<AssignControllerAction>
<Controller name="HeroAgent">
<Properties>
<Property name="module" value="external_control"/>
</Properties>
</Controller>
</AssignControllerAction>
<OverrideControllerValueAction>
<Throttle value="0" active="false"/>
<Brake value="0" active="false"/>
<Clutch value="0" active="false"/>
<ParkingBrake value="0" active="false"/>
<SteeringWheel value="0" active="false"/>
<Gear number="0" active="false"/>
</OverrideControllerValueAction>
</ControllerAction>
</PrivateAction>
</Private>
<Private entityRef="adversary">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-9.4" y="-71.0" z="0.5" h="1.57079632679"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="standing">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-8.2" y="29.2" z="0.5" h="1.57079632679"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_close_to_standing_2053">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-1.1677643060684204" y="33.97220230102539" z="0.0030751798767596483"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_w_transform_2054">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="75.66392517089844" y="-10.71626091003418" z="0.5"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_w_transform_2055">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-10.280708312988281" y="-34.91922378540039" z="0.5"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_close_to_adversary_2056">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-11.803860664367676" y="-59.178688049316406" z="0.03381103277206421"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_w_transform_2057">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="78.52841186523438" y="-31.867488861083984" z="0.5"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_close_to_standing_2058">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="1.3771581649780273" y="23.374658584594727" z="0.0030439377296715975"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_w_transform_2059">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-42.5910758972168" y="-83.33573913574219" z="0.5"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_close_to_hero_2060">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-9.461570739746094" y="-150.61492919921875" z="0.0014286803780123591"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_w_transform_2061">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-78.87576293945312" y="-90.50177001953125" z="0.5"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_w_transform_2063">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="2.366642713546753" y="55.066410064697266" z="0.5"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_close_to_adversary_2064">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="0.531078577041626" y="-79.08660888671875" z="0.033778876066207886"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_close_to_hero_2065">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-8.05331802368164" y="-143.3221893310547" z="0.0014286803780123591"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
</Actions>
</Init>
<Story name="MyStory">
<Act name="Behavior">
<ManeuverGroup maximumExecutionCount="1" name="ManeuverSequence">
<Actors selectTriggeringEntities="false">
<EntityRef entityRef="adversary"/>
</Actors>
<Maneuver name="LaneChangeSimpleManeuver">
<Event name="AdversaryAccelerates" priority="overwrite">
<Action name="AdversaryAccelerates">
<PrivateAction>
<LongitudinalAction>
<SpeedAction>
<SpeedActionDynamics dynamicsShape="step" value="50" dynamicsDimension="distance"/>
<SpeedActionTarget>
<AbsoluteTargetSpeed value="5.0"/>
</SpeedActionTarget>
</SpeedAction>
</LongitudinalAction>
</PrivateAction>
</Action>
<StartTrigger>
<ConditionGroup>
<Condition name="StartCondition" delay="0" conditionEdge="rising">
<ByEntityCondition>
<TriggeringEntities triggeringEntitiesRule="any">
<EntityRef entityRef="hero"/>
</TriggeringEntities>
<EntityCondition>
<RelativeDistanceCondition entityRef="adversary" relativeDistanceType="cartesianDistance" value="40.0" freespace="false" rule="lessThan"/>
</EntityCondition>
</ByEntityCondition>
</Condition>
</ConditionGroup>
</StartTrigger>
</Event>
<Event name="AdversaryChangesLane" priority="overwrite">
<Action name="AdversaryChangesLane">
<PrivateAction>
<LateralAction>
<LaneChangeAction>
<LaneChangeActionDynamics dynamicsShape="linear" value="25" dynamicsDimension="distance"/>
<LaneChangeTarget>
<RelativeTargetLane entityRef="adversary" value="-1"/>
</LaneChangeTarget>
</LaneChangeAction>
</LateralAction>
</PrivateAction>
</Action>
<StartTrigger>
<ConditionGroup>
<Condition name="AfterAdversaryAccelerates" delay="0" conditionEdge="rising">
<ByValueCondition>
<StoryboardElementStateCondition storyboardElementType="action" storyboardElementRef="AdversaryAccelerates" state="completeState"/>
</ByValueCondition>
</Condition>
</ConditionGroup>
</StartTrigger>
</Event>
</Maneuver>
</ManeuverGroup>
<StartTrigger>
<ConditionGroup>
<Condition name="OverallStartCondition" delay="0" conditionEdge="rising">
<ByEntityCondition>
<TriggeringEntities triggeringEntitiesRule="any">
<EntityRef entityRef="hero"/>
</TriggeringEntities>
<EntityCondition>
<TraveledDistanceCondition value="1.0"/>
</EntityCondition>
</ByEntityCondition>
</Condition>
<Condition name="StartTime" delay="0" conditionEdge="rising">
<ByValueCondition>
<SimulationTimeCondition value="0" rule="equalTo"/>
</ByValueCondition>
</Condition>
</ConditionGroup>
</StartTrigger>
<StopTrigger>
<ConditionGroup>
<Condition name="EndCondition" delay="0" conditionEdge="rising">
<ByEntityCondition>
<TriggeringEntities triggeringEntitiesRule="any">
<EntityRef entityRef="hero"/>
</TriggeringEntities>
<EntityCondition>
<TraveledDistanceCondition value="200.0"/>
</EntityCondition>
</ByEntityCondition>
</Condition>
</ConditionGroup>
</StopTrigger>
</Act>
</Story>
<StopTrigger>
<ConditionGroup>
<Condition name="criteria_RunningStopTest" delay="0" conditionEdge="rising">
<ByValueCondition>
<ParameterCondition parameterRef="" value="" rule="lessThan"/>
</ByValueCondition>
</Condition>
<Condition name="criteria_RunningRedLightTest" delay="0" conditionEdge="rising">
<ByValueCondition>
<ParameterCondition parameterRef="" value="" rule="lessThan"/>
</ByValueCondition>
</Condition>
<Condition name="criteria_WrongLaneTest" delay="0" conditionEdge="rising">
<ByValueCondition>
<ParameterCondition parameterRef="" value="" rule="lessThan"/>
</ByValueCondition>
</Condition>
<Condition name="criteria_OnSidewalkTest" delay="0" conditionEdge="rising">
<ByValueCondition>
<ParameterCondition parameterRef="" value="" rule="lessThan"/>
</ByValueCondition>
</Condition>
<Condition name="criteria_KeepLaneTest" delay="0" conditionEdge="rising">
<ByValueCondition>
<ParameterCondition parameterRef="" value="" rule="lessThan"/>
</ByValueCondition>
</Condition>
<Condition name="criteria_CollisionTest" delay="0" conditionEdge="rising">
<ByValueCondition>
<ParameterCondition parameterRef="" value="" rule="lessThan"/>
</ByValueCondition>
</Condition>
<Condition name="criteria_DrivenDistanceTest" delay="0" conditionEdge="rising">
<ByValueCondition>
<ParameterCondition parameterRef="distance_success" value="100" rule="lessThan"/>
</ByValueCondition>
</Condition>
</ConditionGroup>
</StopTrigger>
</Storyboard>
</OpenSCENARIO>
``` | Here is the result:
```
<?xml version="1.0" ?>
<OpenSCENARIO>
<FileHeader revMajor="1" revMinor="0" date="2020-03-24T12:00:00" description="CARLA:LaneChangeSimple" author=""/>
<ParameterDeclarations/>
<CatalogLocations/>
<RoadNetwork>
<LogicFile filepath="Town04"/>
<SceneGraphFile filepath=""/>
</RoadNetwork>
<Entities>
<ScenarioObject name="hero">
<Vehicle name="vehicle.tesla.model3" vehicleCategory="car">
<ParameterDeclarations/>
<Performance maxSpeed="69.444" maxAcceleration="200" maxDeceleration="10.0"/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2.1" length="4.5" height="1.8"/>
</BoundingBox>
<Axles>
<FrontAxle maxSteering="0.5" wheelDiameter="0.6" trackWidth="1.8" positionX="3.1" positionZ="0.3"/>
<RearAxle maxSteering="0.0" wheelDiameter="0.6" trackWidth="1.8" positionX="0.0" positionZ="0.3"/>
</Axles>
<Properties>
<Property name="type" value="ego_vehicle"/>
</Properties>
</Vehicle>
</ScenarioObject>
<ScenarioObject name="adversary">
<Vehicle name="vehicle.lincoln.mkz_2017" vehicleCategory="car">
<ParameterDeclarations/>
<Performance maxSpeed="69.444" maxAcceleration="200" maxDeceleration="10.0"/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2.1" length="4.5" height="1.8"/>
</BoundingBox>
<Axles>
<FrontAxle maxSteering="0.5" wheelDiameter="0.6" trackWidth="1.8" positionX="3.1" positionZ="0.3"/>
<RearAxle maxSteering="0.0" wheelDiameter="0.6" trackWidth="1.8" positionX="0.0" positionZ="0.3"/>
</Axles>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Vehicle>
</ScenarioObject>
<ScenarioObject name="standing">
<Vehicle name="vehicle.volkswagen.t2" vehicleCategory="car">
<ParameterDeclarations/>
<Performance maxSpeed="69.444" maxAcceleration="200" maxDeceleration="10.0"/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2.1" length="4.5" height="1.8"/>
</BoundingBox>
<Axles>
<FrontAxle maxSteering="0.5" wheelDiameter="0.6" trackWidth="1.8" positionX="3.1" positionZ="0.3"/>
<RearAxle maxSteering="0.0" wheelDiameter="0.6" trackWidth="1.8" positionX="0.0" positionZ="0.3"/>
</Axles>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Vehicle>
</ScenarioObject>
<ScenarioObject name="pedestrian_close_to_standing_2053">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_w_transform_2054">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_w_transform_2055">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_close_to_adversary_2056">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_w_transform_2057">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_close_to_standing_2058">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_w_transform_2059">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_close_to_hero_2060">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_w_transform_2061">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_w_transform_2063">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_close_to_adversary_2064">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_close_to_hero_2065">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_close_to_adversary_2066">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
</Entities>
<Storyboard>
<Init>
<Actions>
<GlobalAction>
<EnvironmentAction>
<Environment name="Environment1">
<TimeOfDay animation="false" dateTime="2019-06-25T12:00:00"/>
<Weather cloudState="free">
<Sun intensity="0.85" azimuth="0" elevation="1.31"/>
<Fog visualRange="100000.0"/>
<Precipitation precipitationType="dry" intensity="0.0"/>
</Weather>
<RoadCondition frictionScaleFactor="1.0"/>
</Environment>
</EnvironmentAction>
</GlobalAction>
<Private entityRef="hero">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-9.4" y="-152.8" z="0.5" h="1.57079632679"/>
</Position>
</TeleportAction>
</PrivateAction>
<PrivateAction>
<ControllerAction>
<AssignControllerAction>
<Controller name="HeroAgent">
<Properties>
<Property name="module" value="external_control"/>
</Properties>
</Controller>
</AssignControllerAction>
<OverrideControllerValueAction>
<Throttle value="0" active="false"/>
<Brake value="0" active="false"/>
<Clutch value="0" active="false"/>
<ParkingBrake value="0" active="false"/>
<SteeringWheel value="0" active="false"/>
<Gear number="0" active="false"/>
</OverrideControllerValueAction>
</ControllerAction>
</PrivateAction>
</Private>
<Private entityRef="adversary">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-9.4" y="-71.0" z="0.5" h="1.57079632679"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="standing">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-8.2" y="29.2" z="0.5" h="1.57079632679"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_close_to_standing_2053">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-1.1677643060684204" y="33.97220230102539" z="0.0030751798767596483"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_w_transform_2054">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="75.66392517089844" y="-10.71626091003418" z="0.5"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_w_transform_2055">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-10.280708312988281" y="-34.91922378540039" z="0.5"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_close_to_adversary_2056">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-11.803860664367676" y="-59.178688049316406" z="0.03381103277206421"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_w_transform_2057">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="78.52841186523438" y="-31.867488861083984" z="0.5"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_close_to_standing_2058">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="1.3771581649780273" y="23.374658584594727" z="0.0030439377296715975"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_w_transform_2059">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-42.5910758972168" y="-83.33573913574219" z="0.5"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_close_to_hero_2060">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-9.461570739746094" y="-150.61492919921875" z="0.0014286803780123591"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_w_transform_2061">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-78.87576293945312" y="-90.50177001953125" z="0.5"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_w_transform_2063">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="2.366642713546753" y="55.066410064697266" z="0.5"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_close_to_adversary_2064">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="0.531078577041626" y="-79.08660888671875" z="0.033778876066207886"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_close_to_hero_2065">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-8.05331802368164" y="-143.3221893310547" z="0.0014286803780123591"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_close_to_adversary_2066">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="8.67130184173584" y="-66.58846282958984" z="0.033767737448215485"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
</Actions>
</Init>
<Story name="MyStory">
<Act name="Behavior">
<ManeuverGroup maximumExecutionCount="1" name="ManeuverSequence">
<Actors selectTriggeringEntities="false">
<EntityRef entityRef="adversary"/>
</Actors>
<Maneuver name="LaneChangeSimpleManeuver">
<Event name="AdversaryAccelerates" priority="overwrite">
<Action name="AdversaryAccelerates">
<PrivateAction>
<LongitudinalAction>
<SpeedAction>
<SpeedActionDynamics dynamicsShape="step" value="50" dynamicsDimension="distance"/>
<SpeedActionTarget>
<AbsoluteTargetSpeed value="5.0"/>
</SpeedActionTarget>
</SpeedAction>
</LongitudinalAction>
</PrivateAction>
</Action>
<StartTrigger>
<ConditionGroup>
<Condition name="StartCondition" delay="0" conditionEdge="rising">
<ByEntityCondition>
<TriggeringEntities triggeringEntitiesRule="any">
<EntityRef entityRef="hero"/>
</TriggeringEntities>
<EntityCondition>
<RelativeDistanceCondition entityRef="adversary" relativeDistanceType="cartesianDistance" value="40.0" freespace="false" rule="lessThan"/>
</EntityCondition>
</ByEntityCondition>
</Condition>
</ConditionGroup>
</StartTrigger>
</Event>
<Event name="AdversaryChangesLane" priority="overwrite">
<Action name="AdversaryChangesLane">
<PrivateAction>
<LateralAction>
<LaneChangeAction>
<LaneChangeActionDynamics dynamicsShape="linear" value="25" dynamicsDimension="distance"/>
<LaneChangeTarget>
<RelativeTargetLane entityRef="adversary" value="-1"/>
</LaneChangeTarget>
</LaneChangeAction>
</LateralAction>
</PrivateAction>
</Action>
<StartTrigger>
<ConditionGroup>
<Condition name="AfterAdversaryAccelerates" delay="0" conditionEdge="rising">
<ByValueCondition>
<StoryboardElementStateCondition storyboardElementType="action" storyboardElementRef="AdversaryAccelerates" state="completeState"/>
</ByValueCondition>
</Condition>
</ConditionGroup>
</StartTrigger>
</Event>
</Maneuver>
</ManeuverGroup>
<StartTrigger>
<ConditionGroup>
<Condition name="OverallStartCondition" delay="0" conditionEdge="rising">
<ByEntityCondition>
<TriggeringEntities triggeringEntitiesRule="any">
<EntityRef entityRef="hero"/>
</TriggeringEntities>
<EntityCondition>
<TraveledDistanceCondition value="1.0"/>
</EntityCondition>
</ByEntityCondition>
</Condition>
<Condition name="StartTime" delay="0" conditionEdge="rising">
<ByValueCondition>
<SimulationTimeCondition value="0" rule="equalTo"/>
</ByValueCondition>
</Condition>
</ConditionGroup>
</StartTrigger>
<StopTrigger>
<ConditionGroup>
<Condition name="EndCondition" delay="0" conditionEdge="rising">
<ByEntityCondition>
<TriggeringEntities triggeringEntitiesRule="any">
<EntityRef entityRef="hero"/>
</TriggeringEntities>
<EntityCondition>
<TraveledDistanceCondition value="200.0"/>
</EntityCondition>
</ByEntityCondition>
</Condition>
</ConditionGroup>
</StopTrigger>
</Act>
</Story>
<StopTrigger>
<ConditionGroup>
<Condition name="criteria_RunningStopTest" delay="0" conditionEdge="rising">
<ByValueCondition>
<ParameterCondition parameterRef="" value="" rule="lessThan"/>
</ByValueCondition>
</Condition>
<Condition name="criteria_RunningRedLightTest" delay="0" conditionEdge="rising">
<ByValueCondition>
<ParameterCondition parameterRef="" value="" rule="lessThan"/>
</ByValueCondition>
</Condition>
<Condition name="criteria_WrongLaneTest" delay="0" conditionEdge="rising">
<ByValueCondition>
<ParameterCondition parameterRef="" value="" rule="lessThan"/>
</ByValueCondition>
</Condition>
<Condition name="criteria_OnSidewalkTest" delay="0" conditionEdge="rising">
<ByValueCondition>
<ParameterCondition parameterRef="" value="" rule="lessThan"/>
</ByValueCondition>
</Condition>
<Condition name="criteria_KeepLaneTest" delay="0" conditionEdge="rising">
<ByValueCondition>
<ParameterCondition parameterRef="" value="" rule="lessThan"/>
</ByValueCondition>
</Condition>
<Condition name="criteria_CollisionTest" delay="0" conditionEdge="rising">
<ByValueCondition>
<ParameterCondition parameterRef="" value="" rule="lessThan"/>
</ByValueCondition>
</Condition>
<Condition name="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_hero_22436">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_w_transform_22437">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_close_to_standing_22438">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_w_transform_22439">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_close_to_hero_22440">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_close_to_hero_22441">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_close_to_hero_22442">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
</Entities>
<Storyboard>
<Init>
<Actions>
<GlobalAction>
<EnvironmentAction>
<Environment name="Environment1">
<TimeOfDay animation="false" dateTime="2019-06-25T12:00:00"/>
<Weather cloudState="free">
<Sun intensity="0.85" azimuth="0" elevation="1.31"/>
<Fog visualRange="100000.0"/>
<Precipitation precipitationType="dry" intensity="0.0"/>
</Weather>
<RoadCondition frictionScaleFactor="1.0"/>
</Environment>
</EnvironmentAction>
</GlobalAction>
<Private entityRef="hero">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-9.4" y="-152.8" z="0.5" h="1.57079632679"/>
</Position>
</TeleportAction>
</PrivateAction>
<PrivateAction>
<ControllerAction>
<AssignControllerAction>
<Controller name="HeroAgent">
<Properties>
<Property name="module" value="external_control"/>
</Properties>
</Controller>
</AssignControllerAction>
<OverrideControllerValueAction>
<Throttle value="0" active="false"/>
<Brake value="0" active="false"/>
<Clutch value="0" active="false"/>
<ParkingBrake value="0" active="false"/>
<SteeringWheel value="0" active="false"/>
<Gear number="0" active="false"/>
</OverrideControllerValueAction>
</ControllerAction>
</PrivateAction>
</Private>
<Private entityRef="adversary">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-9.4" y="-71.0" z="0.5" h="1.57079632679"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="standing">
<PrivateAction>
<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_22436">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-13.349592208862305" y="-157.38087463378906" z="0.0014286803780123591"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_w_transform_22437">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-9.911187171936035" y="-9.066173553466797" z="0.5"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_close_to_standing_22438">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-5.726093769073486" y="39.1113166809082" z="0.003070564242079854"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_w_transform_22439">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-20.64566993713379" y="-16.7142391204834" z="0.5"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_close_to_hero_22440">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-12.69488525390625" y="-160.37974548339844" z="0.0014286803780123591"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_close_to_hero_22441">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-7.826162338256836" y="-153.694580078125" z="0.0014286803780123591"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_close_to_hero_22442">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-4.308722972869873" y="-162.13580322265625" z="0.0014286803780123591"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
</Actions>
</Init>
<Story name="MyStory">
<Act name="Behavior">
<ManeuverGroup maximumExecutionCount="1" name="ManeuverSequence">
<Actors selectTriggeringEntities="false">
<EntityRef entityRef="adversary"/>
</Actors>
<Maneuver name="LaneChangeSimpleManeuver">
<Event name="AdversaryAccelerates" priority="overwrite">
<Action name="AdversaryAccelerates">
<PrivateAction>
<LongitudinalAction>
<SpeedAction>
<SpeedActionDynamics dynamicsShape="step" value="50" dynamicsDimension="distance"/>
<SpeedActionTarget>
<AbsoluteTargetSpeed value="5.0"/>
</SpeedActionTarget>
</SpeedAction>
</LongitudinalAction>
</PrivateAction>
</Action>
<StartTrigger>
<ConditionGroup>
<Condition name="StartCondition" delay="0" conditionEdge="rising">
<ByEntityCondition>
<TriggeringEntities triggeringEntitiesRule="any">
<EntityRef entityRef="hero"/>
</TriggeringEntities>
<EntityCondition>
<RelativeDistanceCondition entityRef="adversary" relativeDistanceType="cartesianDistance" value="40.0" freespace="false" rule="lessThan"/>
</EntityCondition>
</ByEntityCondition>
</Condition>
</ConditionGroup>
</StartTrigger>
</Event>
<Event name="AdversaryChangesLane" priority="overwrite">
<Action name="AdversaryChangesLane">
<PrivateAction>
<LateralAction>
<LaneChangeAction>
<LaneChangeActionDynamics dynamicsShape="linear" value="25" dynamicsDimension="distance"/>
<LaneChangeTarget>
<RelativeTargetLane entityRef="adversary" value="-1"/>
</LaneChangeTarget>
</LaneChangeAction>
</LateralAction>
</PrivateAction>
</Action>
<StartTrigger>
<ConditionGroup>
<Condition name="AfterAdversaryAccelerates" delay="0" conditionEdge="rising">
<ByValueCondition>
<StoryboardElementStateCondition storyboardElementType="action" storyboardElementRef="AdversaryAccelerates" state="completeState"/>
</ByValueCondition>
</Condition>
</ConditionGroup>
</StartTrigger>
</Event>
</Maneuver>
</ManeuverGroup>
<StartTrigger>
<ConditionGroup>
<Condition name="OverallStartCondition" delay="0" conditionEdge="rising">
<ByEntityCondition>
<TriggeringEntities triggeringEntitiesRule="any">
<EntityRef entityRef="hero"/>
</TriggeringEntities>
<EntityCondition>
<TraveledDistanceCondition value="1.0"/>
</EntityCondition>
</ByEntityCondition>
</Condition>
<Condition name="StartTime" delay="0" conditionEdge="rising">
<ByValueCondition>
<SimulationTimeCondition value="0" rule="equalTo"/>
</ByValueCondition>
</Condition>
</ConditionGroup>
</StartTrigger>
<StopTrigger>
<ConditionGroup>
<Condition name="EndCondition" delay="0" conditionEdge="rising">
<ByEntityCondition>
<TriggeringEntities triggeringEntitiesRule="any">
<EntityRef entityRef="hero"/>
</TriggeringEntities>
<EntityCondition>
<TraveledDistanceCondition value="200.0"/>
</EntityCondition>
</ByEntityCondition>
</Condition>
</ConditionGroup>
</StopTrigger>
</Act>
</Story>
<StopTrigger>
<ConditionGroup>
<Condition name="criteria_RunningStopTest" delay="0" conditionEdge="rising">
<ByValueCondition>
<ParameterCondition parameterRef="" value="" rule="lessThan"/>
</ByValueCondition>
</Condition>
<Condition name="criteria_RunningRedLightTest" delay="0" conditionEdge="rising">
<ByValueCondition>
<ParameterCondition parameterRef="" value="" rule="lessThan"/>
</ByValueCondition>
</Condition>
<Condition name="criteria_WrongLaneTest" delay="0" conditionEdge="rising">
<ByValueCondition>
<ParameterCondition parameterRef="" value="" rule="lessThan"/>
</ByValueCondition>
</Condition>
<Condition name="criteria_OnSidewalkTest" delay="0" conditionEdge="rising">
<ByValueCondition>
<ParameterCondition parameterRef="" value="" rule="lessThan"/>
</ByValueCondition>
</Condition>
<Condition name="criteria_KeepLaneTest" delay="0" conditionEdge="rising">
<ByValueCondition>
<ParameterCondition parameterRef="" value="" rule="lessThan"/>
</ByValueCondition>
</Condition>
<Condition name="criteria_CollisionTest" delay="0" conditionEdge="rising">
<ByValueCondition>
<ParameterCondition parameterRef="" value="" rule="lessThan"/>
</ByValueCondition>
</Condition>
<Condition name="criteria_DrivenDistanceTest" delay="0" conditionEdge="rising">
<ByValueCondition>
<ParameterCondition parameterRef="distance_success" value="100" rule="lessThan"/>
</ByValueCondition>
</Condition>
</ConditionGroup>
</StopTrigger>
</Storyboard>
</OpenSCENARIO>
``` | Here is the result:
```
<?xml version="1.0" ?>
<OpenSCENARIO>
<FileHeader revMajor="1" revMinor="0" date="2020-03-24T12:00:00" description="CARLA:LaneChangeSimple" author=""/>
<ParameterDeclarations/>
<CatalogLocations/>
<RoadNetwork>
<LogicFile filepath="Town04"/>
<SceneGraphFile filepath=""/>
</RoadNetwork>
<Entities>
<ScenarioObject name="hero">
<Vehicle name="vehicle.tesla.model3" vehicleCategory="car">
<ParameterDeclarations/>
<Performance maxSpeed="69.444" maxAcceleration="200" maxDeceleration="10.0"/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2.1" length="4.5" height="1.8"/>
</BoundingBox>
<Axles>
<FrontAxle maxSteering="0.5" wheelDiameter="0.6" trackWidth="1.8" positionX="3.1" positionZ="0.3"/>
<RearAxle maxSteering="0.0" wheelDiameter="0.6" trackWidth="1.8" positionX="0.0" positionZ="0.3"/>
</Axles>
<Properties>
<Property name="type" value="ego_vehicle"/>
</Properties>
</Vehicle>
</ScenarioObject>
<ScenarioObject name="adversary">
<Vehicle name="vehicle.lincoln.mkz_2017" vehicleCategory="car">
<ParameterDeclarations/>
<Performance maxSpeed="69.444" maxAcceleration="200" maxDeceleration="10.0"/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2.1" length="4.5" height="1.8"/>
</BoundingBox>
<Axles>
<FrontAxle maxSteering="0.5" wheelDiameter="0.6" trackWidth="1.8" positionX="3.1" positionZ="0.3"/>
<RearAxle maxSteering="0.0" wheelDiameter="0.6" trackWidth="1.8" positionX="0.0" positionZ="0.3"/>
</Axles>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Vehicle>
</ScenarioObject>
<ScenarioObject name="standing">
<Vehicle name="vehicle.volkswagen.t2" vehicleCategory="car">
<ParameterDeclarations/>
<Performance maxSpeed="69.444" maxAcceleration="200" maxDeceleration="10.0"/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2.1" length="4.5" height="1.8"/>
</BoundingBox>
<Axles>
<FrontAxle maxSteering="0.5" wheelDiameter="0.6" trackWidth="1.8" positionX="3.1" positionZ="0.3"/>
<RearAxle maxSteering="0.0" wheelDiameter="0.6" 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_22436">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_w_transform_22437">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_close_to_standing_22438">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_w_transform_22439">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_close_to_hero_22440">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_close_to_hero_22441">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_close_to_hero_22442">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_close_to_hero_22443">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
</Entities>
<Storyboard>
<Init>
<Actions>
<GlobalAction>
<EnvironmentAction>
<Environment name="Environment1">
<TimeOfDay animation="false" dateTime="2019-06-25T12:00:00"/>
<Weather cloudState="free">
<Sun intensity="0.85" azimuth="0" elevation="1.31"/>
<Fog visualRange="100000.0"/>
<Precipitation precipitationType="dry" intensity="0.0"/>
</Weather>
<RoadCondition frictionScaleFactor="1.0"/>
</Environment>
</EnvironmentAction>
</GlobalAction>
<Private entityRef="hero">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-9.4" y="-152.8" z="0.5" h="1.57079632679"/>
</Position>
</TeleportAction>
</PrivateAction>
<PrivateAction>
<ControllerAction>
<AssignControllerAction>
<Controller name="HeroAgent">
<Properties>
<Property name="module" value="external_control"/>
</Properties>
</Controller>
</AssignControllerAction>
<OverrideControllerValueAction>
<Throttle value="0" active="false"/>
<Brake value="0" active="false"/>
<Clutch value="0" active="false"/>
<ParkingBrake value="0" active="false"/>
<SteeringWheel value="0" active="false"/>
<Gear number="0" active="false"/>
</OverrideControllerValueAction>
</ControllerAction>
</PrivateAction>
</Private>
<Private entityRef="adversary">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-9.4" y="-71.0" z="0.5" h="1.57079632679"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="standing">
<PrivateAction>
<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_22436">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-13.349592208862305" y="-157.38087463378906" z="0.0014286803780123591"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_w_transform_22437">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-9.911187171936035" y="-9.066173553466797" z="0.5"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_close_to_standing_22438">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-5.726093769073486" y="39.1113166809082" z="0.003070564242079854"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_w_transform_22439">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-20.64566993713379" y="-16.7142391204834" z="0.5"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_close_to_hero_22440">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-12.69488525390625" y="-160.37974548339844" z="0.0014286803780123591"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_close_to_hero_22441">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-7.826162338256836" y="-153.694580078125" z="0.0014286803780123591"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_close_to_hero_22442">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-4.308722972869873" y="-162.13580322265625" z="0.0014286803780123591"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_close_to_hero_22443">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-17.13200569152832" y="-151.25872802734375" z="0.0014286803780123591"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
</Actions>
</Init>
<Story name="MyStory">
<Act name="Behavior">
<ManeuverGroup maximumExecutionCount="1" name="ManeuverSequence">
<Actors selectTriggeringEntities="false">
<EntityRef entityRef="adversary"/>
</Actors>
<Maneuver name="LaneChangeSimpleManeuver">
<Event name="AdversaryAccelerates" priority="overwrite">
<Action name="AdversaryAccelerates">
<PrivateAction>
<LongitudinalAction>
<SpeedAction>
<SpeedActionDynamics dynamicsShape="step" value="50" dynamicsDimension="distance"/>
<SpeedActionTarget>
<AbsoluteTargetSpeed value="5.0"/>
</SpeedActionTarget>
</SpeedAction>
</LongitudinalAction>
</PrivateAction>
</Action>
<StartTrigger>
<ConditionGroup>
<Condition name="StartCondition" delay="0" conditionEdge="rising">
<ByEntityCondition>
<TriggeringEntities triggeringEntitiesRule="any">
<EntityRef entityRef="hero"/>
</TriggeringEntities>
<EntityCondition>
<RelativeDistanceCondition entityRef="adversary" relativeDistanceType="cartesianDistance" value="40.0" freespace="false" rule="lessThan"/>
</EntityCondition>
</ByEntityCondition>
</Condition>
</ConditionGroup>
</StartTrigger>
</Event>
<Event name="AdversaryChangesLane" priority="overwrite">
<Action name="AdversaryChangesLane">
<PrivateAction>
<LateralAction>
<LaneChangeAction>
<LaneChangeActionDynamics dynamicsShape="linear" value="25" dynamicsDimension="distance"/>
<LaneChangeTarget>
<RelativeTargetLane entityRef="adversary" value="-1"/>
</LaneChangeTarget>
</LaneChangeAction>
</LateralAction>
</PrivateAction>
</Action>
<StartTrigger>
<ConditionGroup>
<Condition name="AfterAdversaryAccelerates" delay="0" conditionEdge="rising">
<ByValueCondition>
<StoryboardElementStateCondition storyboardElementType="action" storyboardElementRef="AdversaryAccelerates" state="completeState"/>
</ByValueCondition>
</Condition>
</ConditionGroup>
</StartTrigger>
</Event>
</Maneuver>
</ManeuverGroup>
<StartTrigger>
<ConditionGroup>
<Condition name="OverallStartCondition" delay="0" conditionEdge="rising">
<ByEntityCondition>
<TriggeringEntities triggeringEntitiesRule="any">
<EntityRef entityRef="hero"/>
</TriggeringEntities>
<EntityCondition>
<TraveledDistanceCondition value="1.0"/>
</EntityCondition>
</ByEntityCondition>
</Condition>
<Condition name="StartTime" delay="0" conditionEdge="rising">
<ByValueCondition>
<SimulationTimeCondition value="0" rule="equalTo"/>
</ByValueCondition>
</Condition>
</ConditionGroup>
</StartTrigger>
<StopTrigger>
<ConditionGroup>
<Condition name="EndCondition" delay="0" conditionEdge="rising">
<ByEntityCondition>
<TriggeringEntities triggeringEntitiesRule="any">
<EntityRef entityRef="hero"/>
</TriggeringEntities>
<EntityCondition>
<TraveledDistanceCondition value="200.0"/>
</EntityCondition>
</ByEntityCondition>
</Condition>
</ConditionGroup>
</StopTrigger>
</Act>
</Story>
<StopTrigger>
<ConditionGroup>
<Condition name="criteria_RunningStopTest" delay="0" conditionEdge="rising">
<ByValueCondition>
<ParameterCondition parameterRef="" value="" rule="lessThan"/>
</ByValueCondition>
</Condition>
<Condition name="criteria_RunningRedLightTest" delay="0" conditionEdge="rising">
<ByValueCondition>
<ParameterCondition parameterRef="" value="" rule="lessThan"/>
</ByValueCondition>
</Condition>
<Condition name="criteria_WrongLaneTest" delay="0" conditionEdge="rising">
<ByValueCondition>
<ParameterCondition parameterRef="" value="" rule="lessThan"/>
</ByValueCondition>
</Condition>
<Condition name="criteria_OnSidewalkTest" delay="0" conditionEdge="rising">
<ByValueCondition>
<ParameterCondition parameterRef="" value="" rule="lessThan"/>
</ByValueCondition>
</Condition>
<Condition name="criteria_KeepLaneTest" delay="0" conditionEdge="rising">
<ByValueCondition>
<ParameterCondition parameterRef="" value="" rule="lessThan"/>
</ByValueCondition>
</Condition>
<Condition name="criteria_CollisionTest" delay="0" conditionEdge="rising">
<ByValueCondition>
<ParameterCondition parameterRef="" value="" rule="lessThan"/>
</ByValueCondition>
</Condition>
<Condition name="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>
</Entities>
<Storyboard>
<Init>
<Actions>
<GlobalAction>
<EnvironmentAction>
<Environment name="Environment1">
<TimeOfDay animation="false" dateTime="2019-06-25T12:00:00"/>
<Weather cloudState="free">
<Sun intensity="0.85" azimuth="0" elevation="1.31"/>
<Fog visualRange="100000.0"/>
<Precipitation precipitationType="dry" intensity="0.0"/>
</Weather>
<RoadCondition frictionScaleFactor="1.0"/>
</Environment>
</EnvironmentAction>
</GlobalAction>
<Private entityRef="hero">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-9.4" y="-152.8" z="0.5" h="1.57079632679"/>
</Position>
</TeleportAction>
</PrivateAction>
<PrivateAction>
<ControllerAction>
<AssignControllerAction>
<Controller name="HeroAgent">
<Properties>
<Property name="module" value="external_control"/>
</Properties>
</Controller>
</AssignControllerAction>
<OverrideControllerValueAction>
<Throttle value="0" active="false"/>
<Brake value="0" active="false"/>
<Clutch value="0" active="false"/>
<ParkingBrake value="0" active="false"/>
<SteeringWheel value="0" active="false"/>
<Gear number="0" active="false"/>
</OverrideControllerValueAction>
</ControllerAction>
</PrivateAction>
</Private>
<Private entityRef="adversary">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-9.4" y="-71.0" z="0.5" h="1.57079632679"/>
</Position>
</TeleportAction>
</PrivateAction>
</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_22687">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
</Entities>
<Storyboard>
<Init>
<Actions>
<GlobalAction>
<EnvironmentAction>
<Environment name="Environment1">
<TimeOfDay animation="false" dateTime="2019-06-25T12:00:00"/>
<Weather cloudState="free">
<Sun intensity="0.85" azimuth="0" elevation="1.31"/>
<Fog visualRange="100000.0"/>
<Precipitation precipitationType="dry" intensity="0.0"/>
</Weather>
<RoadCondition frictionScaleFactor="1.0"/>
</Environment>
</EnvironmentAction>
</GlobalAction>
<Private entityRef="hero">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-9.4" y="-152.8" z="0.5" h="1.57079632679"/>
</Position>
</TeleportAction>
</PrivateAction>
<PrivateAction>
<ControllerAction>
<AssignControllerAction>
<Controller name="HeroAgent">
<Properties>
<Property name="module" value="external_control"/>
</Properties>
</Controller>
</AssignControllerAction>
<OverrideControllerValueAction>
<Throttle value="0" active="false"/>
<Brake value="0" active="false"/>
<Clutch value="0" active="false"/>
<ParkingBrake value="0" active="false"/>
<SteeringWheel value="0" active="false"/>
<Gear number="0" active="false"/>
</OverrideControllerValueAction>
</ControllerAction>
</PrivateAction>
</Private>
<Private entityRef="adversary">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-9.4" y="-71.0" z="0.5" h="1.57079632679"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="standing">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-8.2" y="29.2" z="0.5" h="1.57079632679"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_close_to_standing_22687">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-15.163418769836426" y="25.75688934326172" z="0.003048553364351392"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
</Actions>
</Init>
<Story name="MyStory">
<Act name="Behavior">
<ManeuverGroup maximumExecutionCount="1" name="ManeuverSequence">
<Actors selectTriggeringEntities="false">
<EntityRef entityRef="adversary"/>
</Actors>
<Maneuver name="LaneChangeSimpleManeuver">
<Event name="AdversaryAccelerates" priority="overwrite">
<Action name="AdversaryAccelerates">
<PrivateAction>
<LongitudinalAction>
<SpeedAction>
<SpeedActionDynamics dynamicsShape="step" value="50" dynamicsDimension="distance"/>
<SpeedActionTarget>
<AbsoluteTargetSpeed value="5.0"/>
</SpeedActionTarget>
</SpeedAction>
</LongitudinalAction>
</PrivateAction>
</Action>
<StartTrigger>
<ConditionGroup>
<Condition name="StartCondition" delay="0" conditionEdge="rising">
<ByEntityCondition>
<TriggeringEntities triggeringEntitiesRule="any">
<EntityRef entityRef="hero"/>
</TriggeringEntities>
<EntityCondition>
<RelativeDistanceCondition entityRef="adversary" relativeDistanceType="cartesianDistance" value="40.0" freespace="false" rule="lessThan"/>
</EntityCondition>
</ByEntityCondition>
</Condition>
</ConditionGroup>
</StartTrigger>
</Event>
<Event name="AdversaryChangesLane" priority="overwrite">
<Action name="AdversaryChangesLane">
<PrivateAction>
<LateralAction>
<LaneChangeAction>
<LaneChangeActionDynamics dynamicsShape="linear" value="25" dynamicsDimension="distance"/>
<LaneChangeTarget>
<RelativeTargetLane entityRef="adversary" value="-1"/>
</LaneChangeTarget>
</LaneChangeAction>
</LateralAction>
</PrivateAction>
</Action>
<StartTrigger>
<ConditionGroup>
<Condition name="AfterAdversaryAccelerates" delay="0" conditionEdge="rising">
<ByValueCondition>
<StoryboardElementStateCondition storyboardElementType="action" storyboardElementRef="AdversaryAccelerates" state="completeState"/>
</ByValueCondition>
</Condition>
</ConditionGroup>
</StartTrigger>
</Event>
</Maneuver>
</ManeuverGroup>
<StartTrigger>
<ConditionGroup>
<Condition name="OverallStartCondition" delay="0" conditionEdge="rising">
<ByEntityCondition>
<TriggeringEntities triggeringEntitiesRule="any">
<EntityRef entityRef="hero"/>
</TriggeringEntities>
<EntityCondition>
<TraveledDistanceCondition value="1.0"/>
</EntityCondition>
</ByEntityCondition>
</Condition>
<Condition name="StartTime" delay="0" conditionEdge="rising">
<ByValueCondition>
<SimulationTimeCondition value="0" rule="equalTo"/>
</ByValueCondition>
</Condition>
</ConditionGroup>
</StartTrigger>
<StopTrigger>
<ConditionGroup>
<Condition name="EndCondition" delay="0" conditionEdge="rising">
<ByEntityCondition>
<TriggeringEntities triggeringEntitiesRule="any">
<EntityRef entityRef="hero"/>
</TriggeringEntities>
<EntityCondition>
<TraveledDistanceCondition value="200.0"/>
</EntityCondition>
</ByEntityCondition>
</Condition>
</ConditionGroup>
</StopTrigger>
</Act>
</Story>
<StopTrigger>
<ConditionGroup>
<Condition name="criteria_RunningStopTest" delay="0" conditionEdge="rising">
<ByValueCondition>
<ParameterCondition parameterRef="" value="" rule="lessThan"/>
</ByValueCondition>
</Condition>
<Condition name="criteria_RunningRedLightTest" delay="0" conditionEdge="rising">
<ByValueCondition>
<ParameterCondition parameterRef="" value="" rule="lessThan"/>
</ByValueCondition>
</Condition>
<Condition name="criteria_WrongLaneTest" delay="0" conditionEdge="rising">
<ByValueCondition>
<ParameterCondition parameterRef="" value="" rule="lessThan"/>
</ByValueCondition>
</Condition>
<Condition name="criteria_OnSidewalkTest" delay="0" conditionEdge="rising">
<ByValueCondition>
<ParameterCondition parameterRef="" value="" rule="lessThan"/>
</ByValueCondition>
</Condition>
<Condition name="criteria_KeepLaneTest" delay="0" conditionEdge="rising">
<ByValueCondition>
<ParameterCondition parameterRef="" value="" rule="lessThan"/>
</ByValueCondition>
</Condition>
<Condition name="criteria_CollisionTest" delay="0" conditionEdge="rising">
<ByValueCondition>
<ParameterCondition parameterRef="" value="" rule="lessThan"/>
</ByValueCondition>
</Condition>
<Condition name="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_22289?
```
<?xml version="1.0" ?>
<OpenSCENARIO>
<FileHeader revMajor="1" revMinor="0" date="2020-03-24T12:00:00" description="CARLA:LaneChangeSimple" author=""/>
<ParameterDeclarations/>
<CatalogLocations/>
<RoadNetwork>
<LogicFile filepath="Town04"/>
<SceneGraphFile filepath=""/>
</RoadNetwork>
<Entities>
<ScenarioObject name="hero">
<Vehicle name="vehicle.tesla.model3" vehicleCategory="car">
<ParameterDeclarations/>
<Performance maxSpeed="69.444" maxAcceleration="200" maxDeceleration="10.0"/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2.1" length="4.5" height="1.8"/>
</BoundingBox>
<Axles>
<FrontAxle maxSteering="0.5" wheelDiameter="0.6" trackWidth="1.8" positionX="3.1" positionZ="0.3"/>
<RearAxle maxSteering="0.0" wheelDiameter="0.6" trackWidth="1.8" positionX="0.0" positionZ="0.3"/>
</Axles>
<Properties>
<Property name="type" value="ego_vehicle"/>
</Properties>
</Vehicle>
</ScenarioObject>
<ScenarioObject name="adversary">
<Vehicle name="vehicle.lincoln.mkz_2017" vehicleCategory="car">
<ParameterDeclarations/>
<Performance maxSpeed="69.444" maxAcceleration="200" maxDeceleration="10.0"/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2.1" length="4.5" height="1.8"/>
</BoundingBox>
<Axles>
<FrontAxle maxSteering="0.5" wheelDiameter="0.6" trackWidth="1.8" positionX="3.1" positionZ="0.3"/>
<RearAxle maxSteering="0.0" wheelDiameter="0.6" trackWidth="1.8" positionX="0.0" positionZ="0.3"/>
</Axles>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Vehicle>
</ScenarioObject>
<ScenarioObject name="standing">
<Vehicle name="vehicle.volkswagen.t2" vehicleCategory="car">
<ParameterDeclarations/>
<Performance maxSpeed="69.444" maxAcceleration="200" maxDeceleration="10.0"/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2.1" length="4.5" height="1.8"/>
</BoundingBox>
<Axles>
<FrontAxle maxSteering="0.5" wheelDiameter="0.6" trackWidth="1.8" positionX="3.1" positionZ="0.3"/>
<RearAxle maxSteering="0.0" wheelDiameter="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_22287">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_close_to_hero_22288">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_w_transform_22289">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_w_transform_22291">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_w_transform_22292">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_w_transform_22294">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_close_to_hero_22295">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_close_to_standing_22297">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_w_transform_22298">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_w_transform_22300">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_close_to_standing_22301">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
</Entities>
<Storyboard>
<Init>
<Actions>
<GlobalAction>
<EnvironmentAction>
<Environment name="Environment1">
<TimeOfDay animation="false" dateTime="2019-06-25T12:00:00"/>
<Weather cloudState="free">
<Sun intensity="0.85" azimuth="0" elevation="1.31"/>
<Fog visualRange="100000.0"/>
<Precipitation precipitationType="dry" intensity="0.0"/>
</Weather>
<RoadCondition frictionScaleFactor="1.0"/>
</Environment>
</EnvironmentAction>
</GlobalAction>
<Private entityRef="hero">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-9.4" y="-152.8" z="0.5" h="1.57079632679"/>
</Position>
</TeleportAction>
</PrivateAction>
<PrivateAction>
<ControllerAction>
<AssignControllerAction>
<Controller name="HeroAgent">
<Properties>
<Property name="module" value="external_control"/>
</Properties>
</Controller>
</AssignControllerAction>
<OverrideControllerValueAction>
<Throttle value="0" active="false"/>
<Brake value="0" active="false"/>
<Clutch value="0" active="false"/>
<ParkingBrake value="0" active="false"/>
<SteeringWheel value="0" active="false"/>
<Gear number="0" active="false"/>
</OverrideControllerValueAction>
</ControllerAction>
</PrivateAction>
</Private>
<Private entityRef="adversary">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-9.4" y="-71.0" z="0.5" h="1.57079632679"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="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_22287">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="48.245853424072266" y="39.72188186645508" z="0.5"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_close_to_hero_22288">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-9.502046585083008" y="-147.6312255859375" z="0.0014286803780123591"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_w_transform_22289">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="56.97671890258789" y="60.12468719482422" z="0.5"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_w_transform_22291">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-62.697242736816406" y="39.47283935546875" z="0.5"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_w_transform_22292">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-95.63420867919922" y="-96.6239242553711" z="0.5"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_w_transform_22294">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-39.99482727050781" y="26.392757415771484" z="0.5"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_close_to_hero_22295">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-19.475839614868164" y="-162.84812927246094" z="0.0014286803780123591"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_close_to_standing_22297">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-8.40280532836914" y="26.24738883972168" z="0.0030539322178810835"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_w_transform_22298">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-47.990234375" y="-11.233438491821289" z="0.5"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_w_transform_22300">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="75.16797637939453" y="59.79608917236328" z="0.5"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_close_to_standing_22301">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-11.239367485046387" y="39.178524017333984" z="0.0030015562660992146"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
</Actions>
</Init>
<Story name="MyStory">
<Act name="Behavior">
<ManeuverGroup maximumExecutionCount="1" name="ManeuverSequence">
<Actors selectTriggeringEntities="false">
<EntityRef entityRef="adversary"/>
</Actors>
<Maneuver name="LaneChangeSimpleManeuver">
<Event name="AdversaryAccelerates" priority="overwrite">
<Action name="AdversaryAccelerates">
<PrivateAction>
<LongitudinalAction>
<SpeedAction>
<SpeedActionDynamics dynamicsShape="step" value="50" dynamicsDimension="distance"/>
<SpeedActionTarget>
<AbsoluteTargetSpeed value="5.0"/>
</SpeedActionTarget>
</SpeedAction>
</LongitudinalAction>
</PrivateAction>
</Action>
<StartTrigger>
<ConditionGroup>
<Condition name="StartCondition" delay="0" conditionEdge="rising">
<ByEntityCondition>
<TriggeringEntities triggeringEntitiesRule="any">
<EntityRef entityRef="hero"/>
</TriggeringEntities>
<EntityCondition>
<RelativeDistanceCondition entityRef="adversary" relativeDistanceType="cartesianDistance" value="40.0" freespace="false" rule="lessThan"/>
</EntityCondition>
</ByEntityCondition>
</Condition>
</ConditionGroup>
</StartTrigger>
</Event>
<Event name="AdversaryChangesLane" priority="overwrite">
<Action name="AdversaryChangesLane">
<PrivateAction>
<LateralAction>
<LaneChangeAction>
<LaneChangeActionDynamics dynamicsShape="linear" value="25" dynamicsDimension="distance"/>
<LaneChangeTarget>
<RelativeTargetLane entityRef="adversary" value="-1"/>
</LaneChangeTarget>
</LaneChangeAction>
</LateralAction>
</PrivateAction>
</Action>
<StartTrigger>
<ConditionGroup>
<Condition name="AfterAdversaryAccelerates" delay="0" conditionEdge="rising">
<ByValueCondition>
<StoryboardElementStateCondition storyboardElementType="action" storyboardElementRef="AdversaryAccelerates" state="completeState"/>
</ByValueCondition>
</Condition>
</ConditionGroup>
</StartTrigger>
</Event>
</Maneuver>
</ManeuverGroup>
<StartTrigger>
<ConditionGroup>
<Condition name="OverallStartCondition" delay="0" conditionEdge="rising">
<ByEntityCondition>
<TriggeringEntities triggeringEntitiesRule="any">
<EntityRef entityRef="hero"/>
</TriggeringEntities>
<EntityCondition>
<TraveledDistanceCondition value="1.0"/>
</EntityCondition>
</ByEntityCondition>
</Condition>
<Condition name="StartTime" delay="0" conditionEdge="rising">
<ByValueCondition>
<SimulationTimeCondition value="0" rule="equalTo"/>
</ByValueCondition>
</Condition>
</ConditionGroup>
</StartTrigger>
<StopTrigger>
<ConditionGroup>
<Condition name="EndCondition" delay="0" conditionEdge="rising">
<ByEntityCondition>
<TriggeringEntities triggeringEntitiesRule="any">
<EntityRef entityRef="hero"/>
</TriggeringEntities>
<EntityCondition>
<TraveledDistanceCondition value="200.0"/>
</EntityCondition>
</ByEntityCondition>
</Condition>
</ConditionGroup>
</StopTrigger>
</Act>
</Story>
<StopTrigger>
<ConditionGroup>
<Condition name="criteria_RunningStopTest" delay="0" conditionEdge="rising">
<ByValueCondition>
<ParameterCondition parameterRef="" value="" rule="lessThan"/>
</ByValueCondition>
</Condition>
<Condition name="criteria_RunningRedLightTest" delay="0" conditionEdge="rising">
<ByValueCondition>
<ParameterCondition parameterRef="" value="" rule="lessThan"/>
</ByValueCondition>
</Condition>
<Condition name="criteria_WrongLaneTest" delay="0" conditionEdge="rising">
<ByValueCondition>
<ParameterCondition parameterRef="" value="" rule="lessThan"/>
</ByValueCondition>
</Condition>
<Condition name="criteria_OnSidewalkTest" delay="0" conditionEdge="rising">
<ByValueCondition>
<ParameterCondition parameterRef="" value="" rule="lessThan"/>
</ByValueCondition>
</Condition>
<Condition name="criteria_KeepLaneTest" delay="0" conditionEdge="rising">
<ByValueCondition>
<ParameterCondition parameterRef="" value="" rule="lessThan"/>
</ByValueCondition>
</Condition>
<Condition name="criteria_CollisionTest" delay="0" conditionEdge="rising">
<ByValueCondition>
<ParameterCondition parameterRef="" value="" rule="lessThan"/>
</ByValueCondition>
</Condition>
<Condition name="criteria_DrivenDistanceTest" delay="0" conditionEdge="rising">
<ByValueCondition>
<ParameterCondition parameterRef="distance_success" value="100" rule="lessThan"/>
</ByValueCondition>
</Condition>
</ConditionGroup>
</StopTrigger>
</Storyboard>
</OpenSCENARIO>
``` | Here is the result:
```
<?xml version="1.0" ?>
<OpenSCENARIO>
<FileHeader revMajor="1" revMinor="0" date="2020-03-24T12:00:00" description="CARLA:LaneChangeSimple" author=""/>
<ParameterDeclarations/>
<CatalogLocations/>
<RoadNetwork>
<LogicFile filepath="Town04"/>
<SceneGraphFile filepath=""/>
</RoadNetwork>
<Entities>
<ScenarioObject name="hero">
<Vehicle name="vehicle.tesla.model3" vehicleCategory="car">
<ParameterDeclarations/>
<Performance maxSpeed="69.444" maxAcceleration="200" maxDeceleration="10.0"/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2.1" length="4.5" height="1.8"/>
</BoundingBox>
<Axles>
<FrontAxle maxSteering="0.5" wheelDiameter="0.6" trackWidth="1.8" positionX="3.1" positionZ="0.3"/>
<RearAxle maxSteering="0.0" wheelDiameter="0.6" trackWidth="1.8" positionX="0.0" positionZ="0.3"/>
</Axles>
<Properties>
<Property name="type" value="ego_vehicle"/>
</Properties>
</Vehicle>
</ScenarioObject>
<ScenarioObject name="adversary">
<Vehicle name="vehicle.lincoln.mkz_2017" vehicleCategory="car">
<ParameterDeclarations/>
<Performance maxSpeed="69.444" maxAcceleration="200" maxDeceleration="10.0"/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2.1" length="4.5" height="1.8"/>
</BoundingBox>
<Axles>
<FrontAxle maxSteering="0.5" wheelDiameter="0.6" trackWidth="1.8" positionX="3.1" positionZ="0.3"/>
<RearAxle maxSteering="0.0" wheelDiameter="0.6" trackWidth="1.8" positionX="0.0" positionZ="0.3"/>
</Axles>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Vehicle>
</ScenarioObject>
<ScenarioObject name="standing">
<Vehicle name="vehicle.volkswagen.t2" vehicleCategory="car">
<ParameterDeclarations/>
<Performance maxSpeed="69.444" maxAcceleration="200" maxDeceleration="10.0"/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2.1" length="4.5" height="1.8"/>
</BoundingBox>
<Axles>
<FrontAxle maxSteering="0.5" wheelDiameter="0.6" trackWidth="1.8" positionX="3.1" positionZ="0.3"/>
<RearAxle maxSteering="0.0" wheelDiameter="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_22287">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_close_to_hero_22288">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_w_transform_22291">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_w_transform_22292">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_w_transform_22294">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_close_to_hero_22295">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_close_to_standing_22297">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_w_transform_22298">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_w_transform_22300">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_close_to_standing_22301">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
</Entities>
<Storyboard>
<Init>
<Actions>
<GlobalAction>
<EnvironmentAction>
<Environment name="Environment1">
<TimeOfDay animation="false" dateTime="2019-06-25T12:00:00"/>
<Weather cloudState="free">
<Sun intensity="0.85" azimuth="0" elevation="1.31"/>
<Fog visualRange="100000.0"/>
<Precipitation precipitationType="dry" intensity="0.0"/>
</Weather>
<RoadCondition frictionScaleFactor="1.0"/>
</Environment>
</EnvironmentAction>
</GlobalAction>
<Private entityRef="hero">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-9.4" y="-152.8" z="0.5" h="1.57079632679"/>
</Position>
</TeleportAction>
</PrivateAction>
<PrivateAction>
<ControllerAction>
<AssignControllerAction>
<Controller name="HeroAgent">
<Properties>
<Property name="module" value="external_control"/>
</Properties>
</Controller>
</AssignControllerAction>
<OverrideControllerValueAction>
<Throttle value="0" active="false"/>
<Brake value="0" active="false"/>
<Clutch value="0" active="false"/>
<ParkingBrake value="0" active="false"/>
<SteeringWheel value="0" active="false"/>
<Gear number="0" active="false"/>
</OverrideControllerValueAction>
</ControllerAction>
</PrivateAction>
</Private>
<Private entityRef="adversary">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-9.4" y="-71.0" z="0.5" h="1.57079632679"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="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_22287">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="48.245853424072266" y="39.72188186645508" z="0.5"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_close_to_hero_22288">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-9.502046585083008" y="-147.6312255859375" z="0.0014286803780123591"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_w_transform_22291">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-62.697242736816406" y="39.47283935546875" z="0.5"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_w_transform_22292">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-95.63420867919922" y="-96.6239242553711" z="0.5"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_w_transform_22294">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-39.99482727050781" y="26.392757415771484" z="0.5"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_close_to_hero_22295">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-19.475839614868164" y="-162.84812927246094" z="0.0014286803780123591"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_close_to_standing_22297">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-8.40280532836914" y="26.24738883972168" z="0.0030539322178810835"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_w_transform_22298">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-47.990234375" y="-11.233438491821289" z="0.5"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_w_transform_22300">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="75.16797637939453" y="59.79608917236328" z="0.5"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_close_to_standing_22301">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-11.239367485046387" y="39.178524017333984" z="0.0030015562660992146"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
</Actions>
</Init>
<Story name="MyStory">
<Act name="Behavior">
<ManeuverGroup maximumExecutionCount="1" name="ManeuverSequence">
<Actors selectTriggeringEntities="false">
<EntityRef entityRef="adversary"/>
</Actors>
<Maneuver name="LaneChangeSimpleManeuver">
<Event name="AdversaryAccelerates" priority="overwrite">
<Action name="AdversaryAccelerates">
<PrivateAction>
<LongitudinalAction>
<SpeedAction>
<SpeedActionDynamics dynamicsShape="step" value="50" dynamicsDimension="distance"/>
<SpeedActionTarget>
<AbsoluteTargetSpeed value="5.0"/>
</SpeedActionTarget>
</SpeedAction>
</LongitudinalAction>
</PrivateAction>
</Action>
<StartTrigger>
<ConditionGroup>
<Condition name="StartCondition" delay="0" conditionEdge="rising">
<ByEntityCondition>
<TriggeringEntities triggeringEntitiesRule="any">
<EntityRef entityRef="hero"/>
</TriggeringEntities>
<EntityCondition>
<RelativeDistanceCondition entityRef="adversary" relativeDistanceType="cartesianDistance" value="40.0" freespace="false" rule="lessThan"/>
</EntityCondition>
</ByEntityCondition>
</Condition>
</ConditionGroup>
</StartTrigger>
</Event>
<Event name="AdversaryChangesLane" priority="overwrite">
<Action name="AdversaryChangesLane">
<PrivateAction>
<LateralAction>
<LaneChangeAction>
<LaneChangeActionDynamics dynamicsShape="linear" value="25" dynamicsDimension="distance"/>
<LaneChangeTarget>
<RelativeTargetLane entityRef="adversary" value="-1"/>
</LaneChangeTarget>
</LaneChangeAction>
</LateralAction>
</PrivateAction>
</Action>
<StartTrigger>
<ConditionGroup>
<Condition name="AfterAdversaryAccelerates" delay="0" conditionEdge="rising">
<ByValueCondition>
<StoryboardElementStateCondition storyboardElementType="action" storyboardElementRef="AdversaryAccelerates" state="completeState"/>
</ByValueCondition>
</Condition>
</ConditionGroup>
</StartTrigger>
</Event>
</Maneuver>
</ManeuverGroup>
<StartTrigger>
<ConditionGroup>
<Condition name="OverallStartCondition" delay="0" conditionEdge="rising">
<ByEntityCondition>
<TriggeringEntities triggeringEntitiesRule="any">
<EntityRef entityRef="hero"/>
</TriggeringEntities>
<EntityCondition>
<TraveledDistanceCondition value="1.0"/>
</EntityCondition>
</ByEntityCondition>
</Condition>
<Condition name="StartTime" delay="0" conditionEdge="rising">
<ByValueCondition>
<SimulationTimeCondition value="0" rule="equalTo"/>
</ByValueCondition>
</Condition>
</ConditionGroup>
</StartTrigger>
<StopTrigger>
<ConditionGroup>
<Condition name="EndCondition" delay="0" conditionEdge="rising">
<ByEntityCondition>
<TriggeringEntities triggeringEntitiesRule="any">
<EntityRef entityRef="hero"/>
</TriggeringEntities>
<EntityCondition>
<TraveledDistanceCondition value="200.0"/>
</EntityCondition>
</ByEntityCondition>
</Condition>
</ConditionGroup>
</StopTrigger>
</Act>
</Story>
<StopTrigger>
<ConditionGroup>
<Condition name="criteria_RunningStopTest" delay="0" conditionEdge="rising">
<ByValueCondition>
<ParameterCondition parameterRef="" value="" rule="lessThan"/>
</ByValueCondition>
</Condition>
<Condition name="criteria_RunningRedLightTest" delay="0" conditionEdge="rising">
<ByValueCondition>
<ParameterCondition parameterRef="" value="" rule="lessThan"/>
</ByValueCondition>
</Condition>
<Condition name="criteria_WrongLaneTest" delay="0" conditionEdge="rising">
<ByValueCondition>
<ParameterCondition parameterRef="" value="" rule="lessThan"/>
</ByValueCondition>
</Condition>
<Condition name="criteria_OnSidewalkTest" delay="0" conditionEdge="rising">
<ByValueCondition>
<ParameterCondition parameterRef="" value="" rule="lessThan"/>
</ByValueCondition>
</Condition>
<Condition name="criteria_KeepLaneTest" delay="0" conditionEdge="rising">
<ByValueCondition>
<ParameterCondition parameterRef="" value="" rule="lessThan"/>
</ByValueCondition>
</Condition>
<Condition name="criteria_CollisionTest" delay="0" conditionEdge="rising">
<ByValueCondition>
<ParameterCondition parameterRef="" value="" rule="lessThan"/>
</ByValueCondition>
</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 (-88.63, 88.42, 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_standing_18970">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_close_to_hero_18971">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_close_to_adversary_18972">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
</Entities>
<Storyboard>
<Init>
<Actions>
<GlobalAction>
<EnvironmentAction>
<Environment name="Environment1">
<TimeOfDay animation="false" dateTime="2019-06-25T12:00:00"/>
<Weather cloudState="free">
<Sun intensity="0.85" azimuth="0" elevation="1.31"/>
<Fog visualRange="100000.0"/>
<Precipitation precipitationType="dry" intensity="0.0"/>
</Weather>
<RoadCondition frictionScaleFactor="1.0"/>
</Environment>
</EnvironmentAction>
</GlobalAction>
<Private entityRef="hero">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-9.4" y="-152.8" z="0.5" h="1.57079632679"/>
</Position>
</TeleportAction>
</PrivateAction>
<PrivateAction>
<ControllerAction>
<AssignControllerAction>
<Controller name="HeroAgent">
<Properties>
<Property name="module" value="external_control"/>
</Properties>
</Controller>
</AssignControllerAction>
<OverrideControllerValueAction>
<Throttle value="0" active="false"/>
<Brake value="0" active="false"/>
<Clutch value="0" active="false"/>
<ParkingBrake value="0" active="false"/>
<SteeringWheel value="0" active="false"/>
<Gear number="0" active="false"/>
</OverrideControllerValueAction>
</ControllerAction>
</PrivateAction>
</Private>
<Private entityRef="adversary">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-9.4" y="-71.0" z="0.5" h="1.57079632679"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="standing">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-8.2" y="29.2" z="0.5" h="1.57079632679"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_close_to_standing_18970">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-15.108222007751465" y="35.72246170043945" z="0.0030718992929905653"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_close_to_hero_18971">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-2.9969735145568848" y="-159.10488891601562" z="0.0014286803780123591"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_close_to_adversary_18972">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-6.748423099517822" y="-79.16368865966797" z="0.03377632051706314"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
</Actions>
</Init>
<Story name="MyStory">
<Act name="Behavior">
<ManeuverGroup maximumExecutionCount="1" name="ManeuverSequence">
<Actors selectTriggeringEntities="false">
<EntityRef entityRef="adversary"/>
</Actors>
<Maneuver name="LaneChangeSimpleManeuver">
<Event name="AdversaryAccelerates" priority="overwrite">
<Action name="AdversaryAccelerates">
<PrivateAction>
<LongitudinalAction>
<SpeedAction>
<SpeedActionDynamics dynamicsShape="step" value="50" dynamicsDimension="distance"/>
<SpeedActionTarget>
<AbsoluteTargetSpeed value="5.0"/>
</SpeedActionTarget>
</SpeedAction>
</LongitudinalAction>
</PrivateAction>
</Action>
<StartTrigger>
<ConditionGroup>
<Condition name="StartCondition" delay="0" conditionEdge="rising">
<ByEntityCondition>
<TriggeringEntities triggeringEntitiesRule="any">
<EntityRef entityRef="hero"/>
</TriggeringEntities>
<EntityCondition>
<RelativeDistanceCondition entityRef="adversary" relativeDistanceType="cartesianDistance" value="40.0" freespace="false" rule="lessThan"/>
</EntityCondition>
</ByEntityCondition>
</Condition>
</ConditionGroup>
</StartTrigger>
</Event>
<Event name="AdversaryChangesLane" priority="overwrite">
<Action name="AdversaryChangesLane">
<PrivateAction>
<LateralAction>
<LaneChangeAction>
<LaneChangeActionDynamics dynamicsShape="linear" value="25" dynamicsDimension="distance"/>
<LaneChangeTarget>
<RelativeTargetLane entityRef="adversary" value="-1"/>
</LaneChangeTarget>
</LaneChangeAction>
</LateralAction>
</PrivateAction>
</Action>
<StartTrigger>
<ConditionGroup>
<Condition name="AfterAdversaryAccelerates" delay="0" conditionEdge="rising">
<ByValueCondition>
<StoryboardElementStateCondition storyboardElementType="action" storyboardElementRef="AdversaryAccelerates" state="completeState"/>
</ByValueCondition>
</Condition>
</ConditionGroup>
</StartTrigger>
</Event>
</Maneuver>
</ManeuverGroup>
<StartTrigger>
<ConditionGroup>
<Condition name="OverallStartCondition" delay="0" conditionEdge="rising">
<ByEntityCondition>
<TriggeringEntities triggeringEntitiesRule="any">
<EntityRef entityRef="hero"/>
</TriggeringEntities>
<EntityCondition>
<TraveledDistanceCondition value="1.0"/>
</EntityCondition>
</ByEntityCondition>
</Condition>
<Condition name="StartTime" delay="0" conditionEdge="rising">
<ByValueCondition>
<SimulationTimeCondition value="0" rule="equalTo"/>
</ByValueCondition>
</Condition>
</ConditionGroup>
</StartTrigger>
<StopTrigger>
<ConditionGroup>
<Condition name="EndCondition" delay="0" conditionEdge="rising">
<ByEntityCondition>
<TriggeringEntities triggeringEntitiesRule="any">
<EntityRef entityRef="hero"/>
</TriggeringEntities>
<EntityCondition>
<TraveledDistanceCondition value="200.0"/>
</EntityCondition>
</ByEntityCondition>
</Condition>
</ConditionGroup>
</StopTrigger>
</Act>
</Story>
<StopTrigger>
<ConditionGroup>
<Condition name="criteria_RunningStopTest" delay="0" conditionEdge="rising">
<ByValueCondition>
<ParameterCondition parameterRef="" value="" rule="lessThan"/>
</ByValueCondition>
</Condition>
<Condition name="criteria_RunningRedLightTest" delay="0" conditionEdge="rising">
<ByValueCondition>
<ParameterCondition parameterRef="" value="" rule="lessThan"/>
</ByValueCondition>
</Condition>
<Condition name="criteria_WrongLaneTest" delay="0" conditionEdge="rising">
<ByValueCondition>
<ParameterCondition parameterRef="" value="" rule="lessThan"/>
</ByValueCondition>
</Condition>
<Condition name="criteria_OnSidewalkTest" delay="0" conditionEdge="rising">
<ByValueCondition>
<ParameterCondition parameterRef="" value="" rule="lessThan"/>
</ByValueCondition>
</Condition>
<Condition name="criteria_KeepLaneTest" delay="0" conditionEdge="rising">
<ByValueCondition>
<ParameterCondition parameterRef="" value="" rule="lessThan"/>
</ByValueCondition>
</Condition>
<Condition name="criteria_CollisionTest" delay="0" conditionEdge="rising">
<ByValueCondition>
<ParameterCondition parameterRef="" value="" rule="lessThan"/>
</ByValueCondition>
</Condition>
<Condition name="criteria_DrivenDistanceTest" delay="0" conditionEdge="rising">
<ByValueCondition>
<ParameterCondition parameterRef="distance_success" value="100" rule="lessThan"/>
</ByValueCondition>
</Condition>
</ConditionGroup>
</StopTrigger>
</Storyboard>
</OpenSCENARIO>
``` | Here is the result:
```
<?xml version="1.0" ?>
<OpenSCENARIO>
<FileHeader revMajor="1" revMinor="0" date="2020-03-24T12:00:00" description="CARLA:LaneChangeSimple" author=""/>
<ParameterDeclarations/>
<CatalogLocations/>
<RoadNetwork>
<LogicFile filepath="Town04"/>
<SceneGraphFile filepath=""/>
</RoadNetwork>
<Entities>
<ScenarioObject name="hero">
<Vehicle name="vehicle.tesla.model3" vehicleCategory="car">
<ParameterDeclarations/>
<Performance maxSpeed="69.444" maxAcceleration="200" maxDeceleration="10.0"/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2.1" length="4.5" height="1.8"/>
</BoundingBox>
<Axles>
<FrontAxle maxSteering="0.5" wheelDiameter="0.6" trackWidth="1.8" positionX="3.1" positionZ="0.3"/>
<RearAxle maxSteering="0.0" wheelDiameter="0.6" trackWidth="1.8" positionX="0.0" positionZ="0.3"/>
</Axles>
<Properties>
<Property name="type" value="ego_vehicle"/>
</Properties>
</Vehicle>
</ScenarioObject>
<ScenarioObject name="adversary">
<Vehicle name="vehicle.lincoln.mkz_2017" vehicleCategory="car">
<ParameterDeclarations/>
<Performance maxSpeed="69.444" maxAcceleration="200" maxDeceleration="10.0"/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2.1" length="4.5" height="1.8"/>
</BoundingBox>
<Axles>
<FrontAxle maxSteering="0.5" wheelDiameter="0.6" trackWidth="1.8" positionX="3.1" positionZ="0.3"/>
<RearAxle maxSteering="0.0" wheelDiameter="0.6" trackWidth="1.8" positionX="0.0" positionZ="0.3"/>
</Axles>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Vehicle>
</ScenarioObject>
<ScenarioObject name="standing">
<Vehicle name="vehicle.volkswagen.t2" vehicleCategory="car">
<ParameterDeclarations/>
<Performance maxSpeed="69.444" maxAcceleration="200" maxDeceleration="10.0"/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2.1" length="4.5" height="1.8"/>
</BoundingBox>
<Axles>
<FrontAxle maxSteering="0.5" wheelDiameter="0.6" trackWidth="1.8" positionX="3.1" positionZ="0.3"/>
<RearAxle maxSteering="0.0" wheelDiameter="0.6" trackWidth="1.8" positionX="0.0" positionZ="0.3"/>
</Axles>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Vehicle>
</ScenarioObject>
<ScenarioObject name="pedestrian_close_to_standing_18970">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_close_to_hero_18971">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_close_to_adversary_18972">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_w_transform_18973">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
</Entities>
<Storyboard>
<Init>
<Actions>
<GlobalAction>
<EnvironmentAction>
<Environment name="Environment1">
<TimeOfDay animation="false" dateTime="2019-06-25T12:00:00"/>
<Weather cloudState="free">
<Sun intensity="0.85" azimuth="0" elevation="1.31"/>
<Fog visualRange="100000.0"/>
<Precipitation precipitationType="dry" intensity="0.0"/>
</Weather>
<RoadCondition frictionScaleFactor="1.0"/>
</Environment>
</EnvironmentAction>
</GlobalAction>
<Private entityRef="hero">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-9.4" y="-152.8" z="0.5" h="1.57079632679"/>
</Position>
</TeleportAction>
</PrivateAction>
<PrivateAction>
<ControllerAction>
<AssignControllerAction>
<Controller name="HeroAgent">
<Properties>
<Property name="module" value="external_control"/>
</Properties>
</Controller>
</AssignControllerAction>
<OverrideControllerValueAction>
<Throttle value="0" active="false"/>
<Brake value="0" active="false"/>
<Clutch value="0" active="false"/>
<ParkingBrake value="0" active="false"/>
<SteeringWheel value="0" active="false"/>
<Gear number="0" active="false"/>
</OverrideControllerValueAction>
</ControllerAction>
</PrivateAction>
</Private>
<Private entityRef="adversary">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-9.4" y="-71.0" z="0.5" h="1.57079632679"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="standing">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-8.2" y="29.2" z="0.5" h="1.57079632679"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_close_to_standing_18970">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-15.108222007751465" y="35.72246170043945" z="0.0030718992929905653"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_close_to_hero_18971">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-2.9969735145568848" y="-159.10488891601562" z="0.0014286803780123591"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_close_to_adversary_18972">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-6.748423099517822" y="-79.16368865966797" z="0.03377632051706314"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_w_transform_18973">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-88.6340560913086" y="88.42029571533203" z="0.5"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
</Actions>
</Init>
<Story name="MyStory">
<Act name="Behavior">
<ManeuverGroup maximumExecutionCount="1" name="ManeuverSequence">
<Actors selectTriggeringEntities="false">
<EntityRef entityRef="adversary"/>
</Actors>
<Maneuver name="LaneChangeSimpleManeuver">
<Event name="AdversaryAccelerates" priority="overwrite">
<Action name="AdversaryAccelerates">
<PrivateAction>
<LongitudinalAction>
<SpeedAction>
<SpeedActionDynamics dynamicsShape="step" value="50" dynamicsDimension="distance"/>
<SpeedActionTarget>
<AbsoluteTargetSpeed value="5.0"/>
</SpeedActionTarget>
</SpeedAction>
</LongitudinalAction>
</PrivateAction>
</Action>
<StartTrigger>
<ConditionGroup>
<Condition name="StartCondition" delay="0" conditionEdge="rising">
<ByEntityCondition>
<TriggeringEntities triggeringEntitiesRule="any">
<EntityRef entityRef="hero"/>
</TriggeringEntities>
<EntityCondition>
<RelativeDistanceCondition entityRef="adversary" relativeDistanceType="cartesianDistance" value="40.0" freespace="false" rule="lessThan"/>
</EntityCondition>
</ByEntityCondition>
</Condition>
</ConditionGroup>
</StartTrigger>
</Event>
<Event name="AdversaryChangesLane" priority="overwrite">
<Action name="AdversaryChangesLane">
<PrivateAction>
<LateralAction>
<LaneChangeAction>
<LaneChangeActionDynamics dynamicsShape="linear" value="25" dynamicsDimension="distance"/>
<LaneChangeTarget>
<RelativeTargetLane entityRef="adversary" value="-1"/>
</LaneChangeTarget>
</LaneChangeAction>
</LateralAction>
</PrivateAction>
</Action>
<StartTrigger>
<ConditionGroup>
<Condition name="AfterAdversaryAccelerates" delay="0" conditionEdge="rising">
<ByValueCondition>
<StoryboardElementStateCondition storyboardElementType="action" storyboardElementRef="AdversaryAccelerates" state="completeState"/>
</ByValueCondition>
</Condition>
</ConditionGroup>
</StartTrigger>
</Event>
</Maneuver>
</ManeuverGroup>
<StartTrigger>
<ConditionGroup>
<Condition name="OverallStartCondition" delay="0" conditionEdge="rising">
<ByEntityCondition>
<TriggeringEntities triggeringEntitiesRule="any">
<EntityRef entityRef="hero"/>
</TriggeringEntities>
<EntityCondition>
<TraveledDistanceCondition value="1.0"/>
</EntityCondition>
</ByEntityCondition>
</Condition>
<Condition name="StartTime" delay="0" conditionEdge="rising">
<ByValueCondition>
<SimulationTimeCondition value="0" rule="equalTo"/>
</ByValueCondition>
</Condition>
</ConditionGroup>
</StartTrigger>
<StopTrigger>
<ConditionGroup>
<Condition name="EndCondition" delay="0" conditionEdge="rising">
<ByEntityCondition>
<TriggeringEntities triggeringEntitiesRule="any">
<EntityRef entityRef="hero"/>
</TriggeringEntities>
<EntityCondition>
<TraveledDistanceCondition value="200.0"/>
</EntityCondition>
</ByEntityCondition>
</Condition>
</ConditionGroup>
</StopTrigger>
</Act>
</Story>
<StopTrigger>
<ConditionGroup>
<Condition name="criteria_RunningStopTest" delay="0" conditionEdge="rising">
<ByValueCondition>
<ParameterCondition parameterRef="" value="" rule="lessThan"/>
</ByValueCondition>
</Condition>
<Condition name="criteria_RunningRedLightTest" delay="0" conditionEdge="rising">
<ByValueCondition>
<ParameterCondition parameterRef="" value="" rule="lessThan"/>
</ByValueCondition>
</Condition>
<Condition name="criteria_WrongLaneTest" delay="0" conditionEdge="rising">
<ByValueCondition>
<ParameterCondition parameterRef="" value="" rule="lessThan"/>
</ByValueCondition>
</Condition>
<Condition name="criteria_OnSidewalkTest" delay="0" conditionEdge="rising">
<ByValueCondition>
<ParameterCondition parameterRef="" value="" rule="lessThan"/>
</ByValueCondition>
</Condition>
<Condition name="criteria_KeepLaneTest" delay="0" conditionEdge="rising">
<ByValueCondition>
<ParameterCondition parameterRef="" value="" rule="lessThan"/>
</ByValueCondition>
</Condition>
<Condition name="criteria_CollisionTest" delay="0" conditionEdge="rising">
<ByValueCondition>
<ParameterCondition parameterRef="" value="" rule="lessThan"/>
</ByValueCondition>
</Condition>
<Condition name="criteria_DrivenDistanceTest" delay="0" conditionEdge="rising">
<ByValueCondition>
<ParameterCondition parameterRef="distance_success" value="100" rule="lessThan"/>
</ByValueCondition>
</Condition>
</ConditionGroup>
</StopTrigger>
</Storyboard>
</OpenSCENARIO>
``` |
i would like to guide you to add pedestrian close to hero?
```
<?xml version="1.0" ?>
<OpenSCENARIO>
<FileHeader revMajor="1" revMinor="0" date="2020-03-24T12:00:00" description="CARLA:LaneChangeSimple" author=""/>
<ParameterDeclarations/>
<CatalogLocations/>
<RoadNetwork>
<LogicFile filepath="Town04"/>
<SceneGraphFile filepath=""/>
</RoadNetwork>
<Entities>
<ScenarioObject name="hero">
<Vehicle name="vehicle.tesla.model3" vehicleCategory="car">
<ParameterDeclarations/>
<Performance maxSpeed="69.444" maxAcceleration="200" maxDeceleration="10.0"/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2.1" length="4.5" height="1.8"/>
</BoundingBox>
<Axles>
<FrontAxle maxSteering="0.5" wheelDiameter="0.6" trackWidth="1.8" positionX="3.1" positionZ="0.3"/>
<RearAxle maxSteering="0.0" wheelDiameter="0.6" trackWidth="1.8" positionX="0.0" positionZ="0.3"/>
</Axles>
<Properties>
<Property name="type" value="ego_vehicle"/>
</Properties>
</Vehicle>
</ScenarioObject>
<ScenarioObject name="adversary">
<Vehicle name="vehicle.lincoln.mkz_2017" vehicleCategory="car">
<ParameterDeclarations/>
<Performance maxSpeed="69.444" maxAcceleration="200" maxDeceleration="10.0"/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2.1" length="4.5" height="1.8"/>
</BoundingBox>
<Axles>
<FrontAxle maxSteering="0.5" wheelDiameter="0.6" trackWidth="1.8" positionX="3.1" positionZ="0.3"/>
<RearAxle maxSteering="0.0" wheelDiameter="0.6" trackWidth="1.8" positionX="0.0" positionZ="0.3"/>
</Axles>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Vehicle>
</ScenarioObject>
<ScenarioObject name="standing">
<Vehicle name="vehicle.volkswagen.t2" vehicleCategory="car">
<ParameterDeclarations/>
<Performance maxSpeed="69.444" maxAcceleration="200" maxDeceleration="10.0"/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2.1" length="4.5" height="1.8"/>
</BoundingBox>
<Axles>
<FrontAxle maxSteering="0.5" wheelDiameter="0.6" trackWidth="1.8" positionX="3.1" positionZ="0.3"/>
<RearAxle maxSteering="0.0" wheelDiameter="0.6" trackWidth="1.8" positionX="0.0" positionZ="0.3"/>
</Axles>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Vehicle>
</ScenarioObject>
<ScenarioObject name="pedestrian_close_to_standing_8482">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_close_to_hero_8483">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_w_transform_8484">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_close_to_hero_8485">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_w_transform_8486">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_close_to_adversary_8487">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_w_transform_8488">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_close_to_adversary_8489">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
</Entities>
<Storyboard>
<Init>
<Actions>
<GlobalAction>
<EnvironmentAction>
<Environment name="Environment1">
<TimeOfDay animation="false" dateTime="2019-06-25T12:00:00"/>
<Weather cloudState="free">
<Sun intensity="0.85" azimuth="0" elevation="1.31"/>
<Fog visualRange="100000.0"/>
<Precipitation precipitationType="dry" intensity="0.0"/>
</Weather>
<RoadCondition frictionScaleFactor="1.0"/>
</Environment>
</EnvironmentAction>
</GlobalAction>
<Private entityRef="hero">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-9.4" y="-152.8" z="0.5" h="1.57079632679"/>
</Position>
</TeleportAction>
</PrivateAction>
<PrivateAction>
<ControllerAction>
<AssignControllerAction>
<Controller name="HeroAgent">
<Properties>
<Property name="module" value="external_control"/>
</Properties>
</Controller>
</AssignControllerAction>
<OverrideControllerValueAction>
<Throttle value="0" active="false"/>
<Brake value="0" active="false"/>
<Clutch value="0" active="false"/>
<ParkingBrake value="0" active="false"/>
<SteeringWheel value="0" active="false"/>
<Gear number="0" active="false"/>
</OverrideControllerValueAction>
</ControllerAction>
</PrivateAction>
</Private>
<Private entityRef="adversary">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-9.4" y="-71.0" z="0.5" h="1.57079632679"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="standing">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-8.2" y="29.2" z="0.5" h="1.57079632679"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_close_to_standing_8482">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-8.650716781616211" y="26.537612915039062" z="0.0030808639712631702"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_close_to_hero_8483">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-1.49318528175354" y="-146.7738800048828" z="0.0014286803780123591"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_w_transform_8484">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-31.367069244384766" y="-6.615143299102783" z="0.5"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_close_to_hero_8485">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-2.4839110374450684" y="-155.54925537109375" z="0.0014286803780123591"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_w_transform_8486">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="3.211454153060913" y="-72.62638854980469" z="0.5"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_close_to_adversary_8487">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-15.26610279083252" y="-66.00079345703125" z="0.03376251086592674"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_w_transform_8488">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="10.769036293029785" y="-54.429630279541016" z="0.5"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_close_to_adversary_8489">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="0.472410649061203" y="-68.90328979492188" z="0.03375961259007454"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
</Actions>
</Init>
<Story name="MyStory">
<Act name="Behavior">
<ManeuverGroup maximumExecutionCount="1" name="ManeuverSequence">
<Actors selectTriggeringEntities="false">
<EntityRef entityRef="adversary"/>
</Actors>
<Maneuver name="LaneChangeSimpleManeuver">
<Event name="AdversaryAccelerates" priority="overwrite">
<Action name="AdversaryAccelerates">
<PrivateAction>
<LongitudinalAction>
<SpeedAction>
<SpeedActionDynamics dynamicsShape="step" value="50" dynamicsDimension="distance"/>
<SpeedActionTarget>
<AbsoluteTargetSpeed value="5.0"/>
</SpeedActionTarget>
</SpeedAction>
</LongitudinalAction>
</PrivateAction>
</Action>
<StartTrigger>
<ConditionGroup>
<Condition name="StartCondition" delay="0" conditionEdge="rising">
<ByEntityCondition>
<TriggeringEntities triggeringEntitiesRule="any">
<EntityRef entityRef="hero"/>
</TriggeringEntities>
<EntityCondition>
<RelativeDistanceCondition entityRef="adversary" relativeDistanceType="cartesianDistance" value="40.0" freespace="false" rule="lessThan"/>
</EntityCondition>
</ByEntityCondition>
</Condition>
</ConditionGroup>
</StartTrigger>
</Event>
<Event name="AdversaryChangesLane" priority="overwrite">
<Action name="AdversaryChangesLane">
<PrivateAction>
<LateralAction>
<LaneChangeAction>
<LaneChangeActionDynamics dynamicsShape="linear" value="25" dynamicsDimension="distance"/>
<LaneChangeTarget>
<RelativeTargetLane entityRef="adversary" value="-1"/>
</LaneChangeTarget>
</LaneChangeAction>
</LateralAction>
</PrivateAction>
</Action>
<StartTrigger>
<ConditionGroup>
<Condition name="AfterAdversaryAccelerates" delay="0" conditionEdge="rising">
<ByValueCondition>
<StoryboardElementStateCondition storyboardElementType="action" storyboardElementRef="AdversaryAccelerates" state="completeState"/>
</ByValueCondition>
</Condition>
</ConditionGroup>
</StartTrigger>
</Event>
</Maneuver>
</ManeuverGroup>
<StartTrigger>
<ConditionGroup>
<Condition name="OverallStartCondition" delay="0" conditionEdge="rising">
<ByEntityCondition>
<TriggeringEntities triggeringEntitiesRule="any">
<EntityRef entityRef="hero"/>
</TriggeringEntities>
<EntityCondition>
<TraveledDistanceCondition value="1.0"/>
</EntityCondition>
</ByEntityCondition>
</Condition>
<Condition name="StartTime" delay="0" conditionEdge="rising">
<ByValueCondition>
<SimulationTimeCondition value="0" rule="equalTo"/>
</ByValueCondition>
</Condition>
</ConditionGroup>
</StartTrigger>
<StopTrigger>
<ConditionGroup>
<Condition name="EndCondition" delay="0" conditionEdge="rising">
<ByEntityCondition>
<TriggeringEntities triggeringEntitiesRule="any">
<EntityRef entityRef="hero"/>
</TriggeringEntities>
<EntityCondition>
<TraveledDistanceCondition value="200.0"/>
</EntityCondition>
</ByEntityCondition>
</Condition>
</ConditionGroup>
</StopTrigger>
</Act>
</Story>
<StopTrigger>
<ConditionGroup>
<Condition name="criteria_RunningStopTest" delay="0" conditionEdge="rising">
<ByValueCondition>
<ParameterCondition parameterRef="" value="" rule="lessThan"/>
</ByValueCondition>
</Condition>
<Condition name="criteria_RunningRedLightTest" delay="0" conditionEdge="rising">
<ByValueCondition>
<ParameterCondition parameterRef="" value="" rule="lessThan"/>
</ByValueCondition>
</Condition>
<Condition name="criteria_WrongLaneTest" delay="0" conditionEdge="rising">
<ByValueCondition>
<ParameterCondition parameterRef="" value="" rule="lessThan"/>
</ByValueCondition>
</Condition>
<Condition name="criteria_OnSidewalkTest" delay="0" conditionEdge="rising">
<ByValueCondition>
<ParameterCondition parameterRef="" value="" rule="lessThan"/>
</ByValueCondition>
</Condition>
<Condition name="criteria_KeepLaneTest" delay="0" conditionEdge="rising">
<ByValueCondition>
<ParameterCondition parameterRef="" value="" rule="lessThan"/>
</ByValueCondition>
</Condition>
<Condition name="criteria_CollisionTest" delay="0" conditionEdge="rising">
<ByValueCondition>
<ParameterCondition parameterRef="" value="" rule="lessThan"/>
</ByValueCondition>
</Condition>
<Condition name="criteria_DrivenDistanceTest" delay="0" conditionEdge="rising">
<ByValueCondition>
<ParameterCondition parameterRef="distance_success" value="100" rule="lessThan"/>
</ByValueCondition>
</Condition>
</ConditionGroup>
</StopTrigger>
</Storyboard>
</OpenSCENARIO>
``` | Here is the result:
```
<?xml version="1.0" ?>
<OpenSCENARIO>
<FileHeader revMajor="1" revMinor="0" date="2020-03-24T12:00:00" description="CARLA:LaneChangeSimple" author=""/>
<ParameterDeclarations/>
<CatalogLocations/>
<RoadNetwork>
<LogicFile filepath="Town04"/>
<SceneGraphFile filepath=""/>
</RoadNetwork>
<Entities>
<ScenarioObject name="hero">
<Vehicle name="vehicle.tesla.model3" vehicleCategory="car">
<ParameterDeclarations/>
<Performance maxSpeed="69.444" maxAcceleration="200" maxDeceleration="10.0"/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2.1" length="4.5" height="1.8"/>
</BoundingBox>
<Axles>
<FrontAxle maxSteering="0.5" wheelDiameter="0.6" trackWidth="1.8" positionX="3.1" positionZ="0.3"/>
<RearAxle maxSteering="0.0" wheelDiameter="0.6" trackWidth="1.8" positionX="0.0" positionZ="0.3"/>
</Axles>
<Properties>
<Property name="type" value="ego_vehicle"/>
</Properties>
</Vehicle>
</ScenarioObject>
<ScenarioObject name="adversary">
<Vehicle name="vehicle.lincoln.mkz_2017" vehicleCategory="car">
<ParameterDeclarations/>
<Performance maxSpeed="69.444" maxAcceleration="200" maxDeceleration="10.0"/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2.1" length="4.5" height="1.8"/>
</BoundingBox>
<Axles>
<FrontAxle maxSteering="0.5" wheelDiameter="0.6" trackWidth="1.8" positionX="3.1" positionZ="0.3"/>
<RearAxle maxSteering="0.0" wheelDiameter="0.6" trackWidth="1.8" positionX="0.0" positionZ="0.3"/>
</Axles>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Vehicle>
</ScenarioObject>
<ScenarioObject name="standing">
<Vehicle name="vehicle.volkswagen.t2" vehicleCategory="car">
<ParameterDeclarations/>
<Performance maxSpeed="69.444" maxAcceleration="200" maxDeceleration="10.0"/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2.1" length="4.5" height="1.8"/>
</BoundingBox>
<Axles>
<FrontAxle maxSteering="0.5" wheelDiameter="0.6" trackWidth="1.8" positionX="3.1" positionZ="0.3"/>
<RearAxle maxSteering="0.0" wheelDiameter="0.6" trackWidth="1.8" positionX="0.0" positionZ="0.3"/>
</Axles>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Vehicle>
</ScenarioObject>
<ScenarioObject name="pedestrian_close_to_standing_8482">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_close_to_hero_8483">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_w_transform_8484">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_close_to_hero_8485">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_w_transform_8486">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_close_to_adversary_8487">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_w_transform_8488">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_close_to_adversary_8489">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_close_to_hero_8490">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
</Entities>
<Storyboard>
<Init>
<Actions>
<GlobalAction>
<EnvironmentAction>
<Environment name="Environment1">
<TimeOfDay animation="false" dateTime="2019-06-25T12:00:00"/>
<Weather cloudState="free">
<Sun intensity="0.85" azimuth="0" elevation="1.31"/>
<Fog visualRange="100000.0"/>
<Precipitation precipitationType="dry" intensity="0.0"/>
</Weather>
<RoadCondition frictionScaleFactor="1.0"/>
</Environment>
</EnvironmentAction>
</GlobalAction>
<Private entityRef="hero">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-9.4" y="-152.8" z="0.5" h="1.57079632679"/>
</Position>
</TeleportAction>
</PrivateAction>
<PrivateAction>
<ControllerAction>
<AssignControllerAction>
<Controller name="HeroAgent">
<Properties>
<Property name="module" value="external_control"/>
</Properties>
</Controller>
</AssignControllerAction>
<OverrideControllerValueAction>
<Throttle value="0" active="false"/>
<Brake value="0" active="false"/>
<Clutch value="0" active="false"/>
<ParkingBrake value="0" active="false"/>
<SteeringWheel value="0" active="false"/>
<Gear number="0" active="false"/>
</OverrideControllerValueAction>
</ControllerAction>
</PrivateAction>
</Private>
<Private entityRef="adversary">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-9.4" y="-71.0" z="0.5" h="1.57079632679"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="standing">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-8.2" y="29.2" z="0.5" h="1.57079632679"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_close_to_standing_8482">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-8.650716781616211" y="26.537612915039062" z="0.0030808639712631702"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_close_to_hero_8483">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-1.49318528175354" y="-146.7738800048828" z="0.0014286803780123591"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_w_transform_8484">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-31.367069244384766" y="-6.615143299102783" z="0.5"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_close_to_hero_8485">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-2.4839110374450684" y="-155.54925537109375" z="0.0014286803780123591"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_w_transform_8486">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="3.211454153060913" y="-72.62638854980469" z="0.5"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_close_to_adversary_8487">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-15.26610279083252" y="-66.00079345703125" z="0.03376251086592674"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_w_transform_8488">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="10.769036293029785" y="-54.429630279541016" z="0.5"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_close_to_adversary_8489">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="0.472410649061203" y="-68.90328979492188" z="0.03375961259007454"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_close_to_hero_8490">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-11.786454200744629" y="-144.72406005859375" z="0.0014286803780123591"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
</Actions>
</Init>
<Story name="MyStory">
<Act name="Behavior">
<ManeuverGroup maximumExecutionCount="1" name="ManeuverSequence">
<Actors selectTriggeringEntities="false">
<EntityRef entityRef="adversary"/>
</Actors>
<Maneuver name="LaneChangeSimpleManeuver">
<Event name="AdversaryAccelerates" priority="overwrite">
<Action name="AdversaryAccelerates">
<PrivateAction>
<LongitudinalAction>
<SpeedAction>
<SpeedActionDynamics dynamicsShape="step" value="50" dynamicsDimension="distance"/>
<SpeedActionTarget>
<AbsoluteTargetSpeed value="5.0"/>
</SpeedActionTarget>
</SpeedAction>
</LongitudinalAction>
</PrivateAction>
</Action>
<StartTrigger>
<ConditionGroup>
<Condition name="StartCondition" delay="0" conditionEdge="rising">
<ByEntityCondition>
<TriggeringEntities triggeringEntitiesRule="any">
<EntityRef entityRef="hero"/>
</TriggeringEntities>
<EntityCondition>
<RelativeDistanceCondition entityRef="adversary" relativeDistanceType="cartesianDistance" value="40.0" freespace="false" rule="lessThan"/>
</EntityCondition>
</ByEntityCondition>
</Condition>
</ConditionGroup>
</StartTrigger>
</Event>
<Event name="AdversaryChangesLane" priority="overwrite">
<Action name="AdversaryChangesLane">
<PrivateAction>
<LateralAction>
<LaneChangeAction>
<LaneChangeActionDynamics dynamicsShape="linear" value="25" dynamicsDimension="distance"/>
<LaneChangeTarget>
<RelativeTargetLane entityRef="adversary" value="-1"/>
</LaneChangeTarget>
</LaneChangeAction>
</LateralAction>
</PrivateAction>
</Action>
<StartTrigger>
<ConditionGroup>
<Condition name="AfterAdversaryAccelerates" delay="0" conditionEdge="rising">
<ByValueCondition>
<StoryboardElementStateCondition storyboardElementType="action" storyboardElementRef="AdversaryAccelerates" state="completeState"/>
</ByValueCondition>
</Condition>
</ConditionGroup>
</StartTrigger>
</Event>
</Maneuver>
</ManeuverGroup>
<StartTrigger>
<ConditionGroup>
<Condition name="OverallStartCondition" delay="0" conditionEdge="rising">
<ByEntityCondition>
<TriggeringEntities triggeringEntitiesRule="any">
<EntityRef entityRef="hero"/>
</TriggeringEntities>
<EntityCondition>
<TraveledDistanceCondition value="1.0"/>
</EntityCondition>
</ByEntityCondition>
</Condition>
<Condition name="StartTime" delay="0" conditionEdge="rising">
<ByValueCondition>
<SimulationTimeCondition value="0" rule="equalTo"/>
</ByValueCondition>
</Condition>
</ConditionGroup>
</StartTrigger>
<StopTrigger>
<ConditionGroup>
<Condition name="EndCondition" delay="0" conditionEdge="rising">
<ByEntityCondition>
<TriggeringEntities triggeringEntitiesRule="any">
<EntityRef entityRef="hero"/>
</TriggeringEntities>
<EntityCondition>
<TraveledDistanceCondition value="200.0"/>
</EntityCondition>
</ByEntityCondition>
</Condition>
</ConditionGroup>
</StopTrigger>
</Act>
</Story>
<StopTrigger>
<ConditionGroup>
<Condition name="criteria_RunningStopTest" delay="0" conditionEdge="rising">
<ByValueCondition>
<ParameterCondition parameterRef="" value="" rule="lessThan"/>
</ByValueCondition>
</Condition>
<Condition name="criteria_RunningRedLightTest" delay="0" conditionEdge="rising">
<ByValueCondition>
<ParameterCondition parameterRef="" value="" rule="lessThan"/>
</ByValueCondition>
</Condition>
<Condition name="criteria_WrongLaneTest" delay="0" conditionEdge="rising">
<ByValueCondition>
<ParameterCondition parameterRef="" value="" rule="lessThan"/>
</ByValueCondition>
</Condition>
<Condition name="criteria_OnSidewalkTest" delay="0" conditionEdge="rising">
<ByValueCondition>
<ParameterCondition parameterRef="" value="" rule="lessThan"/>
</ByValueCondition>
</Condition>
<Condition name="criteria_KeepLaneTest" delay="0" conditionEdge="rising">
<ByValueCondition>
<ParameterCondition parameterRef="" value="" rule="lessThan"/>
</ByValueCondition>
</Condition>
<Condition name="criteria_CollisionTest" delay="0" conditionEdge="rising">
<ByValueCondition>
<ParameterCondition parameterRef="" value="" rule="lessThan"/>
</ByValueCondition>
</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 (-19.31, -60.1, 0.5)?
```
<?xml version="1.0" ?>
<OpenSCENARIO>
<FileHeader revMajor="1" revMinor="0" date="2020-03-24T12:00:00" description="CARLA:LaneChangeSimple" author=""/>
<ParameterDeclarations/>
<CatalogLocations/>
<RoadNetwork>
<LogicFile filepath="Town04"/>
<SceneGraphFile filepath=""/>
</RoadNetwork>
<Entities>
<ScenarioObject name="hero">
<Vehicle name="vehicle.tesla.model3" vehicleCategory="car">
<ParameterDeclarations/>
<Performance maxSpeed="69.444" maxAcceleration="200" maxDeceleration="10.0"/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2.1" length="4.5" height="1.8"/>
</BoundingBox>
<Axles>
<FrontAxle maxSteering="0.5" wheelDiameter="0.6" trackWidth="1.8" positionX="3.1" positionZ="0.3"/>
<RearAxle maxSteering="0.0" wheelDiameter="0.6" trackWidth="1.8" positionX="0.0" positionZ="0.3"/>
</Axles>
<Properties>
<Property name="type" value="ego_vehicle"/>
</Properties>
</Vehicle>
</ScenarioObject>
<ScenarioObject name="adversary">
<Vehicle name="vehicle.lincoln.mkz_2017" vehicleCategory="car">
<ParameterDeclarations/>
<Performance maxSpeed="69.444" maxAcceleration="200" maxDeceleration="10.0"/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2.1" length="4.5" height="1.8"/>
</BoundingBox>
<Axles>
<FrontAxle maxSteering="0.5" wheelDiameter="0.6" trackWidth="1.8" positionX="3.1" positionZ="0.3"/>
<RearAxle maxSteering="0.0" wheelDiameter="0.6" trackWidth="1.8" positionX="0.0" positionZ="0.3"/>
</Axles>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Vehicle>
</ScenarioObject>
<ScenarioObject name="standing">
<Vehicle name="vehicle.volkswagen.t2" vehicleCategory="car">
<ParameterDeclarations/>
<Performance maxSpeed="69.444" maxAcceleration="200" maxDeceleration="10.0"/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2.1" length="4.5" height="1.8"/>
</BoundingBox>
<Axles>
<FrontAxle maxSteering="0.5" wheelDiameter="0.6" trackWidth="1.8" positionX="3.1" positionZ="0.3"/>
<RearAxle maxSteering="0.0" wheelDiameter="0.6" trackWidth="1.8" positionX="0.0" positionZ="0.3"/>
</Axles>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Vehicle>
</ScenarioObject>
<ScenarioObject name="pedestrian_close_to_adversary_4333">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_close_to_standing_4334">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_w_transform_4335">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_close_to_standing_4336">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_w_transform_4337">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_w_transform_4338">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_w_transform_4339">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_close_to_standing_4340">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
</Entities>
<Storyboard>
<Init>
<Actions>
<GlobalAction>
<EnvironmentAction>
<Environment name="Environment1">
<TimeOfDay animation="false" dateTime="2019-06-25T12:00:00"/>
<Weather cloudState="free">
<Sun intensity="0.85" azimuth="0" elevation="1.31"/>
<Fog visualRange="100000.0"/>
<Precipitation precipitationType="dry" intensity="0.0"/>
</Weather>
<RoadCondition frictionScaleFactor="1.0"/>
</Environment>
</EnvironmentAction>
</GlobalAction>
<Private entityRef="hero">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-9.4" y="-152.8" z="0.5" h="1.57079632679"/>
</Position>
</TeleportAction>
</PrivateAction>
<PrivateAction>
<ControllerAction>
<AssignControllerAction>
<Controller name="HeroAgent">
<Properties>
<Property name="module" value="external_control"/>
</Properties>
</Controller>
</AssignControllerAction>
<OverrideControllerValueAction>
<Throttle value="0" active="false"/>
<Brake value="0" active="false"/>
<Clutch value="0" active="false"/>
<ParkingBrake value="0" active="false"/>
<SteeringWheel value="0" active="false"/>
<Gear number="0" active="false"/>
</OverrideControllerValueAction>
</ControllerAction>
</PrivateAction>
</Private>
<Private entityRef="adversary">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-9.4" y="-71.0" z="0.5" h="1.57079632679"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="standing">
<PrivateAction>
<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_4333">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-1.8799632787704468" y="-76.03829956054688" z="0.033763159066438675"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_close_to_standing_4334">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-17.268159866333008" y="36.2725944519043" z="0.0030533599201589823"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_w_transform_4335">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="55.13446044921875" y="76.48603057861328" z="0.5"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_close_to_standing_4336">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="1.1375454664230347" y="29.27266502380371" z="0.0030261992942541838"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_w_transform_4337">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-3.003227710723877" y="-14.775776863098145" z="0.5"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_w_transform_4338">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-58.89829635620117" y="-8.114816665649414" z="0.5"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_w_transform_4339">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="54.784873962402344" y="47.28899383544922" z="0.5"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_close_to_standing_4340">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-16.861173629760742" y="23.93329620361328" z="0.0030725097749382257"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
</Actions>
</Init>
<Story name="MyStory">
<Act name="Behavior">
<ManeuverGroup maximumExecutionCount="1" name="ManeuverSequence">
<Actors selectTriggeringEntities="false">
<EntityRef entityRef="adversary"/>
</Actors>
<Maneuver name="LaneChangeSimpleManeuver">
<Event name="AdversaryAccelerates" priority="overwrite">
<Action name="AdversaryAccelerates">
<PrivateAction>
<LongitudinalAction>
<SpeedAction>
<SpeedActionDynamics dynamicsShape="step" value="50" dynamicsDimension="distance"/>
<SpeedActionTarget>
<AbsoluteTargetSpeed value="5.0"/>
</SpeedActionTarget>
</SpeedAction>
</LongitudinalAction>
</PrivateAction>
</Action>
<StartTrigger>
<ConditionGroup>
<Condition name="StartCondition" delay="0" conditionEdge="rising">
<ByEntityCondition>
<TriggeringEntities triggeringEntitiesRule="any">
<EntityRef entityRef="hero"/>
</TriggeringEntities>
<EntityCondition>
<RelativeDistanceCondition entityRef="adversary" relativeDistanceType="cartesianDistance" value="40.0" freespace="false" rule="lessThan"/>
</EntityCondition>
</ByEntityCondition>
</Condition>
</ConditionGroup>
</StartTrigger>
</Event>
<Event name="AdversaryChangesLane" priority="overwrite">
<Action name="AdversaryChangesLane">
<PrivateAction>
<LateralAction>
<LaneChangeAction>
<LaneChangeActionDynamics dynamicsShape="linear" value="25" dynamicsDimension="distance"/>
<LaneChangeTarget>
<RelativeTargetLane entityRef="adversary" value="-1"/>
</LaneChangeTarget>
</LaneChangeAction>
</LateralAction>
</PrivateAction>
</Action>
<StartTrigger>
<ConditionGroup>
<Condition name="AfterAdversaryAccelerates" delay="0" conditionEdge="rising">
<ByValueCondition>
<StoryboardElementStateCondition storyboardElementType="action" storyboardElementRef="AdversaryAccelerates" state="completeState"/>
</ByValueCondition>
</Condition>
</ConditionGroup>
</StartTrigger>
</Event>
</Maneuver>
</ManeuverGroup>
<StartTrigger>
<ConditionGroup>
<Condition name="OverallStartCondition" delay="0" conditionEdge="rising">
<ByEntityCondition>
<TriggeringEntities triggeringEntitiesRule="any">
<EntityRef entityRef="hero"/>
</TriggeringEntities>
<EntityCondition>
<TraveledDistanceCondition value="1.0"/>
</EntityCondition>
</ByEntityCondition>
</Condition>
<Condition name="StartTime" delay="0" conditionEdge="rising">
<ByValueCondition>
<SimulationTimeCondition value="0" rule="equalTo"/>
</ByValueCondition>
</Condition>
</ConditionGroup>
</StartTrigger>
<StopTrigger>
<ConditionGroup>
<Condition name="EndCondition" delay="0" conditionEdge="rising">
<ByEntityCondition>
<TriggeringEntities triggeringEntitiesRule="any">
<EntityRef entityRef="hero"/>
</TriggeringEntities>
<EntityCondition>
<TraveledDistanceCondition value="200.0"/>
</EntityCondition>
</ByEntityCondition>
</Condition>
</ConditionGroup>
</StopTrigger>
</Act>
</Story>
<StopTrigger>
<ConditionGroup>
<Condition name="criteria_RunningStopTest" delay="0" conditionEdge="rising">
<ByValueCondition>
<ParameterCondition parameterRef="" value="" rule="lessThan"/>
</ByValueCondition>
</Condition>
<Condition name="criteria_RunningRedLightTest" delay="0" conditionEdge="rising">
<ByValueCondition>
<ParameterCondition parameterRef="" value="" rule="lessThan"/>
</ByValueCondition>
</Condition>
<Condition name="criteria_WrongLaneTest" delay="0" conditionEdge="rising">
<ByValueCondition>
<ParameterCondition parameterRef="" value="" rule="lessThan"/>
</ByValueCondition>
</Condition>
<Condition name="criteria_OnSidewalkTest" delay="0" conditionEdge="rising">
<ByValueCondition>
<ParameterCondition parameterRef="" value="" rule="lessThan"/>
</ByValueCondition>
</Condition>
<Condition name="criteria_KeepLaneTest" delay="0" conditionEdge="rising">
<ByValueCondition>
<ParameterCondition parameterRef="" value="" rule="lessThan"/>
</ByValueCondition>
</Condition>
<Condition name="criteria_CollisionTest" delay="0" conditionEdge="rising">
<ByValueCondition>
<ParameterCondition parameterRef="" value="" rule="lessThan"/>
</ByValueCondition>
</Condition>
<Condition name="criteria_DrivenDistanceTest" delay="0" conditionEdge="rising">
<ByValueCondition>
<ParameterCondition parameterRef="distance_success" value="100" rule="lessThan"/>
</ByValueCondition>
</Condition>
</ConditionGroup>
</StopTrigger>
</Storyboard>
</OpenSCENARIO>
``` | Here is the result:
```
<?xml version="1.0" ?>
<OpenSCENARIO>
<FileHeader revMajor="1" revMinor="0" date="2020-03-24T12:00:00" description="CARLA:LaneChangeSimple" author=""/>
<ParameterDeclarations/>
<CatalogLocations/>
<RoadNetwork>
<LogicFile filepath="Town04"/>
<SceneGraphFile filepath=""/>
</RoadNetwork>
<Entities>
<ScenarioObject name="hero">
<Vehicle name="vehicle.tesla.model3" vehicleCategory="car">
<ParameterDeclarations/>
<Performance maxSpeed="69.444" maxAcceleration="200" maxDeceleration="10.0"/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2.1" length="4.5" height="1.8"/>
</BoundingBox>
<Axles>
<FrontAxle maxSteering="0.5" wheelDiameter="0.6" trackWidth="1.8" positionX="3.1" positionZ="0.3"/>
<RearAxle maxSteering="0.0" wheelDiameter="0.6" trackWidth="1.8" positionX="0.0" positionZ="0.3"/>
</Axles>
<Properties>
<Property name="type" value="ego_vehicle"/>
</Properties>
</Vehicle>
</ScenarioObject>
<ScenarioObject name="adversary">
<Vehicle name="vehicle.lincoln.mkz_2017" vehicleCategory="car">
<ParameterDeclarations/>
<Performance maxSpeed="69.444" maxAcceleration="200" maxDeceleration="10.0"/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2.1" length="4.5" height="1.8"/>
</BoundingBox>
<Axles>
<FrontAxle maxSteering="0.5" wheelDiameter="0.6" trackWidth="1.8" positionX="3.1" positionZ="0.3"/>
<RearAxle maxSteering="0.0" wheelDiameter="0.6" trackWidth="1.8" positionX="0.0" positionZ="0.3"/>
</Axles>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Vehicle>
</ScenarioObject>
<ScenarioObject name="standing">
<Vehicle name="vehicle.volkswagen.t2" vehicleCategory="car">
<ParameterDeclarations/>
<Performance maxSpeed="69.444" maxAcceleration="200" maxDeceleration="10.0"/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2.1" length="4.5" height="1.8"/>
</BoundingBox>
<Axles>
<FrontAxle maxSteering="0.5" wheelDiameter="0.6" trackWidth="1.8" positionX="3.1" positionZ="0.3"/>
<RearAxle maxSteering="0.0" wheelDiameter="0.6" 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_4333">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_close_to_standing_4334">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_w_transform_4335">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_close_to_standing_4336">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_w_transform_4337">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_w_transform_4338">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_w_transform_4339">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_close_to_standing_4340">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_w_transform_4341">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
</Entities>
<Storyboard>
<Init>
<Actions>
<GlobalAction>
<EnvironmentAction>
<Environment name="Environment1">
<TimeOfDay animation="false" dateTime="2019-06-25T12:00:00"/>
<Weather cloudState="free">
<Sun intensity="0.85" azimuth="0" elevation="1.31"/>
<Fog visualRange="100000.0"/>
<Precipitation precipitationType="dry" intensity="0.0"/>
</Weather>
<RoadCondition frictionScaleFactor="1.0"/>
</Environment>
</EnvironmentAction>
</GlobalAction>
<Private entityRef="hero">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-9.4" y="-152.8" z="0.5" h="1.57079632679"/>
</Position>
</TeleportAction>
</PrivateAction>
<PrivateAction>
<ControllerAction>
<AssignControllerAction>
<Controller name="HeroAgent">
<Properties>
<Property name="module" value="external_control"/>
</Properties>
</Controller>
</AssignControllerAction>
<OverrideControllerValueAction>
<Throttle value="0" active="false"/>
<Brake value="0" active="false"/>
<Clutch value="0" active="false"/>
<ParkingBrake value="0" active="false"/>
<SteeringWheel value="0" active="false"/>
<Gear number="0" active="false"/>
</OverrideControllerValueAction>
</ControllerAction>
</PrivateAction>
</Private>
<Private entityRef="adversary">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-9.4" y="-71.0" z="0.5" h="1.57079632679"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="standing">
<PrivateAction>
<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_4333">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-1.8799632787704468" y="-76.03829956054688" z="0.033763159066438675"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_close_to_standing_4334">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-17.268159866333008" y="36.2725944519043" z="0.0030533599201589823"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_w_transform_4335">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="55.13446044921875" y="76.48603057861328" z="0.5"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_close_to_standing_4336">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="1.1375454664230347" y="29.27266502380371" z="0.0030261992942541838"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_w_transform_4337">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-3.003227710723877" y="-14.775776863098145" z="0.5"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_w_transform_4338">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-58.89829635620117" y="-8.114816665649414" z="0.5"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_w_transform_4339">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="54.784873962402344" y="47.28899383544922" z="0.5"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_close_to_standing_4340">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-16.861173629760742" y="23.93329620361328" z="0.0030725097749382257"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_w_transform_4341">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-19.306764602661133" y="-60.104801177978516" z="0.5"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
</Actions>
</Init>
<Story name="MyStory">
<Act name="Behavior">
<ManeuverGroup maximumExecutionCount="1" name="ManeuverSequence">
<Actors selectTriggeringEntities="false">
<EntityRef entityRef="adversary"/>
</Actors>
<Maneuver name="LaneChangeSimpleManeuver">
<Event name="AdversaryAccelerates" priority="overwrite">
<Action name="AdversaryAccelerates">
<PrivateAction>
<LongitudinalAction>
<SpeedAction>
<SpeedActionDynamics dynamicsShape="step" value="50" dynamicsDimension="distance"/>
<SpeedActionTarget>
<AbsoluteTargetSpeed value="5.0"/>
</SpeedActionTarget>
</SpeedAction>
</LongitudinalAction>
</PrivateAction>
</Action>
<StartTrigger>
<ConditionGroup>
<Condition name="StartCondition" delay="0" conditionEdge="rising">
<ByEntityCondition>
<TriggeringEntities triggeringEntitiesRule="any">
<EntityRef entityRef="hero"/>
</TriggeringEntities>
<EntityCondition>
<RelativeDistanceCondition entityRef="adversary" relativeDistanceType="cartesianDistance" value="40.0" freespace="false" rule="lessThan"/>
</EntityCondition>
</ByEntityCondition>
</Condition>
</ConditionGroup>
</StartTrigger>
</Event>
<Event name="AdversaryChangesLane" priority="overwrite">
<Action name="AdversaryChangesLane">
<PrivateAction>
<LateralAction>
<LaneChangeAction>
<LaneChangeActionDynamics dynamicsShape="linear" value="25" dynamicsDimension="distance"/>
<LaneChangeTarget>
<RelativeTargetLane entityRef="adversary" value="-1"/>
</LaneChangeTarget>
</LaneChangeAction>
</LateralAction>
</PrivateAction>
</Action>
<StartTrigger>
<ConditionGroup>
<Condition name="AfterAdversaryAccelerates" delay="0" conditionEdge="rising">
<ByValueCondition>
<StoryboardElementStateCondition storyboardElementType="action" storyboardElementRef="AdversaryAccelerates" state="completeState"/>
</ByValueCondition>
</Condition>
</ConditionGroup>
</StartTrigger>
</Event>
</Maneuver>
</ManeuverGroup>
<StartTrigger>
<ConditionGroup>
<Condition name="OverallStartCondition" delay="0" conditionEdge="rising">
<ByEntityCondition>
<TriggeringEntities triggeringEntitiesRule="any">
<EntityRef entityRef="hero"/>
</TriggeringEntities>
<EntityCondition>
<TraveledDistanceCondition value="1.0"/>
</EntityCondition>
</ByEntityCondition>
</Condition>
<Condition name="StartTime" delay="0" conditionEdge="rising">
<ByValueCondition>
<SimulationTimeCondition value="0" rule="equalTo"/>
</ByValueCondition>
</Condition>
</ConditionGroup>
</StartTrigger>
<StopTrigger>
<ConditionGroup>
<Condition name="EndCondition" delay="0" conditionEdge="rising">
<ByEntityCondition>
<TriggeringEntities triggeringEntitiesRule="any">
<EntityRef entityRef="hero"/>
</TriggeringEntities>
<EntityCondition>
<TraveledDistanceCondition value="200.0"/>
</EntityCondition>
</ByEntityCondition>
</Condition>
</ConditionGroup>
</StopTrigger>
</Act>
</Story>
<StopTrigger>
<ConditionGroup>
<Condition name="criteria_RunningStopTest" delay="0" conditionEdge="rising">
<ByValueCondition>
<ParameterCondition parameterRef="" value="" rule="lessThan"/>
</ByValueCondition>
</Condition>
<Condition name="criteria_RunningRedLightTest" delay="0" conditionEdge="rising">
<ByValueCondition>
<ParameterCondition parameterRef="" value="" rule="lessThan"/>
</ByValueCondition>
</Condition>
<Condition name="criteria_WrongLaneTest" delay="0" conditionEdge="rising">
<ByValueCondition>
<ParameterCondition parameterRef="" value="" rule="lessThan"/>
</ByValueCondition>
</Condition>
<Condition name="criteria_OnSidewalkTest" delay="0" conditionEdge="rising">
<ByValueCondition>
<ParameterCondition parameterRef="" value="" rule="lessThan"/>
</ByValueCondition>
</Condition>
<Condition name="criteria_KeepLaneTest" delay="0" conditionEdge="rising">
<ByValueCondition>
<ParameterCondition parameterRef="" value="" rule="lessThan"/>
</ByValueCondition>
</Condition>
<Condition name="criteria_CollisionTest" delay="0" conditionEdge="rising">
<ByValueCondition>
<ParameterCondition parameterRef="" value="" rule="lessThan"/>
</ByValueCondition>
</Condition>
<Condition name="criteria_DrivenDistanceTest" delay="0" conditionEdge="rising">
<ByValueCondition>
<ParameterCondition parameterRef="distance_success" value="100" rule="lessThan"/>
</ByValueCondition>
</Condition>
</ConditionGroup>
</StopTrigger>
</Storyboard>
</OpenSCENARIO>
``` |
i would like you to display remove pedestrian close to 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_4395">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_w_transform_4396">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_w_transform_4398">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_close_to_adversary_4399">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
</Entities>
<Storyboard>
<Init>
<Actions>
<GlobalAction>
<EnvironmentAction>
<Environment name="Environment1">
<TimeOfDay animation="false" dateTime="2019-06-25T12:00:00"/>
<Weather cloudState="free">
<Sun intensity="0.85" azimuth="0" elevation="1.31"/>
<Fog visualRange="100000.0"/>
<Precipitation precipitationType="dry" intensity="0.0"/>
</Weather>
<RoadCondition frictionScaleFactor="1.0"/>
</Environment>
</EnvironmentAction>
</GlobalAction>
<Private entityRef="hero">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-9.4" y="-152.8" z="0.5" h="1.57079632679"/>
</Position>
</TeleportAction>
</PrivateAction>
<PrivateAction>
<ControllerAction>
<AssignControllerAction>
<Controller name="HeroAgent">
<Properties>
<Property name="module" value="external_control"/>
</Properties>
</Controller>
</AssignControllerAction>
<OverrideControllerValueAction>
<Throttle value="0" active="false"/>
<Brake value="0" active="false"/>
<Clutch value="0" active="false"/>
<ParkingBrake value="0" active="false"/>
<SteeringWheel value="0" active="false"/>
<Gear number="0" active="false"/>
</OverrideControllerValueAction>
</ControllerAction>
</PrivateAction>
</Private>
<Private entityRef="adversary">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-9.4" y="-71.0" z="0.5" h="1.57079632679"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="standing">
<PrivateAction>
<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_4395">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-10.42531967163086" y="-156.46026611328125" z="0.0014286803780123591"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_w_transform_4396">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="24.744831085205078" y="5.055831432342529" z="0.5"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_w_transform_4398">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-36.84822082519531" y="31.6649169921875" z="0.5"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_close_to_adversary_4399">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-5.094770908355713" y="-74.21687316894531" z="0.03384479507803917"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
</Actions>
</Init>
<Story name="MyStory">
<Act name="Behavior">
<ManeuverGroup maximumExecutionCount="1" name="ManeuverSequence">
<Actors selectTriggeringEntities="false">
<EntityRef entityRef="adversary"/>
</Actors>
<Maneuver name="LaneChangeSimpleManeuver">
<Event name="AdversaryAccelerates" priority="overwrite">
<Action name="AdversaryAccelerates">
<PrivateAction>
<LongitudinalAction>
<SpeedAction>
<SpeedActionDynamics dynamicsShape="step" value="50" dynamicsDimension="distance"/>
<SpeedActionTarget>
<AbsoluteTargetSpeed value="5.0"/>
</SpeedActionTarget>
</SpeedAction>
</LongitudinalAction>
</PrivateAction>
</Action>
<StartTrigger>
<ConditionGroup>
<Condition name="StartCondition" delay="0" conditionEdge="rising">
<ByEntityCondition>
<TriggeringEntities triggeringEntitiesRule="any">
<EntityRef entityRef="hero"/>
</TriggeringEntities>
<EntityCondition>
<RelativeDistanceCondition entityRef="adversary" relativeDistanceType="cartesianDistance" value="40.0" freespace="false" rule="lessThan"/>
</EntityCondition>
</ByEntityCondition>
</Condition>
</ConditionGroup>
</StartTrigger>
</Event>
<Event name="AdversaryChangesLane" priority="overwrite">
<Action name="AdversaryChangesLane">
<PrivateAction>
<LateralAction>
<LaneChangeAction>
<LaneChangeActionDynamics dynamicsShape="linear" value="25" dynamicsDimension="distance"/>
<LaneChangeTarget>
<RelativeTargetLane entityRef="adversary" value="-1"/>
</LaneChangeTarget>
</LaneChangeAction>
</LateralAction>
</PrivateAction>
</Action>
<StartTrigger>
<ConditionGroup>
<Condition name="AfterAdversaryAccelerates" delay="0" conditionEdge="rising">
<ByValueCondition>
<StoryboardElementStateCondition storyboardElementType="action" storyboardElementRef="AdversaryAccelerates" state="completeState"/>
</ByValueCondition>
</Condition>
</ConditionGroup>
</StartTrigger>
</Event>
</Maneuver>
</ManeuverGroup>
<StartTrigger>
<ConditionGroup>
<Condition name="OverallStartCondition" delay="0" conditionEdge="rising">
<ByEntityCondition>
<TriggeringEntities triggeringEntitiesRule="any">
<EntityRef entityRef="hero"/>
</TriggeringEntities>
<EntityCondition>
<TraveledDistanceCondition value="1.0"/>
</EntityCondition>
</ByEntityCondition>
</Condition>
<Condition name="StartTime" delay="0" conditionEdge="rising">
<ByValueCondition>
<SimulationTimeCondition value="0" rule="equalTo"/>
</ByValueCondition>
</Condition>
</ConditionGroup>
</StartTrigger>
<StopTrigger>
<ConditionGroup>
<Condition name="EndCondition" delay="0" conditionEdge="rising">
<ByEntityCondition>
<TriggeringEntities triggeringEntitiesRule="any">
<EntityRef entityRef="hero"/>
</TriggeringEntities>
<EntityCondition>
<TraveledDistanceCondition value="200.0"/>
</EntityCondition>
</ByEntityCondition>
</Condition>
</ConditionGroup>
</StopTrigger>
</Act>
</Story>
<StopTrigger>
<ConditionGroup>
<Condition name="criteria_RunningStopTest" delay="0" conditionEdge="rising">
<ByValueCondition>
<ParameterCondition parameterRef="" value="" rule="lessThan"/>
</ByValueCondition>
</Condition>
<Condition name="criteria_RunningRedLightTest" delay="0" conditionEdge="rising">
<ByValueCondition>
<ParameterCondition parameterRef="" value="" rule="lessThan"/>
</ByValueCondition>
</Condition>
<Condition name="criteria_WrongLaneTest" delay="0" conditionEdge="rising">
<ByValueCondition>
<ParameterCondition parameterRef="" value="" rule="lessThan"/>
</ByValueCondition>
</Condition>
<Condition name="criteria_OnSidewalkTest" delay="0" conditionEdge="rising">
<ByValueCondition>
<ParameterCondition parameterRef="" value="" rule="lessThan"/>
</ByValueCondition>
</Condition>
<Condition name="criteria_KeepLaneTest" delay="0" conditionEdge="rising">
<ByValueCondition>
<ParameterCondition parameterRef="" value="" rule="lessThan"/>
</ByValueCondition>
</Condition>
<Condition name="criteria_CollisionTest" delay="0" conditionEdge="rising">
<ByValueCondition>
<ParameterCondition parameterRef="" value="" rule="lessThan"/>
</ByValueCondition>
</Condition>
<Condition name="criteria_DrivenDistanceTest" delay="0" conditionEdge="rising">
<ByValueCondition>
<ParameterCondition parameterRef="distance_success" value="100" rule="lessThan"/>
</ByValueCondition>
</Condition>
</ConditionGroup>
</StopTrigger>
</Storyboard>
</OpenSCENARIO>
``` | Here is the result:
```
<?xml version="1.0" ?>
<OpenSCENARIO>
<FileHeader revMajor="1" revMinor="0" date="2020-03-24T12:00:00" description="CARLA:LaneChangeSimple" author=""/>
<ParameterDeclarations/>
<CatalogLocations/>
<RoadNetwork>
<LogicFile filepath="Town04"/>
<SceneGraphFile filepath=""/>
</RoadNetwork>
<Entities>
<ScenarioObject name="hero">
<Vehicle name="vehicle.tesla.model3" vehicleCategory="car">
<ParameterDeclarations/>
<Performance maxSpeed="69.444" maxAcceleration="200" maxDeceleration="10.0"/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2.1" length="4.5" height="1.8"/>
</BoundingBox>
<Axles>
<FrontAxle maxSteering="0.5" wheelDiameter="0.6" trackWidth="1.8" positionX="3.1" positionZ="0.3"/>
<RearAxle maxSteering="0.0" wheelDiameter="0.6" trackWidth="1.8" positionX="0.0" positionZ="0.3"/>
</Axles>
<Properties>
<Property name="type" value="ego_vehicle"/>
</Properties>
</Vehicle>
</ScenarioObject>
<ScenarioObject name="adversary">
<Vehicle name="vehicle.lincoln.mkz_2017" vehicleCategory="car">
<ParameterDeclarations/>
<Performance maxSpeed="69.444" maxAcceleration="200" maxDeceleration="10.0"/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2.1" length="4.5" height="1.8"/>
</BoundingBox>
<Axles>
<FrontAxle maxSteering="0.5" wheelDiameter="0.6" trackWidth="1.8" positionX="3.1" positionZ="0.3"/>
<RearAxle maxSteering="0.0" wheelDiameter="0.6" trackWidth="1.8" positionX="0.0" positionZ="0.3"/>
</Axles>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Vehicle>
</ScenarioObject>
<ScenarioObject name="standing">
<Vehicle name="vehicle.volkswagen.t2" vehicleCategory="car">
<ParameterDeclarations/>
<Performance maxSpeed="69.444" maxAcceleration="200" maxDeceleration="10.0"/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2.1" length="4.5" height="1.8"/>
</BoundingBox>
<Axles>
<FrontAxle maxSteering="0.5" wheelDiameter="0.6" trackWidth="1.8" positionX="3.1" positionZ="0.3"/>
<RearAxle maxSteering="0.0" wheelDiameter="0.6" 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_4395">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_w_transform_4396">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_w_transform_4398">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
</Entities>
<Storyboard>
<Init>
<Actions>
<GlobalAction>
<EnvironmentAction>
<Environment name="Environment1">
<TimeOfDay animation="false" dateTime="2019-06-25T12:00:00"/>
<Weather cloudState="free">
<Sun intensity="0.85" azimuth="0" elevation="1.31"/>
<Fog visualRange="100000.0"/>
<Precipitation precipitationType="dry" intensity="0.0"/>
</Weather>
<RoadCondition frictionScaleFactor="1.0"/>
</Environment>
</EnvironmentAction>
</GlobalAction>
<Private entityRef="hero">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-9.4" y="-152.8" z="0.5" h="1.57079632679"/>
</Position>
</TeleportAction>
</PrivateAction>
<PrivateAction>
<ControllerAction>
<AssignControllerAction>
<Controller name="HeroAgent">
<Properties>
<Property name="module" value="external_control"/>
</Properties>
</Controller>
</AssignControllerAction>
<OverrideControllerValueAction>
<Throttle value="0" active="false"/>
<Brake value="0" active="false"/>
<Clutch value="0" active="false"/>
<ParkingBrake value="0" active="false"/>
<SteeringWheel value="0" active="false"/>
<Gear number="0" active="false"/>
</OverrideControllerValueAction>
</ControllerAction>
</PrivateAction>
</Private>
<Private entityRef="adversary">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-9.4" y="-71.0" z="0.5" h="1.57079632679"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="standing">
<PrivateAction>
<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_4395">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-10.42531967163086" y="-156.46026611328125" z="0.0014286803780123591"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_w_transform_4396">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="24.744831085205078" y="5.055831432342529" z="0.5"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_w_transform_4398">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-36.84822082519531" y="31.6649169921875" z="0.5"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
</Actions>
</Init>
<Story name="MyStory">
<Act name="Behavior">
<ManeuverGroup maximumExecutionCount="1" name="ManeuverSequence">
<Actors selectTriggeringEntities="false">
<EntityRef entityRef="adversary"/>
</Actors>
<Maneuver name="LaneChangeSimpleManeuver">
<Event name="AdversaryAccelerates" priority="overwrite">
<Action name="AdversaryAccelerates">
<PrivateAction>
<LongitudinalAction>
<SpeedAction>
<SpeedActionDynamics dynamicsShape="step" value="50" dynamicsDimension="distance"/>
<SpeedActionTarget>
<AbsoluteTargetSpeed value="5.0"/>
</SpeedActionTarget>
</SpeedAction>
</LongitudinalAction>
</PrivateAction>
</Action>
<StartTrigger>
<ConditionGroup>
<Condition name="StartCondition" delay="0" conditionEdge="rising">
<ByEntityCondition>
<TriggeringEntities triggeringEntitiesRule="any">
<EntityRef entityRef="hero"/>
</TriggeringEntities>
<EntityCondition>
<RelativeDistanceCondition entityRef="adversary" relativeDistanceType="cartesianDistance" value="40.0" freespace="false" rule="lessThan"/>
</EntityCondition>
</ByEntityCondition>
</Condition>
</ConditionGroup>
</StartTrigger>
</Event>
<Event name="AdversaryChangesLane" priority="overwrite">
<Action name="AdversaryChangesLane">
<PrivateAction>
<LateralAction>
<LaneChangeAction>
<LaneChangeActionDynamics dynamicsShape="linear" value="25" dynamicsDimension="distance"/>
<LaneChangeTarget>
<RelativeTargetLane entityRef="adversary" value="-1"/>
</LaneChangeTarget>
</LaneChangeAction>
</LateralAction>
</PrivateAction>
</Action>
<StartTrigger>
<ConditionGroup>
<Condition name="AfterAdversaryAccelerates" delay="0" conditionEdge="rising">
<ByValueCondition>
<StoryboardElementStateCondition storyboardElementType="action" storyboardElementRef="AdversaryAccelerates" state="completeState"/>
</ByValueCondition>
</Condition>
</ConditionGroup>
</StartTrigger>
</Event>
</Maneuver>
</ManeuverGroup>
<StartTrigger>
<ConditionGroup>
<Condition name="OverallStartCondition" delay="0" conditionEdge="rising">
<ByEntityCondition>
<TriggeringEntities triggeringEntitiesRule="any">
<EntityRef entityRef="hero"/>
</TriggeringEntities>
<EntityCondition>
<TraveledDistanceCondition value="1.0"/>
</EntityCondition>
</ByEntityCondition>
</Condition>
<Condition name="StartTime" delay="0" conditionEdge="rising">
<ByValueCondition>
<SimulationTimeCondition value="0" rule="equalTo"/>
</ByValueCondition>
</Condition>
</ConditionGroup>
</StartTrigger>
<StopTrigger>
<ConditionGroup>
<Condition name="EndCondition" delay="0" conditionEdge="rising">
<ByEntityCondition>
<TriggeringEntities triggeringEntitiesRule="any">
<EntityRef entityRef="hero"/>
</TriggeringEntities>
<EntityCondition>
<TraveledDistanceCondition value="200.0"/>
</EntityCondition>
</ByEntityCondition>
</Condition>
</ConditionGroup>
</StopTrigger>
</Act>
</Story>
<StopTrigger>
<ConditionGroup>
<Condition name="criteria_RunningStopTest" delay="0" conditionEdge="rising">
<ByValueCondition>
<ParameterCondition parameterRef="" value="" rule="lessThan"/>
</ByValueCondition>
</Condition>
<Condition name="criteria_RunningRedLightTest" delay="0" conditionEdge="rising">
<ByValueCondition>
<ParameterCondition parameterRef="" value="" rule="lessThan"/>
</ByValueCondition>
</Condition>
<Condition name="criteria_WrongLaneTest" delay="0" conditionEdge="rising">
<ByValueCondition>
<ParameterCondition parameterRef="" value="" rule="lessThan"/>
</ByValueCondition>
</Condition>
<Condition name="criteria_OnSidewalkTest" delay="0" conditionEdge="rising">
<ByValueCondition>
<ParameterCondition parameterRef="" value="" rule="lessThan"/>
</ByValueCondition>
</Condition>
<Condition name="criteria_KeepLaneTest" delay="0" conditionEdge="rising">
<ByValueCondition>
<ParameterCondition parameterRef="" value="" rule="lessThan"/>
</ByValueCondition>
</Condition>
<Condition name="criteria_CollisionTest" delay="0" conditionEdge="rising">
<ByValueCondition>
<ParameterCondition parameterRef="" value="" rule="lessThan"/>
</ByValueCondition>
</Condition>
<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 (83.45, -47.26, 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_12670">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_close_to_hero_12671">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_w_transform_12672">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_w_transform_12673">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_close_to_standing_12674">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_w_transform_12675">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_w_transform_12676">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_w_transform_12677">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_close_to_standing_12678">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_w_transform_12679">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_w_transform_12680">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
</Entities>
<Storyboard>
<Init>
<Actions>
<GlobalAction>
<EnvironmentAction>
<Environment name="Environment1">
<TimeOfDay animation="false" dateTime="2019-06-25T12:00:00"/>
<Weather cloudState="free">
<Sun intensity="0.85" azimuth="0" elevation="1.31"/>
<Fog visualRange="100000.0"/>
<Precipitation precipitationType="dry" intensity="0.0"/>
</Weather>
<RoadCondition frictionScaleFactor="1.0"/>
</Environment>
</EnvironmentAction>
</GlobalAction>
<Private entityRef="hero">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-9.4" y="-152.8" z="0.5" h="1.57079632679"/>
</Position>
</TeleportAction>
</PrivateAction>
<PrivateAction>
<ControllerAction>
<AssignControllerAction>
<Controller name="HeroAgent">
<Properties>
<Property name="module" value="external_control"/>
</Properties>
</Controller>
</AssignControllerAction>
<OverrideControllerValueAction>
<Throttle value="0" active="false"/>
<Brake value="0" active="false"/>
<Clutch value="0" active="false"/>
<ParkingBrake value="0" active="false"/>
<SteeringWheel value="0" active="false"/>
<Gear number="0" active="false"/>
</OverrideControllerValueAction>
</ControllerAction>
</PrivateAction>
</Private>
<Private entityRef="adversary">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-9.4" y="-71.0" z="0.5" h="1.57079632679"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="standing">
<PrivateAction>
<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_12670">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-11.257341384887695" y="-70.20924377441406" z="0.033791352063417435"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_close_to_hero_12671">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-11.540237426757812" y="-159.9870147705078" z="0.0014286803780123591"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_w_transform_12672">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="29.114099502563477" y="-75.21196746826172" z="0.5"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_w_transform_12673">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="53.82489776611328" y="13.0941743850708" z="0.5"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_close_to_standing_12674">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-16.91240692138672" y="32.21963119506836" z="0.0030863189604133368"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_w_transform_12675">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="35.22817611694336" y="19.532258987426758" z="0.5"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_w_transform_12676">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-9.862541198730469" y="-27.301837921142578" z="0.5"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_w_transform_12677">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-94.14381408691406" y="24.697280883789062" z="0.5"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_close_to_standing_12678">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-16.2860164642334" y="38.22295379638672" z="0.0030355453491210938"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_w_transform_12679">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-49.29507827758789" y="-64.6970443725586" z="0.5"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_w_transform_12680">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-68.67949676513672" y="-27.80703353881836" z="0.5"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
</Actions>
</Init>
<Story name="MyStory">
<Act name="Behavior">
<ManeuverGroup maximumExecutionCount="1" name="ManeuverSequence">
<Actors selectTriggeringEntities="false">
<EntityRef entityRef="adversary"/>
</Actors>
<Maneuver name="LaneChangeSimpleManeuver">
<Event name="AdversaryAccelerates" priority="overwrite">
<Action name="AdversaryAccelerates">
<PrivateAction>
<LongitudinalAction>
<SpeedAction>
<SpeedActionDynamics dynamicsShape="step" value="50" dynamicsDimension="distance"/>
<SpeedActionTarget>
<AbsoluteTargetSpeed value="5.0"/>
</SpeedActionTarget>
</SpeedAction>
</LongitudinalAction>
</PrivateAction>
</Action>
<StartTrigger>
<ConditionGroup>
<Condition name="StartCondition" delay="0" conditionEdge="rising">
<ByEntityCondition>
<TriggeringEntities triggeringEntitiesRule="any">
<EntityRef entityRef="hero"/>
</TriggeringEntities>
<EntityCondition>
<RelativeDistanceCondition entityRef="adversary" relativeDistanceType="cartesianDistance" value="40.0" freespace="false" rule="lessThan"/>
</EntityCondition>
</ByEntityCondition>
</Condition>
</ConditionGroup>
</StartTrigger>
</Event>
<Event name="AdversaryChangesLane" priority="overwrite">
<Action name="AdversaryChangesLane">
<PrivateAction>
<LateralAction>
<LaneChangeAction>
<LaneChangeActionDynamics dynamicsShape="linear" value="25" dynamicsDimension="distance"/>
<LaneChangeTarget>
<RelativeTargetLane entityRef="adversary" value="-1"/>
</LaneChangeTarget>
</LaneChangeAction>
</LateralAction>
</PrivateAction>
</Action>
<StartTrigger>
<ConditionGroup>
<Condition name="AfterAdversaryAccelerates" delay="0" conditionEdge="rising">
<ByValueCondition>
<StoryboardElementStateCondition storyboardElementType="action" storyboardElementRef="AdversaryAccelerates" state="completeState"/>
</ByValueCondition>
</Condition>
</ConditionGroup>
</StartTrigger>
</Event>
</Maneuver>
</ManeuverGroup>
<StartTrigger>
<ConditionGroup>
<Condition name="OverallStartCondition" delay="0" conditionEdge="rising">
<ByEntityCondition>
<TriggeringEntities triggeringEntitiesRule="any">
<EntityRef entityRef="hero"/>
</TriggeringEntities>
<EntityCondition>
<TraveledDistanceCondition value="1.0"/>
</EntityCondition>
</ByEntityCondition>
</Condition>
<Condition name="StartTime" delay="0" conditionEdge="rising">
<ByValueCondition>
<SimulationTimeCondition value="0" rule="equalTo"/>
</ByValueCondition>
</Condition>
</ConditionGroup>
</StartTrigger>
<StopTrigger>
<ConditionGroup>
<Condition name="EndCondition" delay="0" conditionEdge="rising">
<ByEntityCondition>
<TriggeringEntities triggeringEntitiesRule="any">
<EntityRef entityRef="hero"/>
</TriggeringEntities>
<EntityCondition>
<TraveledDistanceCondition value="200.0"/>
</EntityCondition>
</ByEntityCondition>
</Condition>
</ConditionGroup>
</StopTrigger>
</Act>
</Story>
<StopTrigger>
<ConditionGroup>
<Condition name="criteria_RunningStopTest" delay="0" conditionEdge="rising">
<ByValueCondition>
<ParameterCondition parameterRef="" value="" rule="lessThan"/>
</ByValueCondition>
</Condition>
<Condition name="criteria_RunningRedLightTest" delay="0" conditionEdge="rising">
<ByValueCondition>
<ParameterCondition parameterRef="" value="" rule="lessThan"/>
</ByValueCondition>
</Condition>
<Condition name="criteria_WrongLaneTest" delay="0" conditionEdge="rising">
<ByValueCondition>
<ParameterCondition parameterRef="" value="" rule="lessThan"/>
</ByValueCondition>
</Condition>
<Condition name="criteria_OnSidewalkTest" delay="0" conditionEdge="rising">
<ByValueCondition>
<ParameterCondition parameterRef="" value="" rule="lessThan"/>
</ByValueCondition>
</Condition>
<Condition name="criteria_KeepLaneTest" delay="0" conditionEdge="rising">
<ByValueCondition>
<ParameterCondition parameterRef="" value="" rule="lessThan"/>
</ByValueCondition>
</Condition>
<Condition name="criteria_CollisionTest" delay="0" conditionEdge="rising">
<ByValueCondition>
<ParameterCondition parameterRef="" value="" rule="lessThan"/>
</ByValueCondition>
</Condition>
<Condition name="criteria_DrivenDistanceTest" delay="0" conditionEdge="rising">
<ByValueCondition>
<ParameterCondition parameterRef="distance_success" value="100" rule="lessThan"/>
</ByValueCondition>
</Condition>
</ConditionGroup>
</StopTrigger>
</Storyboard>
</OpenSCENARIO>
``` | Here is the result:
```
<?xml version="1.0" ?>
<OpenSCENARIO>
<FileHeader revMajor="1" revMinor="0" date="2020-03-24T12:00:00" description="CARLA:LaneChangeSimple" author=""/>
<ParameterDeclarations/>
<CatalogLocations/>
<RoadNetwork>
<LogicFile filepath="Town04"/>
<SceneGraphFile filepath=""/>
</RoadNetwork>
<Entities>
<ScenarioObject name="hero">
<Vehicle name="vehicle.tesla.model3" vehicleCategory="car">
<ParameterDeclarations/>
<Performance maxSpeed="69.444" maxAcceleration="200" maxDeceleration="10.0"/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2.1" length="4.5" height="1.8"/>
</BoundingBox>
<Axles>
<FrontAxle maxSteering="0.5" wheelDiameter="0.6" trackWidth="1.8" positionX="3.1" positionZ="0.3"/>
<RearAxle maxSteering="0.0" wheelDiameter="0.6" trackWidth="1.8" positionX="0.0" positionZ="0.3"/>
</Axles>
<Properties>
<Property name="type" value="ego_vehicle"/>
</Properties>
</Vehicle>
</ScenarioObject>
<ScenarioObject name="adversary">
<Vehicle name="vehicle.lincoln.mkz_2017" vehicleCategory="car">
<ParameterDeclarations/>
<Performance maxSpeed="69.444" maxAcceleration="200" maxDeceleration="10.0"/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2.1" length="4.5" height="1.8"/>
</BoundingBox>
<Axles>
<FrontAxle maxSteering="0.5" wheelDiameter="0.6" trackWidth="1.8" positionX="3.1" positionZ="0.3"/>
<RearAxle maxSteering="0.0" wheelDiameter="0.6" trackWidth="1.8" positionX="0.0" positionZ="0.3"/>
</Axles>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Vehicle>
</ScenarioObject>
<ScenarioObject name="standing">
<Vehicle name="vehicle.volkswagen.t2" vehicleCategory="car">
<ParameterDeclarations/>
<Performance maxSpeed="69.444" maxAcceleration="200" maxDeceleration="10.0"/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2.1" length="4.5" height="1.8"/>
</BoundingBox>
<Axles>
<FrontAxle maxSteering="0.5" wheelDiameter="0.6" trackWidth="1.8" positionX="3.1" positionZ="0.3"/>
<RearAxle maxSteering="0.0" wheelDiameter="0.6" 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_12670">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_close_to_hero_12671">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_w_transform_12672">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_w_transform_12673">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_close_to_standing_12674">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_w_transform_12675">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_w_transform_12676">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_w_transform_12677">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_close_to_standing_12678">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_w_transform_12679">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_w_transform_12680">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_w_transform_12681">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
</Entities>
<Storyboard>
<Init>
<Actions>
<GlobalAction>
<EnvironmentAction>
<Environment name="Environment1">
<TimeOfDay animation="false" dateTime="2019-06-25T12:00:00"/>
<Weather cloudState="free">
<Sun intensity="0.85" azimuth="0" elevation="1.31"/>
<Fog visualRange="100000.0"/>
<Precipitation precipitationType="dry" intensity="0.0"/>
</Weather>
<RoadCondition frictionScaleFactor="1.0"/>
</Environment>
</EnvironmentAction>
</GlobalAction>
<Private entityRef="hero">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-9.4" y="-152.8" z="0.5" h="1.57079632679"/>
</Position>
</TeleportAction>
</PrivateAction>
<PrivateAction>
<ControllerAction>
<AssignControllerAction>
<Controller name="HeroAgent">
<Properties>
<Property name="module" value="external_control"/>
</Properties>
</Controller>
</AssignControllerAction>
<OverrideControllerValueAction>
<Throttle value="0" active="false"/>
<Brake value="0" active="false"/>
<Clutch value="0" active="false"/>
<ParkingBrake value="0" active="false"/>
<SteeringWheel value="0" active="false"/>
<Gear number="0" active="false"/>
</OverrideControllerValueAction>
</ControllerAction>
</PrivateAction>
</Private>
<Private entityRef="adversary">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-9.4" y="-71.0" z="0.5" h="1.57079632679"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="standing">
<PrivateAction>
<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_12670">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-11.257341384887695" y="-70.20924377441406" z="0.033791352063417435"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_close_to_hero_12671">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-11.540237426757812" y="-159.9870147705078" z="0.0014286803780123591"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_w_transform_12672">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="29.114099502563477" y="-75.21196746826172" z="0.5"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_w_transform_12673">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="53.82489776611328" y="13.0941743850708" z="0.5"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_close_to_standing_12674">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-16.91240692138672" y="32.21963119506836" z="0.0030863189604133368"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_w_transform_12675">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="35.22817611694336" y="19.532258987426758" z="0.5"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_w_transform_12676">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-9.862541198730469" y="-27.301837921142578" z="0.5"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_w_transform_12677">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-94.14381408691406" y="24.697280883789062" z="0.5"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_close_to_standing_12678">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-16.2860164642334" y="38.22295379638672" z="0.0030355453491210938"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_w_transform_12679">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-49.29507827758789" y="-64.6970443725586" z="0.5"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_w_transform_12680">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-68.67949676513672" y="-27.80703353881836" z="0.5"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_w_transform_12681">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="83.44711303710938" y="-47.261287689208984" z="0.5"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
</Actions>
</Init>
<Story name="MyStory">
<Act name="Behavior">
<ManeuverGroup maximumExecutionCount="1" name="ManeuverSequence">
<Actors selectTriggeringEntities="false">
<EntityRef entityRef="adversary"/>
</Actors>
<Maneuver name="LaneChangeSimpleManeuver">
<Event name="AdversaryAccelerates" priority="overwrite">
<Action name="AdversaryAccelerates">
<PrivateAction>
<LongitudinalAction>
<SpeedAction>
<SpeedActionDynamics dynamicsShape="step" value="50" dynamicsDimension="distance"/>
<SpeedActionTarget>
<AbsoluteTargetSpeed value="5.0"/>
</SpeedActionTarget>
</SpeedAction>
</LongitudinalAction>
</PrivateAction>
</Action>
<StartTrigger>
<ConditionGroup>
<Condition name="StartCondition" delay="0" conditionEdge="rising">
<ByEntityCondition>
<TriggeringEntities triggeringEntitiesRule="any">
<EntityRef entityRef="hero"/>
</TriggeringEntities>
<EntityCondition>
<RelativeDistanceCondition entityRef="adversary" relativeDistanceType="cartesianDistance" value="40.0" freespace="false" rule="lessThan"/>
</EntityCondition>
</ByEntityCondition>
</Condition>
</ConditionGroup>
</StartTrigger>
</Event>
<Event name="AdversaryChangesLane" priority="overwrite">
<Action name="AdversaryChangesLane">
<PrivateAction>
<LateralAction>
<LaneChangeAction>
<LaneChangeActionDynamics dynamicsShape="linear" value="25" dynamicsDimension="distance"/>
<LaneChangeTarget>
<RelativeTargetLane entityRef="adversary" value="-1"/>
</LaneChangeTarget>
</LaneChangeAction>
</LateralAction>
</PrivateAction>
</Action>
<StartTrigger>
<ConditionGroup>
<Condition name="AfterAdversaryAccelerates" delay="0" conditionEdge="rising">
<ByValueCondition>
<StoryboardElementStateCondition storyboardElementType="action" storyboardElementRef="AdversaryAccelerates" state="completeState"/>
</ByValueCondition>
</Condition>
</ConditionGroup>
</StartTrigger>
</Event>
</Maneuver>
</ManeuverGroup>
<StartTrigger>
<ConditionGroup>
<Condition name="OverallStartCondition" delay="0" conditionEdge="rising">
<ByEntityCondition>
<TriggeringEntities triggeringEntitiesRule="any">
<EntityRef entityRef="hero"/>
</TriggeringEntities>
<EntityCondition>
<TraveledDistanceCondition value="1.0"/>
</EntityCondition>
</ByEntityCondition>
</Condition>
<Condition name="StartTime" delay="0" conditionEdge="rising">
<ByValueCondition>
<SimulationTimeCondition value="0" rule="equalTo"/>
</ByValueCondition>
</Condition>
</ConditionGroup>
</StartTrigger>
<StopTrigger>
<ConditionGroup>
<Condition name="EndCondition" delay="0" conditionEdge="rising">
<ByEntityCondition>
<TriggeringEntities triggeringEntitiesRule="any">
<EntityRef entityRef="hero"/>
</TriggeringEntities>
<EntityCondition>
<TraveledDistanceCondition value="200.0"/>
</EntityCondition>
</ByEntityCondition>
</Condition>
</ConditionGroup>
</StopTrigger>
</Act>
</Story>
<StopTrigger>
<ConditionGroup>
<Condition name="criteria_RunningStopTest" delay="0" conditionEdge="rising">
<ByValueCondition>
<ParameterCondition parameterRef="" value="" rule="lessThan"/>
</ByValueCondition>
</Condition>
<Condition name="criteria_RunningRedLightTest" delay="0" conditionEdge="rising">
<ByValueCondition>
<ParameterCondition parameterRef="" value="" rule="lessThan"/>
</ByValueCondition>
</Condition>
<Condition name="criteria_WrongLaneTest" delay="0" conditionEdge="rising">
<ByValueCondition>
<ParameterCondition parameterRef="" value="" rule="lessThan"/>
</ByValueCondition>
</Condition>
<Condition name="criteria_OnSidewalkTest" delay="0" conditionEdge="rising">
<ByValueCondition>
<ParameterCondition parameterRef="" value="" rule="lessThan"/>
</ByValueCondition>
</Condition>
<Condition name="criteria_KeepLaneTest" delay="0" conditionEdge="rising">
<ByValueCondition>
<ParameterCondition parameterRef="" value="" rule="lessThan"/>
</ByValueCondition>
</Condition>
<Condition name="criteria_CollisionTest" delay="0" conditionEdge="rising">
<ByValueCondition>
<ParameterCondition parameterRef="" value="" rule="lessThan"/>
</ByValueCondition>
</Condition>
<Condition name="criteria_DrivenDistanceTest" delay="0" conditionEdge="rising">
<ByValueCondition>
<ParameterCondition parameterRef="distance_success" value="100" rule="lessThan"/>
</ByValueCondition>
</Condition>
</ConditionGroup>
</StopTrigger>
</Storyboard>
</OpenSCENARIO>
``` |
i would like to ask you to add pedestrian close to hero?
```
<?xml version="1.0" ?>
<OpenSCENARIO>
<FileHeader revMajor="1" revMinor="0" date="2020-03-24T12:00:00" description="CARLA:LaneChangeSimple" author=""/>
<ParameterDeclarations/>
<CatalogLocations/>
<RoadNetwork>
<LogicFile filepath="Town04"/>
<SceneGraphFile filepath=""/>
</RoadNetwork>
<Entities>
<ScenarioObject name="hero">
<Vehicle name="vehicle.tesla.model3" vehicleCategory="car">
<ParameterDeclarations/>
<Performance maxSpeed="69.444" maxAcceleration="200" maxDeceleration="10.0"/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2.1" length="4.5" height="1.8"/>
</BoundingBox>
<Axles>
<FrontAxle maxSteering="0.5" wheelDiameter="0.6" trackWidth="1.8" positionX="3.1" positionZ="0.3"/>
<RearAxle maxSteering="0.0" wheelDiameter="0.6" trackWidth="1.8" positionX="0.0" positionZ="0.3"/>
</Axles>
<Properties>
<Property name="type" value="ego_vehicle"/>
</Properties>
</Vehicle>
</ScenarioObject>
<ScenarioObject name="adversary">
<Vehicle name="vehicle.lincoln.mkz_2017" vehicleCategory="car">
<ParameterDeclarations/>
<Performance maxSpeed="69.444" maxAcceleration="200" maxDeceleration="10.0"/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2.1" length="4.5" height="1.8"/>
</BoundingBox>
<Axles>
<FrontAxle maxSteering="0.5" wheelDiameter="0.6" trackWidth="1.8" positionX="3.1" positionZ="0.3"/>
<RearAxle maxSteering="0.0" wheelDiameter="0.6" trackWidth="1.8" positionX="0.0" positionZ="0.3"/>
</Axles>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Vehicle>
</ScenarioObject>
<ScenarioObject name="standing">
<Vehicle name="vehicle.volkswagen.t2" vehicleCategory="car">
<ParameterDeclarations/>
<Performance maxSpeed="69.444" maxAcceleration="200" maxDeceleration="10.0"/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2.1" length="4.5" height="1.8"/>
</BoundingBox>
<Axles>
<FrontAxle maxSteering="0.5" wheelDiameter="0.6" trackWidth="1.8" positionX="3.1" positionZ="0.3"/>
<RearAxle maxSteering="0.0" wheelDiameter="0.6" trackWidth="1.8" positionX="0.0" positionZ="0.3"/>
</Axles>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Vehicle>
</ScenarioObject>
<ScenarioObject name="pedestrian_close_to_adversary_347">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_w_transform_348">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_close_to_hero_349">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_w_transform_350">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_close_to_adversary_351">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_close_to_adversary_352">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_w_transform_353">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_w_transform_354">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
</Entities>
<Storyboard>
<Init>
<Actions>
<GlobalAction>
<EnvironmentAction>
<Environment name="Environment1">
<TimeOfDay animation="false" dateTime="2019-06-25T12:00:00"/>
<Weather cloudState="free">
<Sun intensity="0.85" azimuth="0" elevation="1.31"/>
<Fog visualRange="100000.0"/>
<Precipitation precipitationType="dry" intensity="0.0"/>
</Weather>
<RoadCondition frictionScaleFactor="1.0"/>
</Environment>
</EnvironmentAction>
</GlobalAction>
<Private entityRef="hero">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-9.4" y="-152.8" z="0.5" h="1.57079632679"/>
</Position>
</TeleportAction>
</PrivateAction>
<PrivateAction>
<ControllerAction>
<AssignControllerAction>
<Controller name="HeroAgent">
<Properties>
<Property name="module" value="external_control"/>
</Properties>
</Controller>
</AssignControllerAction>
<OverrideControllerValueAction>
<Throttle value="0" active="false"/>
<Brake value="0" active="false"/>
<Clutch value="0" active="false"/>
<ParkingBrake value="0" active="false"/>
<SteeringWheel value="0" active="false"/>
<Gear number="0" active="false"/>
</OverrideControllerValueAction>
</ControllerAction>
</PrivateAction>
</Private>
<Private entityRef="adversary">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-9.4" y="-71.0" z="0.5" h="1.57079632679"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="standing">
<PrivateAction>
<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_347">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="5.077051162719727" y="-59.13444519042969" z="0.03372783586382866"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_w_transform_348">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-7.999308109283447" y="-17.076641082763672" z="0.5"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_close_to_hero_349">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-2.0710887908935547" y="-153.88063049316406" z="0.0014286803780123591"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_w_transform_350">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="24.438072204589844" y="47.96884536743164" z="0.5"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_close_to_adversary_351">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-16.094274520874023" y="-80.99275207519531" z="0.03372131288051605"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_close_to_adversary_352">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-11.514567375183105" y="-72.11204528808594" z="0.03371192887425423"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_w_transform_353">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-8.0081787109375" y="50.90823745727539" z="0.5"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_w_transform_354">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-1.706449031829834" y="71.73466491699219" z="0.5"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
</Actions>
</Init>
<Story name="MyStory">
<Act name="Behavior">
<ManeuverGroup maximumExecutionCount="1" name="ManeuverSequence">
<Actors selectTriggeringEntities="false">
<EntityRef entityRef="adversary"/>
</Actors>
<Maneuver name="LaneChangeSimpleManeuver">
<Event name="AdversaryAccelerates" priority="overwrite">
<Action name="AdversaryAccelerates">
<PrivateAction>
<LongitudinalAction>
<SpeedAction>
<SpeedActionDynamics dynamicsShape="step" value="50" dynamicsDimension="distance"/>
<SpeedActionTarget>
<AbsoluteTargetSpeed value="5.0"/>
</SpeedActionTarget>
</SpeedAction>
</LongitudinalAction>
</PrivateAction>
</Action>
<StartTrigger>
<ConditionGroup>
<Condition name="StartCondition" delay="0" conditionEdge="rising">
<ByEntityCondition>
<TriggeringEntities triggeringEntitiesRule="any">
<EntityRef entityRef="hero"/>
</TriggeringEntities>
<EntityCondition>
<RelativeDistanceCondition entityRef="adversary" relativeDistanceType="cartesianDistance" value="40.0" freespace="false" rule="lessThan"/>
</EntityCondition>
</ByEntityCondition>
</Condition>
</ConditionGroup>
</StartTrigger>
</Event>
<Event name="AdversaryChangesLane" priority="overwrite">
<Action name="AdversaryChangesLane">
<PrivateAction>
<LateralAction>
<LaneChangeAction>
<LaneChangeActionDynamics dynamicsShape="linear" value="25" dynamicsDimension="distance"/>
<LaneChangeTarget>
<RelativeTargetLane entityRef="adversary" value="-1"/>
</LaneChangeTarget>
</LaneChangeAction>
</LateralAction>
</PrivateAction>
</Action>
<StartTrigger>
<ConditionGroup>
<Condition name="AfterAdversaryAccelerates" delay="0" conditionEdge="rising">
<ByValueCondition>
<StoryboardElementStateCondition storyboardElementType="action" storyboardElementRef="AdversaryAccelerates" state="completeState"/>
</ByValueCondition>
</Condition>
</ConditionGroup>
</StartTrigger>
</Event>
</Maneuver>
</ManeuverGroup>
<StartTrigger>
<ConditionGroup>
<Condition name="OverallStartCondition" delay="0" conditionEdge="rising">
<ByEntityCondition>
<TriggeringEntities triggeringEntitiesRule="any">
<EntityRef entityRef="hero"/>
</TriggeringEntities>
<EntityCondition>
<TraveledDistanceCondition value="1.0"/>
</EntityCondition>
</ByEntityCondition>
</Condition>
<Condition name="StartTime" delay="0" conditionEdge="rising">
<ByValueCondition>
<SimulationTimeCondition value="0" rule="equalTo"/>
</ByValueCondition>
</Condition>
</ConditionGroup>
</StartTrigger>
<StopTrigger>
<ConditionGroup>
<Condition name="EndCondition" delay="0" conditionEdge="rising">
<ByEntityCondition>
<TriggeringEntities triggeringEntitiesRule="any">
<EntityRef entityRef="hero"/>
</TriggeringEntities>
<EntityCondition>
<TraveledDistanceCondition value="200.0"/>
</EntityCondition>
</ByEntityCondition>
</Condition>
</ConditionGroup>
</StopTrigger>
</Act>
</Story>
<StopTrigger>
<ConditionGroup>
<Condition name="criteria_RunningStopTest" delay="0" conditionEdge="rising">
<ByValueCondition>
<ParameterCondition parameterRef="" value="" rule="lessThan"/>
</ByValueCondition>
</Condition>
<Condition name="criteria_RunningRedLightTest" delay="0" conditionEdge="rising">
<ByValueCondition>
<ParameterCondition parameterRef="" value="" rule="lessThan"/>
</ByValueCondition>
</Condition>
<Condition name="criteria_WrongLaneTest" delay="0" conditionEdge="rising">
<ByValueCondition>
<ParameterCondition parameterRef="" value="" rule="lessThan"/>
</ByValueCondition>
</Condition>
<Condition name="criteria_OnSidewalkTest" delay="0" conditionEdge="rising">
<ByValueCondition>
<ParameterCondition parameterRef="" value="" rule="lessThan"/>
</ByValueCondition>
</Condition>
<Condition name="criteria_KeepLaneTest" delay="0" conditionEdge="rising">
<ByValueCondition>
<ParameterCondition parameterRef="" value="" rule="lessThan"/>
</ByValueCondition>
</Condition>
<Condition name="criteria_CollisionTest" delay="0" conditionEdge="rising">
<ByValueCondition>
<ParameterCondition parameterRef="" value="" rule="lessThan"/>
</ByValueCondition>
</Condition>
<Condition name="criteria_DrivenDistanceTest" delay="0" conditionEdge="rising">
<ByValueCondition>
<ParameterCondition parameterRef="distance_success" value="100" rule="lessThan"/>
</ByValueCondition>
</Condition>
</ConditionGroup>
</StopTrigger>
</Storyboard>
</OpenSCENARIO>
``` | Here is the result:
```
<?xml version="1.0" ?>
<OpenSCENARIO>
<FileHeader revMajor="1" revMinor="0" date="2020-03-24T12:00:00" description="CARLA:LaneChangeSimple" author=""/>
<ParameterDeclarations/>
<CatalogLocations/>
<RoadNetwork>
<LogicFile filepath="Town04"/>
<SceneGraphFile filepath=""/>
</RoadNetwork>
<Entities>
<ScenarioObject name="hero">
<Vehicle name="vehicle.tesla.model3" vehicleCategory="car">
<ParameterDeclarations/>
<Performance maxSpeed="69.444" maxAcceleration="200" maxDeceleration="10.0"/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2.1" length="4.5" height="1.8"/>
</BoundingBox>
<Axles>
<FrontAxle maxSteering="0.5" wheelDiameter="0.6" trackWidth="1.8" positionX="3.1" positionZ="0.3"/>
<RearAxle maxSteering="0.0" wheelDiameter="0.6" trackWidth="1.8" positionX="0.0" positionZ="0.3"/>
</Axles>
<Properties>
<Property name="type" value="ego_vehicle"/>
</Properties>
</Vehicle>
</ScenarioObject>
<ScenarioObject name="adversary">
<Vehicle name="vehicle.lincoln.mkz_2017" vehicleCategory="car">
<ParameterDeclarations/>
<Performance maxSpeed="69.444" maxAcceleration="200" maxDeceleration="10.0"/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2.1" length="4.5" height="1.8"/>
</BoundingBox>
<Axles>
<FrontAxle maxSteering="0.5" wheelDiameter="0.6" trackWidth="1.8" positionX="3.1" positionZ="0.3"/>
<RearAxle maxSteering="0.0" wheelDiameter="0.6" trackWidth="1.8" positionX="0.0" positionZ="0.3"/>
</Axles>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Vehicle>
</ScenarioObject>
<ScenarioObject name="standing">
<Vehicle name="vehicle.volkswagen.t2" vehicleCategory="car">
<ParameterDeclarations/>
<Performance maxSpeed="69.444" maxAcceleration="200" maxDeceleration="10.0"/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2.1" length="4.5" height="1.8"/>
</BoundingBox>
<Axles>
<FrontAxle maxSteering="0.5" wheelDiameter="0.6" trackWidth="1.8" positionX="3.1" positionZ="0.3"/>
<RearAxle maxSteering="0.0" wheelDiameter="0.6" 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_347">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_w_transform_348">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_close_to_hero_349">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_w_transform_350">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_close_to_adversary_351">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_close_to_adversary_352">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_w_transform_353">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_w_transform_354">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_close_to_hero_355">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
</Entities>
<Storyboard>
<Init>
<Actions>
<GlobalAction>
<EnvironmentAction>
<Environment name="Environment1">
<TimeOfDay animation="false" dateTime="2019-06-25T12:00:00"/>
<Weather cloudState="free">
<Sun intensity="0.85" azimuth="0" elevation="1.31"/>
<Fog visualRange="100000.0"/>
<Precipitation precipitationType="dry" intensity="0.0"/>
</Weather>
<RoadCondition frictionScaleFactor="1.0"/>
</Environment>
</EnvironmentAction>
</GlobalAction>
<Private entityRef="hero">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-9.4" y="-152.8" z="0.5" h="1.57079632679"/>
</Position>
</TeleportAction>
</PrivateAction>
<PrivateAction>
<ControllerAction>
<AssignControllerAction>
<Controller name="HeroAgent">
<Properties>
<Property name="module" value="external_control"/>
</Properties>
</Controller>
</AssignControllerAction>
<OverrideControllerValueAction>
<Throttle value="0" active="false"/>
<Brake value="0" active="false"/>
<Clutch value="0" active="false"/>
<ParkingBrake value="0" active="false"/>
<SteeringWheel value="0" active="false"/>
<Gear number="0" active="false"/>
</OverrideControllerValueAction>
</ControllerAction>
</PrivateAction>
</Private>
<Private entityRef="adversary">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-9.4" y="-71.0" z="0.5" h="1.57079632679"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="standing">
<PrivateAction>
<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_347">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="5.077051162719727" y="-59.13444519042969" z="0.03372783586382866"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_w_transform_348">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-7.999308109283447" y="-17.076641082763672" z="0.5"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_close_to_hero_349">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-2.0710887908935547" y="-153.88063049316406" z="0.0014286803780123591"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_w_transform_350">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="24.438072204589844" y="47.96884536743164" z="0.5"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_close_to_adversary_351">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-16.094274520874023" y="-80.99275207519531" z="0.03372131288051605"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_close_to_adversary_352">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-11.514567375183105" y="-72.11204528808594" z="0.03371192887425423"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_w_transform_353">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-8.0081787109375" y="50.90823745727539" z="0.5"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_w_transform_354">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-1.706449031829834" y="71.73466491699219" z="0.5"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_close_to_hero_355">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-17.825515747070312" y="-159.3222198486328" z="0.0014286803780123591"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
</Actions>
</Init>
<Story name="MyStory">
<Act name="Behavior">
<ManeuverGroup maximumExecutionCount="1" name="ManeuverSequence">
<Actors selectTriggeringEntities="false">
<EntityRef entityRef="adversary"/>
</Actors>
<Maneuver name="LaneChangeSimpleManeuver">
<Event name="AdversaryAccelerates" priority="overwrite">
<Action name="AdversaryAccelerates">
<PrivateAction>
<LongitudinalAction>
<SpeedAction>
<SpeedActionDynamics dynamicsShape="step" value="50" dynamicsDimension="distance"/>
<SpeedActionTarget>
<AbsoluteTargetSpeed value="5.0"/>
</SpeedActionTarget>
</SpeedAction>
</LongitudinalAction>
</PrivateAction>
</Action>
<StartTrigger>
<ConditionGroup>
<Condition name="StartCondition" delay="0" conditionEdge="rising">
<ByEntityCondition>
<TriggeringEntities triggeringEntitiesRule="any">
<EntityRef entityRef="hero"/>
</TriggeringEntities>
<EntityCondition>
<RelativeDistanceCondition entityRef="adversary" relativeDistanceType="cartesianDistance" value="40.0" freespace="false" rule="lessThan"/>
</EntityCondition>
</ByEntityCondition>
</Condition>
</ConditionGroup>
</StartTrigger>
</Event>
<Event name="AdversaryChangesLane" priority="overwrite">
<Action name="AdversaryChangesLane">
<PrivateAction>
<LateralAction>
<LaneChangeAction>
<LaneChangeActionDynamics dynamicsShape="linear" value="25" dynamicsDimension="distance"/>
<LaneChangeTarget>
<RelativeTargetLane entityRef="adversary" value="-1"/>
</LaneChangeTarget>
</LaneChangeAction>
</LateralAction>
</PrivateAction>
</Action>
<StartTrigger>
<ConditionGroup>
<Condition name="AfterAdversaryAccelerates" delay="0" conditionEdge="rising">
<ByValueCondition>
<StoryboardElementStateCondition storyboardElementType="action" storyboardElementRef="AdversaryAccelerates" state="completeState"/>
</ByValueCondition>
</Condition>
</ConditionGroup>
</StartTrigger>
</Event>
</Maneuver>
</ManeuverGroup>
<StartTrigger>
<ConditionGroup>
<Condition name="OverallStartCondition" delay="0" conditionEdge="rising">
<ByEntityCondition>
<TriggeringEntities triggeringEntitiesRule="any">
<EntityRef entityRef="hero"/>
</TriggeringEntities>
<EntityCondition>
<TraveledDistanceCondition value="1.0"/>
</EntityCondition>
</ByEntityCondition>
</Condition>
<Condition name="StartTime" delay="0" conditionEdge="rising">
<ByValueCondition>
<SimulationTimeCondition value="0" rule="equalTo"/>
</ByValueCondition>
</Condition>
</ConditionGroup>
</StartTrigger>
<StopTrigger>
<ConditionGroup>
<Condition name="EndCondition" delay="0" conditionEdge="rising">
<ByEntityCondition>
<TriggeringEntities triggeringEntitiesRule="any">
<EntityRef entityRef="hero"/>
</TriggeringEntities>
<EntityCondition>
<TraveledDistanceCondition value="200.0"/>
</EntityCondition>
</ByEntityCondition>
</Condition>
</ConditionGroup>
</StopTrigger>
</Act>
</Story>
<StopTrigger>
<ConditionGroup>
<Condition name="criteria_RunningStopTest" delay="0" conditionEdge="rising">
<ByValueCondition>
<ParameterCondition parameterRef="" value="" rule="lessThan"/>
</ByValueCondition>
</Condition>
<Condition name="criteria_RunningRedLightTest" delay="0" conditionEdge="rising">
<ByValueCondition>
<ParameterCondition parameterRef="" value="" rule="lessThan"/>
</ByValueCondition>
</Condition>
<Condition name="criteria_WrongLaneTest" delay="0" conditionEdge="rising">
<ByValueCondition>
<ParameterCondition parameterRef="" value="" rule="lessThan"/>
</ByValueCondition>
</Condition>
<Condition name="criteria_OnSidewalkTest" delay="0" conditionEdge="rising">
<ByValueCondition>
<ParameterCondition parameterRef="" value="" rule="lessThan"/>
</ByValueCondition>
</Condition>
<Condition name="criteria_KeepLaneTest" delay="0" conditionEdge="rising">
<ByValueCondition>
<ParameterCondition parameterRef="" value="" rule="lessThan"/>
</ByValueCondition>
</Condition>
<Condition name="criteria_CollisionTest" delay="0" conditionEdge="rising">
<ByValueCondition>
<ParameterCondition parameterRef="" value="" rule="lessThan"/>
</ByValueCondition>
</Condition>
<Condition name="criteria_DrivenDistanceTest" delay="0" conditionEdge="rising">
<ByValueCondition>
<ParameterCondition parameterRef="distance_success" value="100" rule="lessThan"/>
</ByValueCondition>
</Condition>
</ConditionGroup>
</StopTrigger>
</Storyboard>
</OpenSCENARIO>
``` |
i would like to ask you to remove pedestrian close to standing?
```
<?xml version="1.0" ?>
<OpenSCENARIO>
<FileHeader revMajor="1" revMinor="0" date="2020-03-24T12:00:00" description="CARLA:LaneChangeSimple" author=""/>
<ParameterDeclarations/>
<CatalogLocations/>
<RoadNetwork>
<LogicFile filepath="Town04"/>
<SceneGraphFile filepath=""/>
</RoadNetwork>
<Entities>
<ScenarioObject name="hero">
<Vehicle name="vehicle.tesla.model3" vehicleCategory="car">
<ParameterDeclarations/>
<Performance maxSpeed="69.444" maxAcceleration="200" maxDeceleration="10.0"/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2.1" length="4.5" height="1.8"/>
</BoundingBox>
<Axles>
<FrontAxle maxSteering="0.5" wheelDiameter="0.6" trackWidth="1.8" positionX="3.1" positionZ="0.3"/>
<RearAxle maxSteering="0.0" wheelDiameter="0.6" trackWidth="1.8" positionX="0.0" positionZ="0.3"/>
</Axles>
<Properties>
<Property name="type" value="ego_vehicle"/>
</Properties>
</Vehicle>
</ScenarioObject>
<ScenarioObject name="adversary">
<Vehicle name="vehicle.lincoln.mkz_2017" vehicleCategory="car">
<ParameterDeclarations/>
<Performance maxSpeed="69.444" maxAcceleration="200" maxDeceleration="10.0"/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2.1" length="4.5" height="1.8"/>
</BoundingBox>
<Axles>
<FrontAxle maxSteering="0.5" wheelDiameter="0.6" trackWidth="1.8" positionX="3.1" positionZ="0.3"/>
<RearAxle maxSteering="0.0" wheelDiameter="0.6" trackWidth="1.8" positionX="0.0" positionZ="0.3"/>
</Axles>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Vehicle>
</ScenarioObject>
<ScenarioObject name="standing">
<Vehicle name="vehicle.volkswagen.t2" vehicleCategory="car">
<ParameterDeclarations/>
<Performance maxSpeed="69.444" maxAcceleration="200" maxDeceleration="10.0"/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2.1" length="4.5" height="1.8"/>
</BoundingBox>
<Axles>
<FrontAxle maxSteering="0.5" wheelDiameter="0.6" trackWidth="1.8" positionX="3.1" positionZ="0.3"/>
<RearAxle maxSteering="0.0" wheelDiameter="0.6" trackWidth="1.8" positionX="0.0" positionZ="0.3"/>
</Axles>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Vehicle>
</ScenarioObject>
<ScenarioObject name="pedestrian_close_to_hero_4010">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_w_transform_4011">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_close_to_adversary_4012">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_close_to_standing_4013">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_w_transform_4014">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_close_to_standing_4016">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_close_to_standing_4017">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_close_to_adversary_4019">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_w_transform_4020">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_w_transform_4021">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_w_transform_4023">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_w_transform_4027">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_w_transform_4028">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
</Entities>
<Storyboard>
<Init>
<Actions>
<GlobalAction>
<EnvironmentAction>
<Environment name="Environment1">
<TimeOfDay animation="false" dateTime="2019-06-25T12:00:00"/>
<Weather cloudState="free">
<Sun intensity="0.85" azimuth="0" elevation="1.31"/>
<Fog visualRange="100000.0"/>
<Precipitation precipitationType="dry" intensity="0.0"/>
</Weather>
<RoadCondition frictionScaleFactor="1.0"/>
</Environment>
</EnvironmentAction>
</GlobalAction>
<Private entityRef="hero">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-9.4" y="-152.8" z="0.5" h="1.57079632679"/>
</Position>
</TeleportAction>
</PrivateAction>
<PrivateAction>
<ControllerAction>
<AssignControllerAction>
<Controller name="HeroAgent">
<Properties>
<Property name="module" value="external_control"/>
</Properties>
</Controller>
</AssignControllerAction>
<OverrideControllerValueAction>
<Throttle value="0" active="false"/>
<Brake value="0" active="false"/>
<Clutch value="0" active="false"/>
<ParkingBrake value="0" active="false"/>
<SteeringWheel value="0" active="false"/>
<Gear number="0" active="false"/>
</OverrideControllerValueAction>
</ControllerAction>
</PrivateAction>
</Private>
<Private entityRef="adversary">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-9.4" y="-71.0" z="0.5" h="1.57079632679"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="standing">
<PrivateAction>
<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_4010">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-12.214312553405762" y="-160.13949584960938" z="0.0014286803780123591"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_w_transform_4011">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="80.1207275390625" y="-49.18632507324219" z="0.5"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_close_to_adversary_4012">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-2.391031503677368" y="-80.31869506835938" z="0.03379436582326889"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_close_to_standing_4013">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-1.5666236877441406" y="30.07222557067871" z="0.003073577769100666"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_w_transform_4014">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="98.1657485961914" y="-67.99932861328125" z="0.5"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_close_to_standing_4016">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-1.8131872415542603" y="32.70695495605469" z="0.0030119323637336493"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_close_to_standing_4017">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-16.069469451904297" y="22.5318603515625" z="0.003008041298016906"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_close_to_adversary_4019">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-2.843022584915161" y="-70.29584503173828" z="0.033793676644563675"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_w_transform_4020">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-74.97591400146484" y="-83.33660888671875" z="0.5"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_w_transform_4021">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-7.930383205413818" y="-40.62022399902344" z="0.5"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_w_transform_4023">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-69.3080825805664" y="-26.110605239868164" z="0.5"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_w_transform_4027">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-70.5367202758789" y="76.35733032226562" z="0.5"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_w_transform_4028">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-85.59539794921875" y="80.92868041992188" z="0.5"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
</Actions>
</Init>
<Story name="MyStory">
<Act name="Behavior">
<ManeuverGroup maximumExecutionCount="1" name="ManeuverSequence">
<Actors selectTriggeringEntities="false">
<EntityRef entityRef="adversary"/>
</Actors>
<Maneuver name="LaneChangeSimpleManeuver">
<Event name="AdversaryAccelerates" priority="overwrite">
<Action name="AdversaryAccelerates">
<PrivateAction>
<LongitudinalAction>
<SpeedAction>
<SpeedActionDynamics dynamicsShape="step" value="50" dynamicsDimension="distance"/>
<SpeedActionTarget>
<AbsoluteTargetSpeed value="5.0"/>
</SpeedActionTarget>
</SpeedAction>
</LongitudinalAction>
</PrivateAction>
</Action>
<StartTrigger>
<ConditionGroup>
<Condition name="StartCondition" delay="0" conditionEdge="rising">
<ByEntityCondition>
<TriggeringEntities triggeringEntitiesRule="any">
<EntityRef entityRef="hero"/>
</TriggeringEntities>
<EntityCondition>
<RelativeDistanceCondition entityRef="adversary" relativeDistanceType="cartesianDistance" value="40.0" freespace="false" rule="lessThan"/>
</EntityCondition>
</ByEntityCondition>
</Condition>
</ConditionGroup>
</StartTrigger>
</Event>
<Event name="AdversaryChangesLane" priority="overwrite">
<Action name="AdversaryChangesLane">
<PrivateAction>
<LateralAction>
<LaneChangeAction>
<LaneChangeActionDynamics dynamicsShape="linear" value="25" dynamicsDimension="distance"/>
<LaneChangeTarget>
<RelativeTargetLane entityRef="adversary" value="-1"/>
</LaneChangeTarget>
</LaneChangeAction>
</LateralAction>
</PrivateAction>
</Action>
<StartTrigger>
<ConditionGroup>
<Condition name="AfterAdversaryAccelerates" delay="0" conditionEdge="rising">
<ByValueCondition>
<StoryboardElementStateCondition storyboardElementType="action" storyboardElementRef="AdversaryAccelerates" state="completeState"/>
</ByValueCondition>
</Condition>
</ConditionGroup>
</StartTrigger>
</Event>
</Maneuver>
</ManeuverGroup>
<StartTrigger>
<ConditionGroup>
<Condition name="OverallStartCondition" delay="0" conditionEdge="rising">
<ByEntityCondition>
<TriggeringEntities triggeringEntitiesRule="any">
<EntityRef entityRef="hero"/>
</TriggeringEntities>
<EntityCondition>
<TraveledDistanceCondition value="1.0"/>
</EntityCondition>
</ByEntityCondition>
</Condition>
<Condition name="StartTime" delay="0" conditionEdge="rising">
<ByValueCondition>
<SimulationTimeCondition value="0" rule="equalTo"/>
</ByValueCondition>
</Condition>
</ConditionGroup>
</StartTrigger>
<StopTrigger>
<ConditionGroup>
<Condition name="EndCondition" delay="0" conditionEdge="rising">
<ByEntityCondition>
<TriggeringEntities triggeringEntitiesRule="any">
<EntityRef entityRef="hero"/>
</TriggeringEntities>
<EntityCondition>
<TraveledDistanceCondition value="200.0"/>
</EntityCondition>
</ByEntityCondition>
</Condition>
</ConditionGroup>
</StopTrigger>
</Act>
</Story>
<StopTrigger>
<ConditionGroup>
<Condition name="criteria_RunningStopTest" delay="0" conditionEdge="rising">
<ByValueCondition>
<ParameterCondition parameterRef="" value="" rule="lessThan"/>
</ByValueCondition>
</Condition>
<Condition name="criteria_RunningRedLightTest" delay="0" conditionEdge="rising">
<ByValueCondition>
<ParameterCondition parameterRef="" value="" rule="lessThan"/>
</ByValueCondition>
</Condition>
<Condition name="criteria_WrongLaneTest" delay="0" conditionEdge="rising">
<ByValueCondition>
<ParameterCondition parameterRef="" value="" rule="lessThan"/>
</ByValueCondition>
</Condition>
<Condition name="criteria_OnSidewalkTest" delay="0" conditionEdge="rising">
<ByValueCondition>
<ParameterCondition parameterRef="" value="" rule="lessThan"/>
</ByValueCondition>
</Condition>
<Condition name="criteria_KeepLaneTest" delay="0" conditionEdge="rising">
<ByValueCondition>
<ParameterCondition parameterRef="" value="" rule="lessThan"/>
</ByValueCondition>
</Condition>
<Condition name="criteria_CollisionTest" delay="0" conditionEdge="rising">
<ByValueCondition>
<ParameterCondition parameterRef="" value="" rule="lessThan"/>
</ByValueCondition>
</Condition>
<Condition name="criteria_DrivenDistanceTest" delay="0" conditionEdge="rising">
<ByValueCondition>
<ParameterCondition parameterRef="distance_success" value="100" rule="lessThan"/>
</ByValueCondition>
</Condition>
</ConditionGroup>
</StopTrigger>
</Storyboard>
</OpenSCENARIO>
``` | Here is the result:
```
<?xml version="1.0" ?>
<OpenSCENARIO>
<FileHeader revMajor="1" revMinor="0" date="2020-03-24T12:00:00" description="CARLA:LaneChangeSimple" author=""/>
<ParameterDeclarations/>
<CatalogLocations/>
<RoadNetwork>
<LogicFile filepath="Town04"/>
<SceneGraphFile filepath=""/>
</RoadNetwork>
<Entities>
<ScenarioObject name="hero">
<Vehicle name="vehicle.tesla.model3" vehicleCategory="car">
<ParameterDeclarations/>
<Performance maxSpeed="69.444" maxAcceleration="200" maxDeceleration="10.0"/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2.1" length="4.5" height="1.8"/>
</BoundingBox>
<Axles>
<FrontAxle maxSteering="0.5" wheelDiameter="0.6" trackWidth="1.8" positionX="3.1" positionZ="0.3"/>
<RearAxle maxSteering="0.0" wheelDiameter="0.6" trackWidth="1.8" positionX="0.0" positionZ="0.3"/>
</Axles>
<Properties>
<Property name="type" value="ego_vehicle"/>
</Properties>
</Vehicle>
</ScenarioObject>
<ScenarioObject name="adversary">
<Vehicle name="vehicle.lincoln.mkz_2017" vehicleCategory="car">
<ParameterDeclarations/>
<Performance maxSpeed="69.444" maxAcceleration="200" maxDeceleration="10.0"/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2.1" length="4.5" height="1.8"/>
</BoundingBox>
<Axles>
<FrontAxle maxSteering="0.5" wheelDiameter="0.6" trackWidth="1.8" positionX="3.1" positionZ="0.3"/>
<RearAxle maxSteering="0.0" wheelDiameter="0.6" trackWidth="1.8" positionX="0.0" positionZ="0.3"/>
</Axles>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Vehicle>
</ScenarioObject>
<ScenarioObject name="standing">
<Vehicle name="vehicle.volkswagen.t2" vehicleCategory="car">
<ParameterDeclarations/>
<Performance maxSpeed="69.444" maxAcceleration="200" maxDeceleration="10.0"/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2.1" length="4.5" height="1.8"/>
</BoundingBox>
<Axles>
<FrontAxle maxSteering="0.5" wheelDiameter="0.6" trackWidth="1.8" positionX="3.1" positionZ="0.3"/>
<RearAxle maxSteering="0.0" wheelDiameter="0.6" 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_4010">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_w_transform_4011">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_close_to_adversary_4012">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_close_to_standing_4013">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_w_transform_4014">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_close_to_standing_4017">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_close_to_adversary_4019">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_w_transform_4020">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_w_transform_4021">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_w_transform_4023">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_w_transform_4027">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_w_transform_4028">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
</Entities>
<Storyboard>
<Init>
<Actions>
<GlobalAction>
<EnvironmentAction>
<Environment name="Environment1">
<TimeOfDay animation="false" dateTime="2019-06-25T12:00:00"/>
<Weather cloudState="free">
<Sun intensity="0.85" azimuth="0" elevation="1.31"/>
<Fog visualRange="100000.0"/>
<Precipitation precipitationType="dry" intensity="0.0"/>
</Weather>
<RoadCondition frictionScaleFactor="1.0"/>
</Environment>
</EnvironmentAction>
</GlobalAction>
<Private entityRef="hero">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-9.4" y="-152.8" z="0.5" h="1.57079632679"/>
</Position>
</TeleportAction>
</PrivateAction>
<PrivateAction>
<ControllerAction>
<AssignControllerAction>
<Controller name="HeroAgent">
<Properties>
<Property name="module" value="external_control"/>
</Properties>
</Controller>
</AssignControllerAction>
<OverrideControllerValueAction>
<Throttle value="0" active="false"/>
<Brake value="0" active="false"/>
<Clutch value="0" active="false"/>
<ParkingBrake value="0" active="false"/>
<SteeringWheel value="0" active="false"/>
<Gear number="0" active="false"/>
</OverrideControllerValueAction>
</ControllerAction>
</PrivateAction>
</Private>
<Private entityRef="adversary">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-9.4" y="-71.0" z="0.5" h="1.57079632679"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="standing">
<PrivateAction>
<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_4010">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-12.214312553405762" y="-160.13949584960938" z="0.0014286803780123591"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_w_transform_4011">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="80.1207275390625" y="-49.18632507324219" z="0.5"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_close_to_adversary_4012">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-2.391031503677368" y="-80.31869506835938" z="0.03379436582326889"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_close_to_standing_4013">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-1.5666236877441406" y="30.07222557067871" z="0.003073577769100666"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_w_transform_4014">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="98.1657485961914" y="-67.99932861328125" z="0.5"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_close_to_standing_4017">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-16.069469451904297" y="22.5318603515625" z="0.003008041298016906"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_close_to_adversary_4019">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-2.843022584915161" y="-70.29584503173828" z="0.033793676644563675"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_w_transform_4020">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-74.97591400146484" y="-83.33660888671875" z="0.5"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_w_transform_4021">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-7.930383205413818" y="-40.62022399902344" z="0.5"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_w_transform_4023">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-69.3080825805664" y="-26.110605239868164" z="0.5"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_w_transform_4027">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-70.5367202758789" y="76.35733032226562" z="0.5"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_w_transform_4028">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-85.59539794921875" y="80.92868041992188" z="0.5"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
</Actions>
</Init>
<Story name="MyStory">
<Act name="Behavior">
<ManeuverGroup maximumExecutionCount="1" name="ManeuverSequence">
<Actors selectTriggeringEntities="false">
<EntityRef entityRef="adversary"/>
</Actors>
<Maneuver name="LaneChangeSimpleManeuver">
<Event name="AdversaryAccelerates" priority="overwrite">
<Action name="AdversaryAccelerates">
<PrivateAction>
<LongitudinalAction>
<SpeedAction>
<SpeedActionDynamics dynamicsShape="step" value="50" dynamicsDimension="distance"/>
<SpeedActionTarget>
<AbsoluteTargetSpeed value="5.0"/>
</SpeedActionTarget>
</SpeedAction>
</LongitudinalAction>
</PrivateAction>
</Action>
<StartTrigger>
<ConditionGroup>
<Condition name="StartCondition" delay="0" conditionEdge="rising">
<ByEntityCondition>
<TriggeringEntities triggeringEntitiesRule="any">
<EntityRef entityRef="hero"/>
</TriggeringEntities>
<EntityCondition>
<RelativeDistanceCondition entityRef="adversary" relativeDistanceType="cartesianDistance" value="40.0" freespace="false" rule="lessThan"/>
</EntityCondition>
</ByEntityCondition>
</Condition>
</ConditionGroup>
</StartTrigger>
</Event>
<Event name="AdversaryChangesLane" priority="overwrite">
<Action name="AdversaryChangesLane">
<PrivateAction>
<LateralAction>
<LaneChangeAction>
<LaneChangeActionDynamics dynamicsShape="linear" value="25" dynamicsDimension="distance"/>
<LaneChangeTarget>
<RelativeTargetLane entityRef="adversary" value="-1"/>
</LaneChangeTarget>
</LaneChangeAction>
</LateralAction>
</PrivateAction>
</Action>
<StartTrigger>
<ConditionGroup>
<Condition name="AfterAdversaryAccelerates" delay="0" conditionEdge="rising">
<ByValueCondition>
<StoryboardElementStateCondition storyboardElementType="action" storyboardElementRef="AdversaryAccelerates" state="completeState"/>
</ByValueCondition>
</Condition>
</ConditionGroup>
</StartTrigger>
</Event>
</Maneuver>
</ManeuverGroup>
<StartTrigger>
<ConditionGroup>
<Condition name="OverallStartCondition" delay="0" conditionEdge="rising">
<ByEntityCondition>
<TriggeringEntities triggeringEntitiesRule="any">
<EntityRef entityRef="hero"/>
</TriggeringEntities>
<EntityCondition>
<TraveledDistanceCondition value="1.0"/>
</EntityCondition>
</ByEntityCondition>
</Condition>
<Condition name="StartTime" delay="0" conditionEdge="rising">
<ByValueCondition>
<SimulationTimeCondition value="0" rule="equalTo"/>
</ByValueCondition>
</Condition>
</ConditionGroup>
</StartTrigger>
<StopTrigger>
<ConditionGroup>
<Condition name="EndCondition" delay="0" conditionEdge="rising">
<ByEntityCondition>
<TriggeringEntities triggeringEntitiesRule="any">
<EntityRef entityRef="hero"/>
</TriggeringEntities>
<EntityCondition>
<TraveledDistanceCondition value="200.0"/>
</EntityCondition>
</ByEntityCondition>
</Condition>
</ConditionGroup>
</StopTrigger>
</Act>
</Story>
<StopTrigger>
<ConditionGroup>
<Condition name="criteria_RunningStopTest" delay="0" conditionEdge="rising">
<ByValueCondition>
<ParameterCondition parameterRef="" value="" rule="lessThan"/>
</ByValueCondition>
</Condition>
<Condition name="criteria_RunningRedLightTest" delay="0" conditionEdge="rising">
<ByValueCondition>
<ParameterCondition parameterRef="" value="" rule="lessThan"/>
</ByValueCondition>
</Condition>
<Condition name="criteria_WrongLaneTest" delay="0" conditionEdge="rising">
<ByValueCondition>
<ParameterCondition parameterRef="" value="" rule="lessThan"/>
</ByValueCondition>
</Condition>
<Condition name="criteria_OnSidewalkTest" delay="0" conditionEdge="rising">
<ByValueCondition>
<ParameterCondition parameterRef="" value="" rule="lessThan"/>
</ByValueCondition>
</Condition>
<Condition name="criteria_KeepLaneTest" delay="0" conditionEdge="rising">
<ByValueCondition>
<ParameterCondition parameterRef="" value="" rule="lessThan"/>
</ByValueCondition>
</Condition>
<Condition name="criteria_CollisionTest" delay="0" conditionEdge="rising">
<ByValueCondition>
<ParameterCondition parameterRef="" value="" rule="lessThan"/>
</ByValueCondition>
</Condition>
<Condition name="criteria_DrivenDistanceTest" delay="0" conditionEdge="rising">
<ByValueCondition>
<ParameterCondition parameterRef="distance_success" value="100" rule="lessThan"/>
</ByValueCondition>
</Condition>
</ConditionGroup>
</StopTrigger>
</Storyboard>
</OpenSCENARIO>
``` |
i would like to direct you to remove pedestrian close to standing?
```
<?xml version="1.0" ?>
<OpenSCENARIO>
<FileHeader revMajor="1" revMinor="0" date="2020-03-24T12:00:00" description="CARLA:LaneChangeSimple" author=""/>
<ParameterDeclarations/>
<CatalogLocations/>
<RoadNetwork>
<LogicFile filepath="Town04"/>
<SceneGraphFile filepath=""/>
</RoadNetwork>
<Entities>
<ScenarioObject name="hero">
<Vehicle name="vehicle.tesla.model3" vehicleCategory="car">
<ParameterDeclarations/>
<Performance maxSpeed="69.444" maxAcceleration="200" maxDeceleration="10.0"/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2.1" length="4.5" height="1.8"/>
</BoundingBox>
<Axles>
<FrontAxle maxSteering="0.5" wheelDiameter="0.6" trackWidth="1.8" positionX="3.1" positionZ="0.3"/>
<RearAxle maxSteering="0.0" wheelDiameter="0.6" trackWidth="1.8" positionX="0.0" positionZ="0.3"/>
</Axles>
<Properties>
<Property name="type" value="ego_vehicle"/>
</Properties>
</Vehicle>
</ScenarioObject>
<ScenarioObject name="adversary">
<Vehicle name="vehicle.lincoln.mkz_2017" vehicleCategory="car">
<ParameterDeclarations/>
<Performance maxSpeed="69.444" maxAcceleration="200" maxDeceleration="10.0"/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2.1" length="4.5" height="1.8"/>
</BoundingBox>
<Axles>
<FrontAxle maxSteering="0.5" wheelDiameter="0.6" trackWidth="1.8" positionX="3.1" positionZ="0.3"/>
<RearAxle maxSteering="0.0" wheelDiameter="0.6" trackWidth="1.8" positionX="0.0" positionZ="0.3"/>
</Axles>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Vehicle>
</ScenarioObject>
<ScenarioObject name="standing">
<Vehicle name="vehicle.volkswagen.t2" vehicleCategory="car">
<ParameterDeclarations/>
<Performance maxSpeed="69.444" maxAcceleration="200" maxDeceleration="10.0"/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2.1" length="4.5" height="1.8"/>
</BoundingBox>
<Axles>
<FrontAxle maxSteering="0.5" wheelDiameter="0.6" trackWidth="1.8" positionX="3.1" positionZ="0.3"/>
<RearAxle maxSteering="0.0" wheelDiameter="0.6" trackWidth="1.8" positionX="0.0" positionZ="0.3"/>
</Axles>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Vehicle>
</ScenarioObject>
<ScenarioObject name="pedestrian_close_to_adversary_17443">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_close_to_adversary_17444">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_w_transform_17445">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_w_transform_17446">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_close_to_standing_17447">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_close_to_standing_17448">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_w_transform_17449">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_close_to_adversary_17450">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_close_to_adversary_17451">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_close_to_standing_17453">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_close_to_hero_17454">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_w_transform_17457">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_close_to_adversary_17459">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_w_transform_17462">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_close_to_hero_17463">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_close_to_standing_17464">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
</Entities>
<Storyboard>
<Init>
<Actions>
<GlobalAction>
<EnvironmentAction>
<Environment name="Environment1">
<TimeOfDay animation="false" dateTime="2019-06-25T12:00:00"/>
<Weather cloudState="free">
<Sun intensity="0.85" azimuth="0" elevation="1.31"/>
<Fog visualRange="100000.0"/>
<Precipitation precipitationType="dry" intensity="0.0"/>
</Weather>
<RoadCondition frictionScaleFactor="1.0"/>
</Environment>
</EnvironmentAction>
</GlobalAction>
<Private entityRef="hero">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-9.4" y="-152.8" z="0.5" h="1.57079632679"/>
</Position>
</TeleportAction>
</PrivateAction>
<PrivateAction>
<ControllerAction>
<AssignControllerAction>
<Controller name="HeroAgent">
<Properties>
<Property name="module" value="external_control"/>
</Properties>
</Controller>
</AssignControllerAction>
<OverrideControllerValueAction>
<Throttle value="0" active="false"/>
<Brake value="0" active="false"/>
<Clutch value="0" active="false"/>
<ParkingBrake value="0" active="false"/>
<SteeringWheel value="0" active="false"/>
<Gear number="0" active="false"/>
</OverrideControllerValueAction>
</ControllerAction>
</PrivateAction>
</Private>
<Private entityRef="adversary">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-9.4" y="-71.0" z="0.5" h="1.57079632679"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="standing">
<PrivateAction>
<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_17443">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-4.069501876831055" y="-74.34779357910156" z="0.03382430970668793"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_close_to_adversary_17444">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-7.53084659576416" y="-75.48820495605469" z="0.033827513456344604"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_w_transform_17445">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="81.36668395996094" y="95.30689239501953" z="0.5"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_w_transform_17446">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="65.1628189086914" y="-2.748715877532959" z="0.5"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_close_to_standing_17447">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-16.5494441986084" y="30.307418823242188" z="0.0030257797334343195"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_close_to_standing_17448">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="1.3100693225860596" y="21.43201446533203" z="0.0030111311934888363"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_w_transform_17449">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="0.46550706028938293" y="39.45650863647461" z="0.5"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_close_to_adversary_17450">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="3.658400297164917" y="-73.4540786743164" z="0.03381866216659546"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_close_to_adversary_17451">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-12.36711311340332" y="-67.70463562011719" z="0.03382629156112671"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_close_to_standing_17453">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="0.24405047297477722" y="37.529361724853516" z="0.0030942154116928577"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_close_to_hero_17454">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-4.78595495223999" y="-143.49810791015625" z="0.0014286803780123591"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_w_transform_17457">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="16.82419204711914" y="-55.599632263183594" z="0.5"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_close_to_adversary_17459">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-1.7338632345199585" y="-78.13409423828125" z="0.03376327455043793"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_w_transform_17462">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-86.07225036621094" y="-80.24140930175781" z="0.5"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_close_to_hero_17463">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-2.8115270137786865" y="-142.95071411132812" z="0.0014286803780123591"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_close_to_standing_17464">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-17.35240936279297" y="20.882421493530273" z="0.0029971313197165728"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
</Actions>
</Init>
<Story name="MyStory">
<Act name="Behavior">
<ManeuverGroup maximumExecutionCount="1" name="ManeuverSequence">
<Actors selectTriggeringEntities="false">
<EntityRef entityRef="adversary"/>
</Actors>
<Maneuver name="LaneChangeSimpleManeuver">
<Event name="AdversaryAccelerates" priority="overwrite">
<Action name="AdversaryAccelerates">
<PrivateAction>
<LongitudinalAction>
<SpeedAction>
<SpeedActionDynamics dynamicsShape="step" value="50" dynamicsDimension="distance"/>
<SpeedActionTarget>
<AbsoluteTargetSpeed value="5.0"/>
</SpeedActionTarget>
</SpeedAction>
</LongitudinalAction>
</PrivateAction>
</Action>
<StartTrigger>
<ConditionGroup>
<Condition name="StartCondition" delay="0" conditionEdge="rising">
<ByEntityCondition>
<TriggeringEntities triggeringEntitiesRule="any">
<EntityRef entityRef="hero"/>
</TriggeringEntities>
<EntityCondition>
<RelativeDistanceCondition entityRef="adversary" relativeDistanceType="cartesianDistance" value="40.0" freespace="false" rule="lessThan"/>
</EntityCondition>
</ByEntityCondition>
</Condition>
</ConditionGroup>
</StartTrigger>
</Event>
<Event name="AdversaryChangesLane" priority="overwrite">
<Action name="AdversaryChangesLane">
<PrivateAction>
<LateralAction>
<LaneChangeAction>
<LaneChangeActionDynamics dynamicsShape="linear" value="25" dynamicsDimension="distance"/>
<LaneChangeTarget>
<RelativeTargetLane entityRef="adversary" value="-1"/>
</LaneChangeTarget>
</LaneChangeAction>
</LateralAction>
</PrivateAction>
</Action>
<StartTrigger>
<ConditionGroup>
<Condition name="AfterAdversaryAccelerates" delay="0" conditionEdge="rising">
<ByValueCondition>
<StoryboardElementStateCondition storyboardElementType="action" storyboardElementRef="AdversaryAccelerates" state="completeState"/>
</ByValueCondition>
</Condition>
</ConditionGroup>
</StartTrigger>
</Event>
</Maneuver>
</ManeuverGroup>
<StartTrigger>
<ConditionGroup>
<Condition name="OverallStartCondition" delay="0" conditionEdge="rising">
<ByEntityCondition>
<TriggeringEntities triggeringEntitiesRule="any">
<EntityRef entityRef="hero"/>
</TriggeringEntities>
<EntityCondition>
<TraveledDistanceCondition value="1.0"/>
</EntityCondition>
</ByEntityCondition>
</Condition>
<Condition name="StartTime" delay="0" conditionEdge="rising">
<ByValueCondition>
<SimulationTimeCondition value="0" rule="equalTo"/>
</ByValueCondition>
</Condition>
</ConditionGroup>
</StartTrigger>
<StopTrigger>
<ConditionGroup>
<Condition name="EndCondition" delay="0" conditionEdge="rising">
<ByEntityCondition>
<TriggeringEntities triggeringEntitiesRule="any">
<EntityRef entityRef="hero"/>
</TriggeringEntities>
<EntityCondition>
<TraveledDistanceCondition value="200.0"/>
</EntityCondition>
</ByEntityCondition>
</Condition>
</ConditionGroup>
</StopTrigger>
</Act>
</Story>
<StopTrigger>
<ConditionGroup>
<Condition name="criteria_RunningStopTest" delay="0" conditionEdge="rising">
<ByValueCondition>
<ParameterCondition parameterRef="" value="" rule="lessThan"/>
</ByValueCondition>
</Condition>
<Condition name="criteria_RunningRedLightTest" delay="0" conditionEdge="rising">
<ByValueCondition>
<ParameterCondition parameterRef="" value="" rule="lessThan"/>
</ByValueCondition>
</Condition>
<Condition name="criteria_WrongLaneTest" delay="0" conditionEdge="rising">
<ByValueCondition>
<ParameterCondition parameterRef="" value="" rule="lessThan"/>
</ByValueCondition>
</Condition>
<Condition name="criteria_OnSidewalkTest" delay="0" conditionEdge="rising">
<ByValueCondition>
<ParameterCondition parameterRef="" value="" rule="lessThan"/>
</ByValueCondition>
</Condition>
<Condition name="criteria_KeepLaneTest" delay="0" conditionEdge="rising">
<ByValueCondition>
<ParameterCondition parameterRef="" value="" rule="lessThan"/>
</ByValueCondition>
</Condition>
<Condition name="criteria_CollisionTest" delay="0" conditionEdge="rising">
<ByValueCondition>
<ParameterCondition parameterRef="" value="" rule="lessThan"/>
</ByValueCondition>
</Condition>
<Condition name="criteria_DrivenDistanceTest" delay="0" conditionEdge="rising">
<ByValueCondition>
<ParameterCondition parameterRef="distance_success" value="100" rule="lessThan"/>
</ByValueCondition>
</Condition>
</ConditionGroup>
</StopTrigger>
</Storyboard>
</OpenSCENARIO>
``` | Here is the result:
```
<?xml version="1.0" ?>
<OpenSCENARIO>
<FileHeader revMajor="1" revMinor="0" date="2020-03-24T12:00:00" description="CARLA:LaneChangeSimple" author=""/>
<ParameterDeclarations/>
<CatalogLocations/>
<RoadNetwork>
<LogicFile filepath="Town04"/>
<SceneGraphFile filepath=""/>
</RoadNetwork>
<Entities>
<ScenarioObject name="hero">
<Vehicle name="vehicle.tesla.model3" vehicleCategory="car">
<ParameterDeclarations/>
<Performance maxSpeed="69.444" maxAcceleration="200" maxDeceleration="10.0"/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2.1" length="4.5" height="1.8"/>
</BoundingBox>
<Axles>
<FrontAxle maxSteering="0.5" wheelDiameter="0.6" trackWidth="1.8" positionX="3.1" positionZ="0.3"/>
<RearAxle maxSteering="0.0" wheelDiameter="0.6" trackWidth="1.8" positionX="0.0" positionZ="0.3"/>
</Axles>
<Properties>
<Property name="type" value="ego_vehicle"/>
</Properties>
</Vehicle>
</ScenarioObject>
<ScenarioObject name="adversary">
<Vehicle name="vehicle.lincoln.mkz_2017" vehicleCategory="car">
<ParameterDeclarations/>
<Performance maxSpeed="69.444" maxAcceleration="200" maxDeceleration="10.0"/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2.1" length="4.5" height="1.8"/>
</BoundingBox>
<Axles>
<FrontAxle maxSteering="0.5" wheelDiameter="0.6" trackWidth="1.8" positionX="3.1" positionZ="0.3"/>
<RearAxle maxSteering="0.0" wheelDiameter="0.6" trackWidth="1.8" positionX="0.0" positionZ="0.3"/>
</Axles>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Vehicle>
</ScenarioObject>
<ScenarioObject name="standing">
<Vehicle name="vehicle.volkswagen.t2" vehicleCategory="car">
<ParameterDeclarations/>
<Performance maxSpeed="69.444" maxAcceleration="200" maxDeceleration="10.0"/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2.1" length="4.5" height="1.8"/>
</BoundingBox>
<Axles>
<FrontAxle maxSteering="0.5" wheelDiameter="0.6" trackWidth="1.8" positionX="3.1" positionZ="0.3"/>
<RearAxle maxSteering="0.0" wheelDiameter="0.6" 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_17443">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_close_to_adversary_17444">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_w_transform_17445">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_w_transform_17446">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_close_to_standing_17448">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_w_transform_17449">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_close_to_adversary_17450">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_close_to_adversary_17451">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_close_to_standing_17453">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_close_to_hero_17454">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_w_transform_17457">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_close_to_adversary_17459">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_w_transform_17462">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_close_to_hero_17463">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_close_to_standing_17464">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
</Entities>
<Storyboard>
<Init>
<Actions>
<GlobalAction>
<EnvironmentAction>
<Environment name="Environment1">
<TimeOfDay animation="false" dateTime="2019-06-25T12:00:00"/>
<Weather cloudState="free">
<Sun intensity="0.85" azimuth="0" elevation="1.31"/>
<Fog visualRange="100000.0"/>
<Precipitation precipitationType="dry" intensity="0.0"/>
</Weather>
<RoadCondition frictionScaleFactor="1.0"/>
</Environment>
</EnvironmentAction>
</GlobalAction>
<Private entityRef="hero">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-9.4" y="-152.8" z="0.5" h="1.57079632679"/>
</Position>
</TeleportAction>
</PrivateAction>
<PrivateAction>
<ControllerAction>
<AssignControllerAction>
<Controller name="HeroAgent">
<Properties>
<Property name="module" value="external_control"/>
</Properties>
</Controller>
</AssignControllerAction>
<OverrideControllerValueAction>
<Throttle value="0" active="false"/>
<Brake value="0" active="false"/>
<Clutch value="0" active="false"/>
<ParkingBrake value="0" active="false"/>
<SteeringWheel value="0" active="false"/>
<Gear number="0" active="false"/>
</OverrideControllerValueAction>
</ControllerAction>
</PrivateAction>
</Private>
<Private entityRef="adversary">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-9.4" y="-71.0" z="0.5" h="1.57079632679"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="standing">
<PrivateAction>
<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_17443">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-4.069501876831055" y="-74.34779357910156" z="0.03382430970668793"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_close_to_adversary_17444">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-7.53084659576416" y="-75.48820495605469" z="0.033827513456344604"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_w_transform_17445">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="81.36668395996094" y="95.30689239501953" z="0.5"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_w_transform_17446">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="65.1628189086914" y="-2.748715877532959" z="0.5"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_close_to_standing_17448">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="1.3100693225860596" y="21.43201446533203" z="0.0030111311934888363"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_w_transform_17449">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="0.46550706028938293" y="39.45650863647461" z="0.5"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_close_to_adversary_17450">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="3.658400297164917" y="-73.4540786743164" z="0.03381866216659546"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_close_to_adversary_17451">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-12.36711311340332" y="-67.70463562011719" z="0.03382629156112671"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_close_to_standing_17453">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="0.24405047297477722" y="37.529361724853516" z="0.0030942154116928577"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_close_to_hero_17454">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-4.78595495223999" y="-143.49810791015625" z="0.0014286803780123591"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_w_transform_17457">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="16.82419204711914" y="-55.599632263183594" z="0.5"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_close_to_adversary_17459">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-1.7338632345199585" y="-78.13409423828125" z="0.03376327455043793"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_w_transform_17462">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-86.07225036621094" y="-80.24140930175781" z="0.5"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_close_to_hero_17463">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-2.8115270137786865" y="-142.95071411132812" z="0.0014286803780123591"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_close_to_standing_17464">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-17.35240936279297" y="20.882421493530273" z="0.0029971313197165728"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
</Actions>
</Init>
<Story name="MyStory">
<Act name="Behavior">
<ManeuverGroup maximumExecutionCount="1" name="ManeuverSequence">
<Actors selectTriggeringEntities="false">
<EntityRef entityRef="adversary"/>
</Actors>
<Maneuver name="LaneChangeSimpleManeuver">
<Event name="AdversaryAccelerates" priority="overwrite">
<Action name="AdversaryAccelerates">
<PrivateAction>
<LongitudinalAction>
<SpeedAction>
<SpeedActionDynamics dynamicsShape="step" value="50" dynamicsDimension="distance"/>
<SpeedActionTarget>
<AbsoluteTargetSpeed value="5.0"/>
</SpeedActionTarget>
</SpeedAction>
</LongitudinalAction>
</PrivateAction>
</Action>
<StartTrigger>
<ConditionGroup>
<Condition name="StartCondition" delay="0" conditionEdge="rising">
<ByEntityCondition>
<TriggeringEntities triggeringEntitiesRule="any">
<EntityRef entityRef="hero"/>
</TriggeringEntities>
<EntityCondition>
<RelativeDistanceCondition entityRef="adversary" relativeDistanceType="cartesianDistance" value="40.0" freespace="false" rule="lessThan"/>
</EntityCondition>
</ByEntityCondition>
</Condition>
</ConditionGroup>
</StartTrigger>
</Event>
<Event name="AdversaryChangesLane" priority="overwrite">
<Action name="AdversaryChangesLane">
<PrivateAction>
<LateralAction>
<LaneChangeAction>
<LaneChangeActionDynamics dynamicsShape="linear" value="25" dynamicsDimension="distance"/>
<LaneChangeTarget>
<RelativeTargetLane entityRef="adversary" value="-1"/>
</LaneChangeTarget>
</LaneChangeAction>
</LateralAction>
</PrivateAction>
</Action>
<StartTrigger>
<ConditionGroup>
<Condition name="AfterAdversaryAccelerates" delay="0" conditionEdge="rising">
<ByValueCondition>
<StoryboardElementStateCondition storyboardElementType="action" storyboardElementRef="AdversaryAccelerates" state="completeState"/>
</ByValueCondition>
</Condition>
</ConditionGroup>
</StartTrigger>
</Event>
</Maneuver>
</ManeuverGroup>
<StartTrigger>
<ConditionGroup>
<Condition name="OverallStartCondition" delay="0" conditionEdge="rising">
<ByEntityCondition>
<TriggeringEntities triggeringEntitiesRule="any">
<EntityRef entityRef="hero"/>
</TriggeringEntities>
<EntityCondition>
<TraveledDistanceCondition value="1.0"/>
</EntityCondition>
</ByEntityCondition>
</Condition>
<Condition name="StartTime" delay="0" conditionEdge="rising">
<ByValueCondition>
<SimulationTimeCondition value="0" rule="equalTo"/>
</ByValueCondition>
</Condition>
</ConditionGroup>
</StartTrigger>
<StopTrigger>
<ConditionGroup>
<Condition name="EndCondition" delay="0" conditionEdge="rising">
<ByEntityCondition>
<TriggeringEntities triggeringEntitiesRule="any">
<EntityRef entityRef="hero"/>
</TriggeringEntities>
<EntityCondition>
<TraveledDistanceCondition value="200.0"/>
</EntityCondition>
</ByEntityCondition>
</Condition>
</ConditionGroup>
</StopTrigger>
</Act>
</Story>
<StopTrigger>
<ConditionGroup>
<Condition name="criteria_RunningStopTest" delay="0" conditionEdge="rising">
<ByValueCondition>
<ParameterCondition parameterRef="" value="" rule="lessThan"/>
</ByValueCondition>
</Condition>
<Condition name="criteria_RunningRedLightTest" delay="0" conditionEdge="rising">
<ByValueCondition>
<ParameterCondition parameterRef="" value="" rule="lessThan"/>
</ByValueCondition>
</Condition>
<Condition name="criteria_WrongLaneTest" delay="0" conditionEdge="rising">
<ByValueCondition>
<ParameterCondition parameterRef="" value="" rule="lessThan"/>
</ByValueCondition>
</Condition>
<Condition name="criteria_OnSidewalkTest" delay="0" conditionEdge="rising">
<ByValueCondition>
<ParameterCondition parameterRef="" value="" rule="lessThan"/>
</ByValueCondition>
</Condition>
<Condition name="criteria_KeepLaneTest" delay="0" conditionEdge="rising">
<ByValueCondition>
<ParameterCondition parameterRef="" value="" rule="lessThan"/>
</ByValueCondition>
</Condition>
<Condition name="criteria_CollisionTest" delay="0" conditionEdge="rising">
<ByValueCondition>
<ParameterCondition parameterRef="" value="" rule="lessThan"/>
</ByValueCondition>
</Condition>
<Condition name="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_14344">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_close_to_standing_14345">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_close_to_adversary_14346">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_w_transform_14347">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_w_transform_14348">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_close_to_adversary_14350">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
</Entities>
<Storyboard>
<Init>
<Actions>
<GlobalAction>
<EnvironmentAction>
<Environment name="Environment1">
<TimeOfDay animation="false" dateTime="2019-06-25T12:00:00"/>
<Weather cloudState="free">
<Sun intensity="0.85" azimuth="0" elevation="1.31"/>
<Fog visualRange="100000.0"/>
<Precipitation precipitationType="dry" intensity="0.0"/>
</Weather>
<RoadCondition frictionScaleFactor="1.0"/>
</Environment>
</EnvironmentAction>
</GlobalAction>
<Private entityRef="hero">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-9.4" y="-152.8" z="0.5" h="1.57079632679"/>
</Position>
</TeleportAction>
</PrivateAction>
<PrivateAction>
<ControllerAction>
<AssignControllerAction>
<Controller name="HeroAgent">
<Properties>
<Property name="module" value="external_control"/>
</Properties>
</Controller>
</AssignControllerAction>
<OverrideControllerValueAction>
<Throttle value="0" active="false"/>
<Brake value="0" active="false"/>
<Clutch value="0" active="false"/>
<ParkingBrake value="0" active="false"/>
<SteeringWheel value="0" active="false"/>
<Gear number="0" active="false"/>
</OverrideControllerValueAction>
</ControllerAction>
</PrivateAction>
</Private>
<Private entityRef="adversary">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-9.4" y="-71.0" z="0.5" h="1.57079632679"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="standing">
<PrivateAction>
<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_14344">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-12.731428146362305" y="-148.53631591796875" z="0.0014286803780123591"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_close_to_standing_14345">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-17.334562301635742" y="19.681211471557617" z="0.003025703364983201"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_close_to_adversary_14346">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-12.420520782470703" y="-69.4476318359375" z="0.03378486633300781"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_w_transform_14347">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-17.412172317504883" y="-26.28575325012207" z="0.5"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_w_transform_14348">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-67.78755187988281" y="34.87604522705078" z="0.5"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_close_to_adversary_14350">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-10.091036796569824" y="-75.98152923583984" z="0.0337364561855793"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
</Actions>
</Init>
<Story name="MyStory">
<Act name="Behavior">
<ManeuverGroup maximumExecutionCount="1" name="ManeuverSequence">
<Actors selectTriggeringEntities="false">
<EntityRef entityRef="adversary"/>
</Actors>
<Maneuver name="LaneChangeSimpleManeuver">
<Event name="AdversaryAccelerates" priority="overwrite">
<Action name="AdversaryAccelerates">
<PrivateAction>
<LongitudinalAction>
<SpeedAction>
<SpeedActionDynamics dynamicsShape="step" value="50" dynamicsDimension="distance"/>
<SpeedActionTarget>
<AbsoluteTargetSpeed value="5.0"/>
</SpeedActionTarget>
</SpeedAction>
</LongitudinalAction>
</PrivateAction>
</Action>
<StartTrigger>
<ConditionGroup>
<Condition name="StartCondition" delay="0" conditionEdge="rising">
<ByEntityCondition>
<TriggeringEntities triggeringEntitiesRule="any">
<EntityRef entityRef="hero"/>
</TriggeringEntities>
<EntityCondition>
<RelativeDistanceCondition entityRef="adversary" relativeDistanceType="cartesianDistance" value="40.0" freespace="false" rule="lessThan"/>
</EntityCondition>
</ByEntityCondition>
</Condition>
</ConditionGroup>
</StartTrigger>
</Event>
<Event name="AdversaryChangesLane" priority="overwrite">
<Action name="AdversaryChangesLane">
<PrivateAction>
<LateralAction>
<LaneChangeAction>
<LaneChangeActionDynamics dynamicsShape="linear" value="25" dynamicsDimension="distance"/>
<LaneChangeTarget>
<RelativeTargetLane entityRef="adversary" value="-1"/>
</LaneChangeTarget>
</LaneChangeAction>
</LateralAction>
</PrivateAction>
</Action>
<StartTrigger>
<ConditionGroup>
<Condition name="AfterAdversaryAccelerates" delay="0" conditionEdge="rising">
<ByValueCondition>
<StoryboardElementStateCondition storyboardElementType="action" storyboardElementRef="AdversaryAccelerates" state="completeState"/>
</ByValueCondition>
</Condition>
</ConditionGroup>
</StartTrigger>
</Event>
</Maneuver>
</ManeuverGroup>
<StartTrigger>
<ConditionGroup>
<Condition name="OverallStartCondition" delay="0" conditionEdge="rising">
<ByEntityCondition>
<TriggeringEntities triggeringEntitiesRule="any">
<EntityRef entityRef="hero"/>
</TriggeringEntities>
<EntityCondition>
<TraveledDistanceCondition value="1.0"/>
</EntityCondition>
</ByEntityCondition>
</Condition>
<Condition name="StartTime" delay="0" conditionEdge="rising">
<ByValueCondition>
<SimulationTimeCondition value="0" rule="equalTo"/>
</ByValueCondition>
</Condition>
</ConditionGroup>
</StartTrigger>
<StopTrigger>
<ConditionGroup>
<Condition name="EndCondition" delay="0" conditionEdge="rising">
<ByEntityCondition>
<TriggeringEntities triggeringEntitiesRule="any">
<EntityRef entityRef="hero"/>
</TriggeringEntities>
<EntityCondition>
<TraveledDistanceCondition value="200.0"/>
</EntityCondition>
</ByEntityCondition>
</Condition>
</ConditionGroup>
</StopTrigger>
</Act>
</Story>
<StopTrigger>
<ConditionGroup>
<Condition name="criteria_RunningStopTest" delay="0" conditionEdge="rising">
<ByValueCondition>
<ParameterCondition parameterRef="" value="" rule="lessThan"/>
</ByValueCondition>
</Condition>
<Condition name="criteria_RunningRedLightTest" delay="0" conditionEdge="rising">
<ByValueCondition>
<ParameterCondition parameterRef="" value="" rule="lessThan"/>
</ByValueCondition>
</Condition>
<Condition name="criteria_WrongLaneTest" delay="0" conditionEdge="rising">
<ByValueCondition>
<ParameterCondition parameterRef="" value="" rule="lessThan"/>
</ByValueCondition>
</Condition>
<Condition name="criteria_OnSidewalkTest" delay="0" conditionEdge="rising">
<ByValueCondition>
<ParameterCondition parameterRef="" value="" rule="lessThan"/>
</ByValueCondition>
</Condition>
<Condition name="criteria_KeepLaneTest" delay="0" conditionEdge="rising">
<ByValueCondition>
<ParameterCondition parameterRef="" value="" rule="lessThan"/>
</ByValueCondition>
</Condition>
<Condition name="criteria_CollisionTest" delay="0" conditionEdge="rising">
<ByValueCondition>
<ParameterCondition parameterRef="" value="" rule="lessThan"/>
</ByValueCondition>
</Condition>
<Condition name="criteria_DrivenDistanceTest" delay="0" conditionEdge="rising">
<ByValueCondition>
<ParameterCondition parameterRef="distance_success" value="100" rule="lessThan"/>
</ByValueCondition>
</Condition>
</ConditionGroup>
</StopTrigger>
</Storyboard>
</OpenSCENARIO>
``` | Here is the result:
```
<?xml version="1.0" ?>
<OpenSCENARIO>
<FileHeader revMajor="1" revMinor="0" date="2020-03-24T12:00:00" description="CARLA:LaneChangeSimple" author=""/>
<ParameterDeclarations/>
<CatalogLocations/>
<RoadNetwork>
<LogicFile filepath="Town04"/>
<SceneGraphFile filepath=""/>
</RoadNetwork>
<Entities>
<ScenarioObject name="hero">
<Vehicle name="vehicle.tesla.model3" vehicleCategory="car">
<ParameterDeclarations/>
<Performance maxSpeed="69.444" maxAcceleration="200" maxDeceleration="10.0"/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2.1" length="4.5" height="1.8"/>
</BoundingBox>
<Axles>
<FrontAxle maxSteering="0.5" wheelDiameter="0.6" trackWidth="1.8" positionX="3.1" positionZ="0.3"/>
<RearAxle maxSteering="0.0" wheelDiameter="0.6" trackWidth="1.8" positionX="0.0" positionZ="0.3"/>
</Axles>
<Properties>
<Property name="type" value="ego_vehicle"/>
</Properties>
</Vehicle>
</ScenarioObject>
<ScenarioObject name="adversary">
<Vehicle name="vehicle.lincoln.mkz_2017" vehicleCategory="car">
<ParameterDeclarations/>
<Performance maxSpeed="69.444" maxAcceleration="200" maxDeceleration="10.0"/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2.1" length="4.5" height="1.8"/>
</BoundingBox>
<Axles>
<FrontAxle maxSteering="0.5" wheelDiameter="0.6" trackWidth="1.8" positionX="3.1" positionZ="0.3"/>
<RearAxle maxSteering="0.0" wheelDiameter="0.6" trackWidth="1.8" positionX="0.0" positionZ="0.3"/>
</Axles>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Vehicle>
</ScenarioObject>
<ScenarioObject name="standing">
<Vehicle name="vehicle.volkswagen.t2" vehicleCategory="car">
<ParameterDeclarations/>
<Performance maxSpeed="69.444" maxAcceleration="200" maxDeceleration="10.0"/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2.1" length="4.5" height="1.8"/>
</BoundingBox>
<Axles>
<FrontAxle maxSteering="0.5" wheelDiameter="0.6" trackWidth="1.8" positionX="3.1" positionZ="0.3"/>
<RearAxle maxSteering="0.0" wheelDiameter="0.6" 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_14344">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_close_to_standing_14345">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_close_to_adversary_14346">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_w_transform_14347">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_w_transform_14348">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_close_to_adversary_14350">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_close_to_standing_14351">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
</Entities>
<Storyboard>
<Init>
<Actions>
<GlobalAction>
<EnvironmentAction>
<Environment name="Environment1">
<TimeOfDay animation="false" dateTime="2019-06-25T12:00:00"/>
<Weather cloudState="free">
<Sun intensity="0.85" azimuth="0" elevation="1.31"/>
<Fog visualRange="100000.0"/>
<Precipitation precipitationType="dry" intensity="0.0"/>
</Weather>
<RoadCondition frictionScaleFactor="1.0"/>
</Environment>
</EnvironmentAction>
</GlobalAction>
<Private entityRef="hero">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-9.4" y="-152.8" z="0.5" h="1.57079632679"/>
</Position>
</TeleportAction>
</PrivateAction>
<PrivateAction>
<ControllerAction>
<AssignControllerAction>
<Controller name="HeroAgent">
<Properties>
<Property name="module" value="external_control"/>
</Properties>
</Controller>
</AssignControllerAction>
<OverrideControllerValueAction>
<Throttle value="0" active="false"/>
<Brake value="0" active="false"/>
<Clutch value="0" active="false"/>
<ParkingBrake value="0" active="false"/>
<SteeringWheel value="0" active="false"/>
<Gear number="0" active="false"/>
</OverrideControllerValueAction>
</ControllerAction>
</PrivateAction>
</Private>
<Private entityRef="adversary">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-9.4" y="-71.0" z="0.5" h="1.57079632679"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="standing">
<PrivateAction>
<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_14344">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-12.731428146362305" y="-148.53631591796875" z="0.0014286803780123591"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_close_to_standing_14345">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-17.334562301635742" y="19.681211471557617" z="0.003025703364983201"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_close_to_adversary_14346">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-12.420520782470703" y="-69.4476318359375" z="0.03378486633300781"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_w_transform_14347">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-17.412172317504883" y="-26.28575325012207" z="0.5"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_w_transform_14348">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-67.78755187988281" y="34.87604522705078" z="0.5"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_close_to_adversary_14350">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-10.091036796569824" y="-75.98152923583984" z="0.0337364561855793"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_close_to_standing_14351">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-13.065895080566406" y="22.010574340820312" z="0.0030543135944753885"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
</Actions>
</Init>
<Story name="MyStory">
<Act name="Behavior">
<ManeuverGroup maximumExecutionCount="1" name="ManeuverSequence">
<Actors selectTriggeringEntities="false">
<EntityRef entityRef="adversary"/>
</Actors>
<Maneuver name="LaneChangeSimpleManeuver">
<Event name="AdversaryAccelerates" priority="overwrite">
<Action name="AdversaryAccelerates">
<PrivateAction>
<LongitudinalAction>
<SpeedAction>
<SpeedActionDynamics dynamicsShape="step" value="50" dynamicsDimension="distance"/>
<SpeedActionTarget>
<AbsoluteTargetSpeed value="5.0"/>
</SpeedActionTarget>
</SpeedAction>
</LongitudinalAction>
</PrivateAction>
</Action>
<StartTrigger>
<ConditionGroup>
<Condition name="StartCondition" delay="0" conditionEdge="rising">
<ByEntityCondition>
<TriggeringEntities triggeringEntitiesRule="any">
<EntityRef entityRef="hero"/>
</TriggeringEntities>
<EntityCondition>
<RelativeDistanceCondition entityRef="adversary" relativeDistanceType="cartesianDistance" value="40.0" freespace="false" rule="lessThan"/>
</EntityCondition>
</ByEntityCondition>
</Condition>
</ConditionGroup>
</StartTrigger>
</Event>
<Event name="AdversaryChangesLane" priority="overwrite">
<Action name="AdversaryChangesLane">
<PrivateAction>
<LateralAction>
<LaneChangeAction>
<LaneChangeActionDynamics dynamicsShape="linear" value="25" dynamicsDimension="distance"/>
<LaneChangeTarget>
<RelativeTargetLane entityRef="adversary" value="-1"/>
</LaneChangeTarget>
</LaneChangeAction>
</LateralAction>
</PrivateAction>
</Action>
<StartTrigger>
<ConditionGroup>
<Condition name="AfterAdversaryAccelerates" delay="0" conditionEdge="rising">
<ByValueCondition>
<StoryboardElementStateCondition storyboardElementType="action" storyboardElementRef="AdversaryAccelerates" state="completeState"/>
</ByValueCondition>
</Condition>
</ConditionGroup>
</StartTrigger>
</Event>
</Maneuver>
</ManeuverGroup>
<StartTrigger>
<ConditionGroup>
<Condition name="OverallStartCondition" delay="0" conditionEdge="rising">
<ByEntityCondition>
<TriggeringEntities triggeringEntitiesRule="any">
<EntityRef entityRef="hero"/>
</TriggeringEntities>
<EntityCondition>
<TraveledDistanceCondition value="1.0"/>
</EntityCondition>
</ByEntityCondition>
</Condition>
<Condition name="StartTime" delay="0" conditionEdge="rising">
<ByValueCondition>
<SimulationTimeCondition value="0" rule="equalTo"/>
</ByValueCondition>
</Condition>
</ConditionGroup>
</StartTrigger>
<StopTrigger>
<ConditionGroup>
<Condition name="EndCondition" delay="0" conditionEdge="rising">
<ByEntityCondition>
<TriggeringEntities triggeringEntitiesRule="any">
<EntityRef entityRef="hero"/>
</TriggeringEntities>
<EntityCondition>
<TraveledDistanceCondition value="200.0"/>
</EntityCondition>
</ByEntityCondition>
</Condition>
</ConditionGroup>
</StopTrigger>
</Act>
</Story>
<StopTrigger>
<ConditionGroup>
<Condition name="criteria_RunningStopTest" delay="0" conditionEdge="rising">
<ByValueCondition>
<ParameterCondition parameterRef="" value="" rule="lessThan"/>
</ByValueCondition>
</Condition>
<Condition name="criteria_RunningRedLightTest" delay="0" conditionEdge="rising">
<ByValueCondition>
<ParameterCondition parameterRef="" value="" rule="lessThan"/>
</ByValueCondition>
</Condition>
<Condition name="criteria_WrongLaneTest" delay="0" conditionEdge="rising">
<ByValueCondition>
<ParameterCondition parameterRef="" value="" rule="lessThan"/>
</ByValueCondition>
</Condition>
<Condition name="criteria_OnSidewalkTest" delay="0" conditionEdge="rising">
<ByValueCondition>
<ParameterCondition parameterRef="" value="" rule="lessThan"/>
</ByValueCondition>
</Condition>
<Condition name="criteria_KeepLaneTest" delay="0" conditionEdge="rising">
<ByValueCondition>
<ParameterCondition parameterRef="" value="" rule="lessThan"/>
</ByValueCondition>
</Condition>
<Condition name="criteria_CollisionTest" delay="0" conditionEdge="rising">
<ByValueCondition>
<ParameterCondition parameterRef="" value="" rule="lessThan"/>
</ByValueCondition>
</Condition>
<Condition name="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 (46.57, -70.23, 0.5)?
```
<?xml version="1.0" ?>
<OpenSCENARIO>
<FileHeader revMajor="1" revMinor="0" date="2020-03-24T12:00:00" description="CARLA:LaneChangeSimple" author=""/>
<ParameterDeclarations/>
<CatalogLocations/>
<RoadNetwork>
<LogicFile filepath="Town04"/>
<SceneGraphFile filepath=""/>
</RoadNetwork>
<Entities>
<ScenarioObject name="hero">
<Vehicle name="vehicle.tesla.model3" vehicleCategory="car">
<ParameterDeclarations/>
<Performance maxSpeed="69.444" maxAcceleration="200" maxDeceleration="10.0"/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2.1" length="4.5" height="1.8"/>
</BoundingBox>
<Axles>
<FrontAxle maxSteering="0.5" wheelDiameter="0.6" trackWidth="1.8" positionX="3.1" positionZ="0.3"/>
<RearAxle maxSteering="0.0" wheelDiameter="0.6" trackWidth="1.8" positionX="0.0" positionZ="0.3"/>
</Axles>
<Properties>
<Property name="type" value="ego_vehicle"/>
</Properties>
</Vehicle>
</ScenarioObject>
<ScenarioObject name="adversary">
<Vehicle name="vehicle.lincoln.mkz_2017" vehicleCategory="car">
<ParameterDeclarations/>
<Performance maxSpeed="69.444" maxAcceleration="200" maxDeceleration="10.0"/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2.1" length="4.5" height="1.8"/>
</BoundingBox>
<Axles>
<FrontAxle maxSteering="0.5" wheelDiameter="0.6" trackWidth="1.8" positionX="3.1" positionZ="0.3"/>
<RearAxle maxSteering="0.0" wheelDiameter="0.6" trackWidth="1.8" positionX="0.0" positionZ="0.3"/>
</Axles>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Vehicle>
</ScenarioObject>
<ScenarioObject name="standing">
<Vehicle name="vehicle.volkswagen.t2" vehicleCategory="car">
<ParameterDeclarations/>
<Performance maxSpeed="69.444" maxAcceleration="200" maxDeceleration="10.0"/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2.1" length="4.5" height="1.8"/>
</BoundingBox>
<Axles>
<FrontAxle maxSteering="0.5" wheelDiameter="0.6" trackWidth="1.8" positionX="3.1" positionZ="0.3"/>
<RearAxle maxSteering="0.0" wheelDiameter="0.6" trackWidth="1.8" positionX="0.0" positionZ="0.3"/>
</Axles>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Vehicle>
</ScenarioObject>
<ScenarioObject name="pedestrian_close_to_adversary_4623">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_close_to_standing_4624">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_close_to_adversary_4626">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_w_transform_4627">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_w_transform_4628">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
</Entities>
<Storyboard>
<Init>
<Actions>
<GlobalAction>
<EnvironmentAction>
<Environment name="Environment1">
<TimeOfDay animation="false" dateTime="2019-06-25T12:00:00"/>
<Weather cloudState="free">
<Sun intensity="0.85" azimuth="0" elevation="1.31"/>
<Fog visualRange="100000.0"/>
<Precipitation precipitationType="dry" intensity="0.0"/>
</Weather>
<RoadCondition frictionScaleFactor="1.0"/>
</Environment>
</EnvironmentAction>
</GlobalAction>
<Private entityRef="hero">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-9.4" y="-152.8" z="0.5" h="1.57079632679"/>
</Position>
</TeleportAction>
</PrivateAction>
<PrivateAction>
<ControllerAction>
<AssignControllerAction>
<Controller name="HeroAgent">
<Properties>
<Property name="module" value="external_control"/>
</Properties>
</Controller>
</AssignControllerAction>
<OverrideControllerValueAction>
<Throttle value="0" active="false"/>
<Brake value="0" active="false"/>
<Clutch value="0" active="false"/>
<ParkingBrake value="0" active="false"/>
<SteeringWheel value="0" active="false"/>
<Gear number="0" active="false"/>
</OverrideControllerValueAction>
</ControllerAction>
</PrivateAction>
</Private>
<Private entityRef="adversary">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-9.4" y="-71.0" z="0.5" h="1.57079632679"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="standing">
<PrivateAction>
<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_4623">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-4.6006598472595215" y="-66.77628326416016" z="0.033772047609090805"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_close_to_standing_4624">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-14.987500190734863" y="19.378570556640625" z="0.0030335234478116035"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_close_to_adversary_4626">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-15.834482192993164" y="-76.55223083496094" z="0.0337989404797554"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_w_transform_4627">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-35.42243957519531" y="27.995813369750977" z="0.5"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_w_transform_4628">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-84.60955810546875" y="-44.479923248291016" z="0.5"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
</Actions>
</Init>
<Story name="MyStory">
<Act name="Behavior">
<ManeuverGroup maximumExecutionCount="1" name="ManeuverSequence">
<Actors selectTriggeringEntities="false">
<EntityRef entityRef="adversary"/>
</Actors>
<Maneuver name="LaneChangeSimpleManeuver">
<Event name="AdversaryAccelerates" priority="overwrite">
<Action name="AdversaryAccelerates">
<PrivateAction>
<LongitudinalAction>
<SpeedAction>
<SpeedActionDynamics dynamicsShape="step" value="50" dynamicsDimension="distance"/>
<SpeedActionTarget>
<AbsoluteTargetSpeed value="5.0"/>
</SpeedActionTarget>
</SpeedAction>
</LongitudinalAction>
</PrivateAction>
</Action>
<StartTrigger>
<ConditionGroup>
<Condition name="StartCondition" delay="0" conditionEdge="rising">
<ByEntityCondition>
<TriggeringEntities triggeringEntitiesRule="any">
<EntityRef entityRef="hero"/>
</TriggeringEntities>
<EntityCondition>
<RelativeDistanceCondition entityRef="adversary" relativeDistanceType="cartesianDistance" value="40.0" freespace="false" rule="lessThan"/>
</EntityCondition>
</ByEntityCondition>
</Condition>
</ConditionGroup>
</StartTrigger>
</Event>
<Event name="AdversaryChangesLane" priority="overwrite">
<Action name="AdversaryChangesLane">
<PrivateAction>
<LateralAction>
<LaneChangeAction>
<LaneChangeActionDynamics dynamicsShape="linear" value="25" dynamicsDimension="distance"/>
<LaneChangeTarget>
<RelativeTargetLane entityRef="adversary" value="-1"/>
</LaneChangeTarget>
</LaneChangeAction>
</LateralAction>
</PrivateAction>
</Action>
<StartTrigger>
<ConditionGroup>
<Condition name="AfterAdversaryAccelerates" delay="0" conditionEdge="rising">
<ByValueCondition>
<StoryboardElementStateCondition storyboardElementType="action" storyboardElementRef="AdversaryAccelerates" state="completeState"/>
</ByValueCondition>
</Condition>
</ConditionGroup>
</StartTrigger>
</Event>
</Maneuver>
</ManeuverGroup>
<StartTrigger>
<ConditionGroup>
<Condition name="OverallStartCondition" delay="0" conditionEdge="rising">
<ByEntityCondition>
<TriggeringEntities triggeringEntitiesRule="any">
<EntityRef entityRef="hero"/>
</TriggeringEntities>
<EntityCondition>
<TraveledDistanceCondition value="1.0"/>
</EntityCondition>
</ByEntityCondition>
</Condition>
<Condition name="StartTime" delay="0" conditionEdge="rising">
<ByValueCondition>
<SimulationTimeCondition value="0" rule="equalTo"/>
</ByValueCondition>
</Condition>
</ConditionGroup>
</StartTrigger>
<StopTrigger>
<ConditionGroup>
<Condition name="EndCondition" delay="0" conditionEdge="rising">
<ByEntityCondition>
<TriggeringEntities triggeringEntitiesRule="any">
<EntityRef entityRef="hero"/>
</TriggeringEntities>
<EntityCondition>
<TraveledDistanceCondition value="200.0"/>
</EntityCondition>
</ByEntityCondition>
</Condition>
</ConditionGroup>
</StopTrigger>
</Act>
</Story>
<StopTrigger>
<ConditionGroup>
<Condition name="criteria_RunningStopTest" delay="0" conditionEdge="rising">
<ByValueCondition>
<ParameterCondition parameterRef="" value="" rule="lessThan"/>
</ByValueCondition>
</Condition>
<Condition name="criteria_RunningRedLightTest" delay="0" conditionEdge="rising">
<ByValueCondition>
<ParameterCondition parameterRef="" value="" rule="lessThan"/>
</ByValueCondition>
</Condition>
<Condition name="criteria_WrongLaneTest" delay="0" conditionEdge="rising">
<ByValueCondition>
<ParameterCondition parameterRef="" value="" rule="lessThan"/>
</ByValueCondition>
</Condition>
<Condition name="criteria_OnSidewalkTest" delay="0" conditionEdge="rising">
<ByValueCondition>
<ParameterCondition parameterRef="" value="" rule="lessThan"/>
</ByValueCondition>
</Condition>
<Condition name="criteria_KeepLaneTest" delay="0" conditionEdge="rising">
<ByValueCondition>
<ParameterCondition parameterRef="" value="" rule="lessThan"/>
</ByValueCondition>
</Condition>
<Condition name="criteria_CollisionTest" delay="0" conditionEdge="rising">
<ByValueCondition>
<ParameterCondition parameterRef="" value="" rule="lessThan"/>
</ByValueCondition>
</Condition>
<Condition name="criteria_DrivenDistanceTest" delay="0" conditionEdge="rising">
<ByValueCondition>
<ParameterCondition parameterRef="distance_success" value="100" rule="lessThan"/>
</ByValueCondition>
</Condition>
</ConditionGroup>
</StopTrigger>
</Storyboard>
</OpenSCENARIO>
``` | Here is the result:
```
<?xml version="1.0" ?>
<OpenSCENARIO>
<FileHeader revMajor="1" revMinor="0" date="2020-03-24T12:00:00" description="CARLA:LaneChangeSimple" author=""/>
<ParameterDeclarations/>
<CatalogLocations/>
<RoadNetwork>
<LogicFile filepath="Town04"/>
<SceneGraphFile filepath=""/>
</RoadNetwork>
<Entities>
<ScenarioObject name="hero">
<Vehicle name="vehicle.tesla.model3" vehicleCategory="car">
<ParameterDeclarations/>
<Performance maxSpeed="69.444" maxAcceleration="200" maxDeceleration="10.0"/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2.1" length="4.5" height="1.8"/>
</BoundingBox>
<Axles>
<FrontAxle maxSteering="0.5" wheelDiameter="0.6" trackWidth="1.8" positionX="3.1" positionZ="0.3"/>
<RearAxle maxSteering="0.0" wheelDiameter="0.6" trackWidth="1.8" positionX="0.0" positionZ="0.3"/>
</Axles>
<Properties>
<Property name="type" value="ego_vehicle"/>
</Properties>
</Vehicle>
</ScenarioObject>
<ScenarioObject name="adversary">
<Vehicle name="vehicle.lincoln.mkz_2017" vehicleCategory="car">
<ParameterDeclarations/>
<Performance maxSpeed="69.444" maxAcceleration="200" maxDeceleration="10.0"/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2.1" length="4.5" height="1.8"/>
</BoundingBox>
<Axles>
<FrontAxle maxSteering="0.5" wheelDiameter="0.6" trackWidth="1.8" positionX="3.1" positionZ="0.3"/>
<RearAxle maxSteering="0.0" wheelDiameter="0.6" trackWidth="1.8" positionX="0.0" positionZ="0.3"/>
</Axles>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Vehicle>
</ScenarioObject>
<ScenarioObject name="standing">
<Vehicle name="vehicle.volkswagen.t2" vehicleCategory="car">
<ParameterDeclarations/>
<Performance maxSpeed="69.444" maxAcceleration="200" maxDeceleration="10.0"/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2.1" length="4.5" height="1.8"/>
</BoundingBox>
<Axles>
<FrontAxle maxSteering="0.5" wheelDiameter="0.6" trackWidth="1.8" positionX="3.1" positionZ="0.3"/>
<RearAxle maxSteering="0.0" wheelDiameter="0.6" 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_4623">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_close_to_standing_4624">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_close_to_adversary_4626">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_w_transform_4627">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_w_transform_4628">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_w_transform_4629">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
</Entities>
<Storyboard>
<Init>
<Actions>
<GlobalAction>
<EnvironmentAction>
<Environment name="Environment1">
<TimeOfDay animation="false" dateTime="2019-06-25T12:00:00"/>
<Weather cloudState="free">
<Sun intensity="0.85" azimuth="0" elevation="1.31"/>
<Fog visualRange="100000.0"/>
<Precipitation precipitationType="dry" intensity="0.0"/>
</Weather>
<RoadCondition frictionScaleFactor="1.0"/>
</Environment>
</EnvironmentAction>
</GlobalAction>
<Private entityRef="hero">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-9.4" y="-152.8" z="0.5" h="1.57079632679"/>
</Position>
</TeleportAction>
</PrivateAction>
<PrivateAction>
<ControllerAction>
<AssignControllerAction>
<Controller name="HeroAgent">
<Properties>
<Property name="module" value="external_control"/>
</Properties>
</Controller>
</AssignControllerAction>
<OverrideControllerValueAction>
<Throttle value="0" active="false"/>
<Brake value="0" active="false"/>
<Clutch value="0" active="false"/>
<ParkingBrake value="0" active="false"/>
<SteeringWheel value="0" active="false"/>
<Gear number="0" active="false"/>
</OverrideControllerValueAction>
</ControllerAction>
</PrivateAction>
</Private>
<Private entityRef="adversary">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-9.4" y="-71.0" z="0.5" h="1.57079632679"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="standing">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-8.2" y="29.2" z="0.5" h="1.57079632679"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_close_to_adversary_4623">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-4.6006598472595215" y="-66.77628326416016" z="0.033772047609090805"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_close_to_standing_4624">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-14.987500190734863" y="19.378570556640625" z="0.0030335234478116035"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_close_to_adversary_4626">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-15.834482192993164" y="-76.55223083496094" z="0.0337989404797554"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_w_transform_4627">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-35.42243957519531" y="27.995813369750977" z="0.5"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_w_transform_4628">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-84.60955810546875" y="-44.479923248291016" z="0.5"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_w_transform_4629">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="46.57084274291992" y="-70.23369598388672" z="0.5"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
</Actions>
</Init>
<Story name="MyStory">
<Act name="Behavior">
<ManeuverGroup maximumExecutionCount="1" name="ManeuverSequence">
<Actors selectTriggeringEntities="false">
<EntityRef entityRef="adversary"/>
</Actors>
<Maneuver name="LaneChangeSimpleManeuver">
<Event name="AdversaryAccelerates" priority="overwrite">
<Action name="AdversaryAccelerates">
<PrivateAction>
<LongitudinalAction>
<SpeedAction>
<SpeedActionDynamics dynamicsShape="step" value="50" dynamicsDimension="distance"/>
<SpeedActionTarget>
<AbsoluteTargetSpeed value="5.0"/>
</SpeedActionTarget>
</SpeedAction>
</LongitudinalAction>
</PrivateAction>
</Action>
<StartTrigger>
<ConditionGroup>
<Condition name="StartCondition" delay="0" conditionEdge="rising">
<ByEntityCondition>
<TriggeringEntities triggeringEntitiesRule="any">
<EntityRef entityRef="hero"/>
</TriggeringEntities>
<EntityCondition>
<RelativeDistanceCondition entityRef="adversary" relativeDistanceType="cartesianDistance" value="40.0" freespace="false" rule="lessThan"/>
</EntityCondition>
</ByEntityCondition>
</Condition>
</ConditionGroup>
</StartTrigger>
</Event>
<Event name="AdversaryChangesLane" priority="overwrite">
<Action name="AdversaryChangesLane">
<PrivateAction>
<LateralAction>
<LaneChangeAction>
<LaneChangeActionDynamics dynamicsShape="linear" value="25" dynamicsDimension="distance"/>
<LaneChangeTarget>
<RelativeTargetLane entityRef="adversary" value="-1"/>
</LaneChangeTarget>
</LaneChangeAction>
</LateralAction>
</PrivateAction>
</Action>
<StartTrigger>
<ConditionGroup>
<Condition name="AfterAdversaryAccelerates" delay="0" conditionEdge="rising">
<ByValueCondition>
<StoryboardElementStateCondition storyboardElementType="action" storyboardElementRef="AdversaryAccelerates" state="completeState"/>
</ByValueCondition>
</Condition>
</ConditionGroup>
</StartTrigger>
</Event>
</Maneuver>
</ManeuverGroup>
<StartTrigger>
<ConditionGroup>
<Condition name="OverallStartCondition" delay="0" conditionEdge="rising">
<ByEntityCondition>
<TriggeringEntities triggeringEntitiesRule="any">
<EntityRef entityRef="hero"/>
</TriggeringEntities>
<EntityCondition>
<TraveledDistanceCondition value="1.0"/>
</EntityCondition>
</ByEntityCondition>
</Condition>
<Condition name="StartTime" delay="0" conditionEdge="rising">
<ByValueCondition>
<SimulationTimeCondition value="0" rule="equalTo"/>
</ByValueCondition>
</Condition>
</ConditionGroup>
</StartTrigger>
<StopTrigger>
<ConditionGroup>
<Condition name="EndCondition" delay="0" conditionEdge="rising">
<ByEntityCondition>
<TriggeringEntities triggeringEntitiesRule="any">
<EntityRef entityRef="hero"/>
</TriggeringEntities>
<EntityCondition>
<TraveledDistanceCondition value="200.0"/>
</EntityCondition>
</ByEntityCondition>
</Condition>
</ConditionGroup>
</StopTrigger>
</Act>
</Story>
<StopTrigger>
<ConditionGroup>
<Condition name="criteria_RunningStopTest" delay="0" conditionEdge="rising">
<ByValueCondition>
<ParameterCondition parameterRef="" value="" rule="lessThan"/>
</ByValueCondition>
</Condition>
<Condition name="criteria_RunningRedLightTest" delay="0" conditionEdge="rising">
<ByValueCondition>
<ParameterCondition parameterRef="" value="" rule="lessThan"/>
</ByValueCondition>
</Condition>
<Condition name="criteria_WrongLaneTest" delay="0" conditionEdge="rising">
<ByValueCondition>
<ParameterCondition parameterRef="" value="" rule="lessThan"/>
</ByValueCondition>
</Condition>
<Condition name="criteria_OnSidewalkTest" delay="0" conditionEdge="rising">
<ByValueCondition>
<ParameterCondition parameterRef="" value="" rule="lessThan"/>
</ByValueCondition>
</Condition>
<Condition name="criteria_KeepLaneTest" delay="0" conditionEdge="rising">
<ByValueCondition>
<ParameterCondition parameterRef="" value="" rule="lessThan"/>
</ByValueCondition>
</Condition>
<Condition name="criteria_CollisionTest" delay="0" conditionEdge="rising">
<ByValueCondition>
<ParameterCondition parameterRef="" value="" rule="lessThan"/>
</ByValueCondition>
</Condition>
<Condition name="criteria_DrivenDistanceTest" delay="0" conditionEdge="rising">
<ByValueCondition>
<ParameterCondition parameterRef="distance_success" value="100" rule="lessThan"/>
</ByValueCondition>
</Condition>
</ConditionGroup>
</StopTrigger>
</Storyboard>
</OpenSCENARIO>
``` |
i need you to add pedestrian close to adversary?
```
<?xml version="1.0" ?>
<OpenSCENARIO>
<FileHeader revMajor="1" revMinor="0" date="2020-03-24T12:00:00" description="CARLA:LaneChangeSimple" author=""/>
<ParameterDeclarations/>
<CatalogLocations/>
<RoadNetwork>
<LogicFile filepath="Town04"/>
<SceneGraphFile filepath=""/>
</RoadNetwork>
<Entities>
<ScenarioObject name="hero">
<Vehicle name="vehicle.tesla.model3" vehicleCategory="car">
<ParameterDeclarations/>
<Performance maxSpeed="69.444" maxAcceleration="200" maxDeceleration="10.0"/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2.1" length="4.5" height="1.8"/>
</BoundingBox>
<Axles>
<FrontAxle maxSteering="0.5" wheelDiameter="0.6" trackWidth="1.8" positionX="3.1" positionZ="0.3"/>
<RearAxle maxSteering="0.0" wheelDiameter="0.6" trackWidth="1.8" positionX="0.0" positionZ="0.3"/>
</Axles>
<Properties>
<Property name="type" value="ego_vehicle"/>
</Properties>
</Vehicle>
</ScenarioObject>
<ScenarioObject name="adversary">
<Vehicle name="vehicle.lincoln.mkz_2017" vehicleCategory="car">
<ParameterDeclarations/>
<Performance maxSpeed="69.444" maxAcceleration="200" maxDeceleration="10.0"/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2.1" length="4.5" height="1.8"/>
</BoundingBox>
<Axles>
<FrontAxle maxSteering="0.5" wheelDiameter="0.6" trackWidth="1.8" positionX="3.1" positionZ="0.3"/>
<RearAxle maxSteering="0.0" wheelDiameter="0.6" trackWidth="1.8" positionX="0.0" positionZ="0.3"/>
</Axles>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Vehicle>
</ScenarioObject>
<ScenarioObject name="standing">
<Vehicle name="vehicle.volkswagen.t2" vehicleCategory="car">
<ParameterDeclarations/>
<Performance maxSpeed="69.444" maxAcceleration="200" maxDeceleration="10.0"/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2.1" length="4.5" height="1.8"/>
</BoundingBox>
<Axles>
<FrontAxle maxSteering="0.5" wheelDiameter="0.6" trackWidth="1.8" positionX="3.1" positionZ="0.3"/>
<RearAxle maxSteering="0.0" wheelDiameter="0.6" trackWidth="1.8" positionX="0.0" positionZ="0.3"/>
</Axles>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Vehicle>
</ScenarioObject>
<ScenarioObject name="pedestrian_close_to_adversary_9981">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_close_to_hero_9982">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_w_transform_9983">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_close_to_standing_9986">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_w_transform_9987">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_close_to_standing_9988">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_w_transform_9989">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_close_to_hero_9990">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_w_transform_9991">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_w_transform_9992">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_close_to_hero_9993">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_w_transform_9994">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_w_transform_9995">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_w_transform_9996">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_close_to_standing_9997">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_close_to_adversary_9998">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_w_transform_9999">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_close_to_adversary_10001">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_close_to_hero_10002">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_w_transform_10003">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_close_to_hero_10005">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_close_to_adversary_10006">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
</Entities>
<Storyboard>
<Init>
<Actions>
<GlobalAction>
<EnvironmentAction>
<Environment name="Environment1">
<TimeOfDay animation="false" dateTime="2019-06-25T12:00:00"/>
<Weather cloudState="free">
<Sun intensity="0.85" azimuth="0" elevation="1.31"/>
<Fog visualRange="100000.0"/>
<Precipitation precipitationType="dry" intensity="0.0"/>
</Weather>
<RoadCondition frictionScaleFactor="1.0"/>
</Environment>
</EnvironmentAction>
</GlobalAction>
<Private entityRef="hero">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-9.4" y="-152.8" z="0.5" h="1.57079632679"/>
</Position>
</TeleportAction>
</PrivateAction>
<PrivateAction>
<ControllerAction>
<AssignControllerAction>
<Controller name="HeroAgent">
<Properties>
<Property name="module" value="external_control"/>
</Properties>
</Controller>
</AssignControllerAction>
<OverrideControllerValueAction>
<Throttle value="0" active="false"/>
<Brake value="0" active="false"/>
<Clutch value="0" active="false"/>
<ParkingBrake value="0" active="false"/>
<SteeringWheel value="0" active="false"/>
<Gear number="0" active="false"/>
</OverrideControllerValueAction>
</ControllerAction>
</PrivateAction>
</Private>
<Private entityRef="adversary">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-9.4" y="-71.0" z="0.5" h="1.57079632679"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="standing">
<PrivateAction>
<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_9981">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-10.302963256835938" y="-54.95423889160156" z="0.03373924270272255"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_close_to_hero_9982">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-13.548893928527832" y="-160.9881134033203" z="0.0014286803780123591"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_w_transform_9983">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-49.327030181884766" y="-1.9198983907699585" z="0.5"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_close_to_standing_9986">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-13.705696105957031" y="32.46044158935547" z="0.003089980920776725"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_w_transform_9987">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="91.4127426147461" y="78.98304748535156" z="0.5"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_close_to_standing_9988">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-6.06946325302124" y="22.90362548828125" z="0.0030261229258030653"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_w_transform_9989">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="3.6706085205078125" y="96.8794937133789" z="0.5"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_close_to_hero_9990">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-10.068368911743164" y="-147.20681762695312" z="0.0014286803780123591"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_w_transform_9991">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="36.53767395019531" y="-85.1327133178711" z="0.5"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_w_transform_9992">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-18.325441360473633" y="-21.71955680847168" z="0.5"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_close_to_hero_9993">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-2.2260897159576416" y="-157.6420440673828" z="0.0014286803780123591"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_w_transform_9994">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-36.79779815673828" y="-98.24981689453125" z="0.5"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_w_transform_9995">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-19.05292320251465" y="-69.06116485595703" z="0.5"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_w_transform_9996">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-43.816524505615234" y="-4.390108108520508" z="0.5"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_close_to_standing_9997">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-12.945783615112305" y="29.135061264038086" z="0.003119888249784708"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_close_to_adversary_9998">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-3.2664432525634766" y="-62.73848342895508" z="0.03386329486966133"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_w_transform_9999">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-34.75234603881836" y="-77.44801330566406" z="0.5"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_close_to_adversary_10001">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-1.726979374885559" y="-74.935302734375" z="0.03381950408220291"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_close_to_hero_10002">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-3.1922311782836914" y="-161.3182830810547" z="0.0014286803780123591"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_w_transform_10003">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-4.739749908447266" y="61.46919250488281" z="0.5"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_close_to_hero_10005">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="8.026876449584961" y="-162.09078979492188" z="0.0014286803780123591"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_close_to_adversary_10006">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-13.584785461425781" y="-80.22026062011719" z="0.033760376274585724"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
</Actions>
</Init>
<Story name="MyStory">
<Act name="Behavior">
<ManeuverGroup maximumExecutionCount="1" name="ManeuverSequence">
<Actors selectTriggeringEntities="false">
<EntityRef entityRef="adversary"/>
</Actors>
<Maneuver name="LaneChangeSimpleManeuver">
<Event name="AdversaryAccelerates" priority="overwrite">
<Action name="AdversaryAccelerates">
<PrivateAction>
<LongitudinalAction>
<SpeedAction>
<SpeedActionDynamics dynamicsShape="step" value="50" dynamicsDimension="distance"/>
<SpeedActionTarget>
<AbsoluteTargetSpeed value="5.0"/>
</SpeedActionTarget>
</SpeedAction>
</LongitudinalAction>
</PrivateAction>
</Action>
<StartTrigger>
<ConditionGroup>
<Condition name="StartCondition" delay="0" conditionEdge="rising">
<ByEntityCondition>
<TriggeringEntities triggeringEntitiesRule="any">
<EntityRef entityRef="hero"/>
</TriggeringEntities>
<EntityCondition>
<RelativeDistanceCondition entityRef="adversary" relativeDistanceType="cartesianDistance" value="40.0" freespace="false" rule="lessThan"/>
</EntityCondition>
</ByEntityCondition>
</Condition>
</ConditionGroup>
</StartTrigger>
</Event>
<Event name="AdversaryChangesLane" priority="overwrite">
<Action name="AdversaryChangesLane">
<PrivateAction>
<LateralAction>
<LaneChangeAction>
<LaneChangeActionDynamics dynamicsShape="linear" value="25" dynamicsDimension="distance"/>
<LaneChangeTarget>
<RelativeTargetLane entityRef="adversary" value="-1"/>
</LaneChangeTarget>
</LaneChangeAction>
</LateralAction>
</PrivateAction>
</Action>
<StartTrigger>
<ConditionGroup>
<Condition name="AfterAdversaryAccelerates" delay="0" conditionEdge="rising">
<ByValueCondition>
<StoryboardElementStateCondition storyboardElementType="action" storyboardElementRef="AdversaryAccelerates" state="completeState"/>
</ByValueCondition>
</Condition>
</ConditionGroup>
</StartTrigger>
</Event>
</Maneuver>
</ManeuverGroup>
<StartTrigger>
<ConditionGroup>
<Condition name="OverallStartCondition" delay="0" conditionEdge="rising">
<ByEntityCondition>
<TriggeringEntities triggeringEntitiesRule="any">
<EntityRef entityRef="hero"/>
</TriggeringEntities>
<EntityCondition>
<TraveledDistanceCondition value="1.0"/>
</EntityCondition>
</ByEntityCondition>
</Condition>
<Condition name="StartTime" delay="0" conditionEdge="rising">
<ByValueCondition>
<SimulationTimeCondition value="0" rule="equalTo"/>
</ByValueCondition>
</Condition>
</ConditionGroup>
</StartTrigger>
<StopTrigger>
<ConditionGroup>
<Condition name="EndCondition" delay="0" conditionEdge="rising">
<ByEntityCondition>
<TriggeringEntities triggeringEntitiesRule="any">
<EntityRef entityRef="hero"/>
</TriggeringEntities>
<EntityCondition>
<TraveledDistanceCondition value="200.0"/>
</EntityCondition>
</ByEntityCondition>
</Condition>
</ConditionGroup>
</StopTrigger>
</Act>
</Story>
<StopTrigger>
<ConditionGroup>
<Condition name="criteria_RunningStopTest" delay="0" conditionEdge="rising">
<ByValueCondition>
<ParameterCondition parameterRef="" value="" rule="lessThan"/>
</ByValueCondition>
</Condition>
<Condition name="criteria_RunningRedLightTest" delay="0" conditionEdge="rising">
<ByValueCondition>
<ParameterCondition parameterRef="" value="" rule="lessThan"/>
</ByValueCondition>
</Condition>
<Condition name="criteria_WrongLaneTest" delay="0" conditionEdge="rising">
<ByValueCondition>
<ParameterCondition parameterRef="" value="" rule="lessThan"/>
</ByValueCondition>
</Condition>
<Condition name="criteria_OnSidewalkTest" delay="0" conditionEdge="rising">
<ByValueCondition>
<ParameterCondition parameterRef="" value="" rule="lessThan"/>
</ByValueCondition>
</Condition>
<Condition name="criteria_KeepLaneTest" delay="0" conditionEdge="rising">
<ByValueCondition>
<ParameterCondition parameterRef="" value="" rule="lessThan"/>
</ByValueCondition>
</Condition>
<Condition name="criteria_CollisionTest" delay="0" conditionEdge="rising">
<ByValueCondition>
<ParameterCondition parameterRef="" value="" rule="lessThan"/>
</ByValueCondition>
</Condition>
<Condition name="criteria_DrivenDistanceTest" delay="0" conditionEdge="rising">
<ByValueCondition>
<ParameterCondition parameterRef="distance_success" value="100" rule="lessThan"/>
</ByValueCondition>
</Condition>
</ConditionGroup>
</StopTrigger>
</Storyboard>
</OpenSCENARIO>
``` | Here is the result:
```
<?xml version="1.0" ?>
<OpenSCENARIO>
<FileHeader revMajor="1" revMinor="0" date="2020-03-24T12:00:00" description="CARLA:LaneChangeSimple" author=""/>
<ParameterDeclarations/>
<CatalogLocations/>
<RoadNetwork>
<LogicFile filepath="Town04"/>
<SceneGraphFile filepath=""/>
</RoadNetwork>
<Entities>
<ScenarioObject name="hero">
<Vehicle name="vehicle.tesla.model3" vehicleCategory="car">
<ParameterDeclarations/>
<Performance maxSpeed="69.444" maxAcceleration="200" maxDeceleration="10.0"/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2.1" length="4.5" height="1.8"/>
</BoundingBox>
<Axles>
<FrontAxle maxSteering="0.5" wheelDiameter="0.6" trackWidth="1.8" positionX="3.1" positionZ="0.3"/>
<RearAxle maxSteering="0.0" wheelDiameter="0.6" trackWidth="1.8" positionX="0.0" positionZ="0.3"/>
</Axles>
<Properties>
<Property name="type" value="ego_vehicle"/>
</Properties>
</Vehicle>
</ScenarioObject>
<ScenarioObject name="adversary">
<Vehicle name="vehicle.lincoln.mkz_2017" vehicleCategory="car">
<ParameterDeclarations/>
<Performance maxSpeed="69.444" maxAcceleration="200" maxDeceleration="10.0"/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2.1" length="4.5" height="1.8"/>
</BoundingBox>
<Axles>
<FrontAxle maxSteering="0.5" wheelDiameter="0.6" trackWidth="1.8" positionX="3.1" positionZ="0.3"/>
<RearAxle maxSteering="0.0" wheelDiameter="0.6" trackWidth="1.8" positionX="0.0" positionZ="0.3"/>
</Axles>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Vehicle>
</ScenarioObject>
<ScenarioObject name="standing">
<Vehicle name="vehicle.volkswagen.t2" vehicleCategory="car">
<ParameterDeclarations/>
<Performance maxSpeed="69.444" maxAcceleration="200" maxDeceleration="10.0"/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2.1" length="4.5" height="1.8"/>
</BoundingBox>
<Axles>
<FrontAxle maxSteering="0.5" wheelDiameter="0.6" trackWidth="1.8" positionX="3.1" positionZ="0.3"/>
<RearAxle maxSteering="0.0" wheelDiameter="0.6" 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_9981">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_close_to_hero_9982">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_w_transform_9983">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_close_to_standing_9986">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_w_transform_9987">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_close_to_standing_9988">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_w_transform_9989">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_close_to_hero_9990">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_w_transform_9991">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_w_transform_9992">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_close_to_hero_9993">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_w_transform_9994">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_w_transform_9995">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_w_transform_9996">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_close_to_standing_9997">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_close_to_adversary_9998">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_w_transform_9999">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_close_to_adversary_10001">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_close_to_hero_10002">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_w_transform_10003">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_close_to_hero_10005">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_close_to_adversary_10006">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_close_to_adversary_10007">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
</Entities>
<Storyboard>
<Init>
<Actions>
<GlobalAction>
<EnvironmentAction>
<Environment name="Environment1">
<TimeOfDay animation="false" dateTime="2019-06-25T12:00:00"/>
<Weather cloudState="free">
<Sun intensity="0.85" azimuth="0" elevation="1.31"/>
<Fog visualRange="100000.0"/>
<Precipitation precipitationType="dry" intensity="0.0"/>
</Weather>
<RoadCondition frictionScaleFactor="1.0"/>
</Environment>
</EnvironmentAction>
</GlobalAction>
<Private entityRef="hero">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-9.4" y="-152.8" z="0.5" h="1.57079632679"/>
</Position>
</TeleportAction>
</PrivateAction>
<PrivateAction>
<ControllerAction>
<AssignControllerAction>
<Controller name="HeroAgent">
<Properties>
<Property name="module" value="external_control"/>
</Properties>
</Controller>
</AssignControllerAction>
<OverrideControllerValueAction>
<Throttle value="0" active="false"/>
<Brake value="0" active="false"/>
<Clutch value="0" active="false"/>
<ParkingBrake value="0" active="false"/>
<SteeringWheel value="0" active="false"/>
<Gear number="0" active="false"/>
</OverrideControllerValueAction>
</ControllerAction>
</PrivateAction>
</Private>
<Private entityRef="adversary">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-9.4" y="-71.0" z="0.5" h="1.57079632679"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="standing">
<PrivateAction>
<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_9981">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-10.302963256835938" y="-54.95423889160156" z="0.03373924270272255"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_close_to_hero_9982">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-13.548893928527832" y="-160.9881134033203" z="0.0014286803780123591"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_w_transform_9983">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-49.327030181884766" y="-1.9198983907699585" z="0.5"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_close_to_standing_9986">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-13.705696105957031" y="32.46044158935547" z="0.003089980920776725"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_w_transform_9987">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="91.4127426147461" y="78.98304748535156" z="0.5"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_close_to_standing_9988">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-6.06946325302124" y="22.90362548828125" z="0.0030261229258030653"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_w_transform_9989">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="3.6706085205078125" y="96.8794937133789" z="0.5"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_close_to_hero_9990">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-10.068368911743164" y="-147.20681762695312" z="0.0014286803780123591"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_w_transform_9991">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="36.53767395019531" y="-85.1327133178711" z="0.5"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_w_transform_9992">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-18.325441360473633" y="-21.71955680847168" z="0.5"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_close_to_hero_9993">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-2.2260897159576416" y="-157.6420440673828" z="0.0014286803780123591"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_w_transform_9994">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-36.79779815673828" y="-98.24981689453125" z="0.5"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_w_transform_9995">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-19.05292320251465" y="-69.06116485595703" z="0.5"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_w_transform_9996">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-43.816524505615234" y="-4.390108108520508" z="0.5"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_close_to_standing_9997">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-12.945783615112305" y="29.135061264038086" z="0.003119888249784708"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_close_to_adversary_9998">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-3.2664432525634766" y="-62.73848342895508" z="0.03386329486966133"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_w_transform_9999">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-34.75234603881836" y="-77.44801330566406" z="0.5"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_close_to_adversary_10001">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-1.726979374885559" y="-74.935302734375" z="0.03381950408220291"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_close_to_hero_10002">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-3.1922311782836914" y="-161.3182830810547" z="0.0014286803780123591"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_w_transform_10003">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-4.739749908447266" y="61.46919250488281" z="0.5"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_close_to_hero_10005">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="8.026876449584961" y="-162.09078979492188" z="0.0014286803780123591"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_close_to_adversary_10006">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-13.584785461425781" y="-80.22026062011719" z="0.033760376274585724"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_close_to_adversary_10007">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-8.891868591308594" y="-65.47428131103516" z="0.0338175967335701"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
</Actions>
</Init>
<Story name="MyStory">
<Act name="Behavior">
<ManeuverGroup maximumExecutionCount="1" name="ManeuverSequence">
<Actors selectTriggeringEntities="false">
<EntityRef entityRef="adversary"/>
</Actors>
<Maneuver name="LaneChangeSimpleManeuver">
<Event name="AdversaryAccelerates" priority="overwrite">
<Action name="AdversaryAccelerates">
<PrivateAction>
<LongitudinalAction>
<SpeedAction>
<SpeedActionDynamics dynamicsShape="step" value="50" dynamicsDimension="distance"/>
<SpeedActionTarget>
<AbsoluteTargetSpeed value="5.0"/>
</SpeedActionTarget>
</SpeedAction>
</LongitudinalAction>
</PrivateAction>
</Action>
<StartTrigger>
<ConditionGroup>
<Condition name="StartCondition" delay="0" conditionEdge="rising">
<ByEntityCondition>
<TriggeringEntities triggeringEntitiesRule="any">
<EntityRef entityRef="hero"/>
</TriggeringEntities>
<EntityCondition>
<RelativeDistanceCondition entityRef="adversary" relativeDistanceType="cartesianDistance" value="40.0" freespace="false" rule="lessThan"/>
</EntityCondition>
</ByEntityCondition>
</Condition>
</ConditionGroup>
</StartTrigger>
</Event>
<Event name="AdversaryChangesLane" priority="overwrite">
<Action name="AdversaryChangesLane">
<PrivateAction>
<LateralAction>
<LaneChangeAction>
<LaneChangeActionDynamics dynamicsShape="linear" value="25" dynamicsDimension="distance"/>
<LaneChangeTarget>
<RelativeTargetLane entityRef="adversary" value="-1"/>
</LaneChangeTarget>
</LaneChangeAction>
</LateralAction>
</PrivateAction>
</Action>
<StartTrigger>
<ConditionGroup>
<Condition name="AfterAdversaryAccelerates" delay="0" conditionEdge="rising">
<ByValueCondition>
<StoryboardElementStateCondition storyboardElementType="action" storyboardElementRef="AdversaryAccelerates" state="completeState"/>
</ByValueCondition>
</Condition>
</ConditionGroup>
</StartTrigger>
</Event>
</Maneuver>
</ManeuverGroup>
<StartTrigger>
<ConditionGroup>
<Condition name="OverallStartCondition" delay="0" conditionEdge="rising">
<ByEntityCondition>
<TriggeringEntities triggeringEntitiesRule="any">
<EntityRef entityRef="hero"/>
</TriggeringEntities>
<EntityCondition>
<TraveledDistanceCondition value="1.0"/>
</EntityCondition>
</ByEntityCondition>
</Condition>
<Condition name="StartTime" delay="0" conditionEdge="rising">
<ByValueCondition>
<SimulationTimeCondition value="0" rule="equalTo"/>
</ByValueCondition>
</Condition>
</ConditionGroup>
</StartTrigger>
<StopTrigger>
<ConditionGroup>
<Condition name="EndCondition" delay="0" conditionEdge="rising">
<ByEntityCondition>
<TriggeringEntities triggeringEntitiesRule="any">
<EntityRef entityRef="hero"/>
</TriggeringEntities>
<EntityCondition>
<TraveledDistanceCondition value="200.0"/>
</EntityCondition>
</ByEntityCondition>
</Condition>
</ConditionGroup>
</StopTrigger>
</Act>
</Story>
<StopTrigger>
<ConditionGroup>
<Condition name="criteria_RunningStopTest" delay="0" conditionEdge="rising">
<ByValueCondition>
<ParameterCondition parameterRef="" value="" rule="lessThan"/>
</ByValueCondition>
</Condition>
<Condition name="criteria_RunningRedLightTest" delay="0" conditionEdge="rising">
<ByValueCondition>
<ParameterCondition parameterRef="" value="" rule="lessThan"/>
</ByValueCondition>
</Condition>
<Condition name="criteria_WrongLaneTest" delay="0" conditionEdge="rising">
<ByValueCondition>
<ParameterCondition parameterRef="" value="" rule="lessThan"/>
</ByValueCondition>
</Condition>
<Condition name="criteria_OnSidewalkTest" delay="0" conditionEdge="rising">
<ByValueCondition>
<ParameterCondition parameterRef="" value="" rule="lessThan"/>
</ByValueCondition>
</Condition>
<Condition name="criteria_KeepLaneTest" delay="0" conditionEdge="rising">
<ByValueCondition>
<ParameterCondition parameterRef="" value="" rule="lessThan"/>
</ByValueCondition>
</Condition>
<Condition name="criteria_CollisionTest" delay="0" conditionEdge="rising">
<ByValueCondition>
<ParameterCondition parameterRef="" value="" rule="lessThan"/>
</ByValueCondition>
</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 (-69.08, 77.89, 0.5)?
```
<?xml version="1.0" ?>
<OpenSCENARIO>
<FileHeader revMajor="1" revMinor="0" date="2020-03-24T12:00:00" description="CARLA:LaneChangeSimple" author=""/>
<ParameterDeclarations/>
<CatalogLocations/>
<RoadNetwork>
<LogicFile filepath="Town04"/>
<SceneGraphFile filepath=""/>
</RoadNetwork>
<Entities>
<ScenarioObject name="hero">
<Vehicle name="vehicle.tesla.model3" vehicleCategory="car">
<ParameterDeclarations/>
<Performance maxSpeed="69.444" maxAcceleration="200" maxDeceleration="10.0"/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2.1" length="4.5" height="1.8"/>
</BoundingBox>
<Axles>
<FrontAxle maxSteering="0.5" wheelDiameter="0.6" trackWidth="1.8" positionX="3.1" positionZ="0.3"/>
<RearAxle maxSteering="0.0" wheelDiameter="0.6" trackWidth="1.8" positionX="0.0" positionZ="0.3"/>
</Axles>
<Properties>
<Property name="type" value="ego_vehicle"/>
</Properties>
</Vehicle>
</ScenarioObject>
<ScenarioObject name="adversary">
<Vehicle name="vehicle.lincoln.mkz_2017" vehicleCategory="car">
<ParameterDeclarations/>
<Performance maxSpeed="69.444" maxAcceleration="200" maxDeceleration="10.0"/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2.1" length="4.5" height="1.8"/>
</BoundingBox>
<Axles>
<FrontAxle maxSteering="0.5" wheelDiameter="0.6" trackWidth="1.8" positionX="3.1" positionZ="0.3"/>
<RearAxle maxSteering="0.0" wheelDiameter="0.6" trackWidth="1.8" positionX="0.0" positionZ="0.3"/>
</Axles>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Vehicle>
</ScenarioObject>
<ScenarioObject name="standing">
<Vehicle name="vehicle.volkswagen.t2" vehicleCategory="car">
<ParameterDeclarations/>
<Performance maxSpeed="69.444" maxAcceleration="200" maxDeceleration="10.0"/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2.1" length="4.5" height="1.8"/>
</BoundingBox>
<Axles>
<FrontAxle maxSteering="0.5" wheelDiameter="0.6" trackWidth="1.8" positionX="3.1" positionZ="0.3"/>
<RearAxle maxSteering="0.0" wheelDiameter="0.6" trackWidth="1.8" positionX="0.0" positionZ="0.3"/>
</Axles>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Vehicle>
</ScenarioObject>
<ScenarioObject name="pedestrian_close_to_hero_17184">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_close_to_standing_17185">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_w_transform_17186">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_w_transform_17187">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_close_to_standing_17188">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_close_to_standing_17189">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_close_to_hero_17190">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_close_to_hero_17191">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_w_transform_17192">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
</Entities>
<Storyboard>
<Init>
<Actions>
<GlobalAction>
<EnvironmentAction>
<Environment name="Environment1">
<TimeOfDay animation="false" dateTime="2019-06-25T12:00:00"/>
<Weather cloudState="free">
<Sun intensity="0.85" azimuth="0" elevation="1.31"/>
<Fog visualRange="100000.0"/>
<Precipitation precipitationType="dry" intensity="0.0"/>
</Weather>
<RoadCondition frictionScaleFactor="1.0"/>
</Environment>
</EnvironmentAction>
</GlobalAction>
<Private entityRef="hero">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-9.4" y="-152.8" z="0.5" h="1.57079632679"/>
</Position>
</TeleportAction>
</PrivateAction>
<PrivateAction>
<ControllerAction>
<AssignControllerAction>
<Controller name="HeroAgent">
<Properties>
<Property name="module" value="external_control"/>
</Properties>
</Controller>
</AssignControllerAction>
<OverrideControllerValueAction>
<Throttle value="0" active="false"/>
<Brake value="0" active="false"/>
<Clutch value="0" active="false"/>
<ParkingBrake value="0" active="false"/>
<SteeringWheel value="0" active="false"/>
<Gear number="0" active="false"/>
</OverrideControllerValueAction>
</ControllerAction>
</PrivateAction>
</Private>
<Private entityRef="adversary">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-9.4" y="-71.0" z="0.5" h="1.57079632679"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="standing">
<PrivateAction>
<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_17184">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-12.920953750610352" y="-147.48406982421875" z="0.0014286803780123591"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_close_to_standing_17185">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-8.055004119873047" y="36.050228118896484" z="0.0030904007144272327"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_w_transform_17186">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="61.90888977050781" y="-33.47670364379883" z="0.5"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_w_transform_17187">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-6.424100875854492" y="-2.6404385566711426" z="0.5"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_close_to_standing_17188">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-16.06859588623047" y="26.12858009338379" z="0.0030511091463267803"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_close_to_standing_17189">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-5.091163635253906" y="38.12328338623047" z="0.0030281448271125555"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_close_to_hero_17190">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-4.104506015777588" y="-150.09237670898438" z="0.0014286803780123591"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_close_to_hero_17191">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-11.49560832977295" y="-160.8451385498047" z="0.0014286803780123591"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_w_transform_17192">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-97.14764404296875" y="-99.80674743652344" z="0.5"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
</Actions>
</Init>
<Story name="MyStory">
<Act name="Behavior">
<ManeuverGroup maximumExecutionCount="1" name="ManeuverSequence">
<Actors selectTriggeringEntities="false">
<EntityRef entityRef="adversary"/>
</Actors>
<Maneuver name="LaneChangeSimpleManeuver">
<Event name="AdversaryAccelerates" priority="overwrite">
<Action name="AdversaryAccelerates">
<PrivateAction>
<LongitudinalAction>
<SpeedAction>
<SpeedActionDynamics dynamicsShape="step" value="50" dynamicsDimension="distance"/>
<SpeedActionTarget>
<AbsoluteTargetSpeed value="5.0"/>
</SpeedActionTarget>
</SpeedAction>
</LongitudinalAction>
</PrivateAction>
</Action>
<StartTrigger>
<ConditionGroup>
<Condition name="StartCondition" delay="0" conditionEdge="rising">
<ByEntityCondition>
<TriggeringEntities triggeringEntitiesRule="any">
<EntityRef entityRef="hero"/>
</TriggeringEntities>
<EntityCondition>
<RelativeDistanceCondition entityRef="adversary" relativeDistanceType="cartesianDistance" value="40.0" freespace="false" rule="lessThan"/>
</EntityCondition>
</ByEntityCondition>
</Condition>
</ConditionGroup>
</StartTrigger>
</Event>
<Event name="AdversaryChangesLane" priority="overwrite">
<Action name="AdversaryChangesLane">
<PrivateAction>
<LateralAction>
<LaneChangeAction>
<LaneChangeActionDynamics dynamicsShape="linear" value="25" dynamicsDimension="distance"/>
<LaneChangeTarget>
<RelativeTargetLane entityRef="adversary" value="-1"/>
</LaneChangeTarget>
</LaneChangeAction>
</LateralAction>
</PrivateAction>
</Action>
<StartTrigger>
<ConditionGroup>
<Condition name="AfterAdversaryAccelerates" delay="0" conditionEdge="rising">
<ByValueCondition>
<StoryboardElementStateCondition storyboardElementType="action" storyboardElementRef="AdversaryAccelerates" state="completeState"/>
</ByValueCondition>
</Condition>
</ConditionGroup>
</StartTrigger>
</Event>
</Maneuver>
</ManeuverGroup>
<StartTrigger>
<ConditionGroup>
<Condition name="OverallStartCondition" delay="0" conditionEdge="rising">
<ByEntityCondition>
<TriggeringEntities triggeringEntitiesRule="any">
<EntityRef entityRef="hero"/>
</TriggeringEntities>
<EntityCondition>
<TraveledDistanceCondition value="1.0"/>
</EntityCondition>
</ByEntityCondition>
</Condition>
<Condition name="StartTime" delay="0" conditionEdge="rising">
<ByValueCondition>
<SimulationTimeCondition value="0" rule="equalTo"/>
</ByValueCondition>
</Condition>
</ConditionGroup>
</StartTrigger>
<StopTrigger>
<ConditionGroup>
<Condition name="EndCondition" delay="0" conditionEdge="rising">
<ByEntityCondition>
<TriggeringEntities triggeringEntitiesRule="any">
<EntityRef entityRef="hero"/>
</TriggeringEntities>
<EntityCondition>
<TraveledDistanceCondition value="200.0"/>
</EntityCondition>
</ByEntityCondition>
</Condition>
</ConditionGroup>
</StopTrigger>
</Act>
</Story>
<StopTrigger>
<ConditionGroup>
<Condition name="criteria_RunningStopTest" delay="0" conditionEdge="rising">
<ByValueCondition>
<ParameterCondition parameterRef="" value="" rule="lessThan"/>
</ByValueCondition>
</Condition>
<Condition name="criteria_RunningRedLightTest" delay="0" conditionEdge="rising">
<ByValueCondition>
<ParameterCondition parameterRef="" value="" rule="lessThan"/>
</ByValueCondition>
</Condition>
<Condition name="criteria_WrongLaneTest" delay="0" conditionEdge="rising">
<ByValueCondition>
<ParameterCondition parameterRef="" value="" rule="lessThan"/>
</ByValueCondition>
</Condition>
<Condition name="criteria_OnSidewalkTest" delay="0" conditionEdge="rising">
<ByValueCondition>
<ParameterCondition parameterRef="" value="" rule="lessThan"/>
</ByValueCondition>
</Condition>
<Condition name="criteria_KeepLaneTest" delay="0" conditionEdge="rising">
<ByValueCondition>
<ParameterCondition parameterRef="" value="" rule="lessThan"/>
</ByValueCondition>
</Condition>
<Condition name="criteria_CollisionTest" delay="0" conditionEdge="rising">
<ByValueCondition>
<ParameterCondition parameterRef="" value="" rule="lessThan"/>
</ByValueCondition>
</Condition>
<Condition name="criteria_DrivenDistanceTest" delay="0" conditionEdge="rising">
<ByValueCondition>
<ParameterCondition parameterRef="distance_success" value="100" rule="lessThan"/>
</ByValueCondition>
</Condition>
</ConditionGroup>
</StopTrigger>
</Storyboard>
</OpenSCENARIO>
``` | Here is the result:
```
<?xml version="1.0" ?>
<OpenSCENARIO>
<FileHeader revMajor="1" revMinor="0" date="2020-03-24T12:00:00" description="CARLA:LaneChangeSimple" author=""/>
<ParameterDeclarations/>
<CatalogLocations/>
<RoadNetwork>
<LogicFile filepath="Town04"/>
<SceneGraphFile filepath=""/>
</RoadNetwork>
<Entities>
<ScenarioObject name="hero">
<Vehicle name="vehicle.tesla.model3" vehicleCategory="car">
<ParameterDeclarations/>
<Performance maxSpeed="69.444" maxAcceleration="200" maxDeceleration="10.0"/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2.1" length="4.5" height="1.8"/>
</BoundingBox>
<Axles>
<FrontAxle maxSteering="0.5" wheelDiameter="0.6" trackWidth="1.8" positionX="3.1" positionZ="0.3"/>
<RearAxle maxSteering="0.0" wheelDiameter="0.6" trackWidth="1.8" positionX="0.0" positionZ="0.3"/>
</Axles>
<Properties>
<Property name="type" value="ego_vehicle"/>
</Properties>
</Vehicle>
</ScenarioObject>
<ScenarioObject name="adversary">
<Vehicle name="vehicle.lincoln.mkz_2017" vehicleCategory="car">
<ParameterDeclarations/>
<Performance maxSpeed="69.444" maxAcceleration="200" maxDeceleration="10.0"/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2.1" length="4.5" height="1.8"/>
</BoundingBox>
<Axles>
<FrontAxle maxSteering="0.5" wheelDiameter="0.6" trackWidth="1.8" positionX="3.1" positionZ="0.3"/>
<RearAxle maxSteering="0.0" wheelDiameter="0.6" trackWidth="1.8" positionX="0.0" positionZ="0.3"/>
</Axles>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Vehicle>
</ScenarioObject>
<ScenarioObject name="standing">
<Vehicle name="vehicle.volkswagen.t2" vehicleCategory="car">
<ParameterDeclarations/>
<Performance maxSpeed="69.444" maxAcceleration="200" maxDeceleration="10.0"/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2.1" length="4.5" height="1.8"/>
</BoundingBox>
<Axles>
<FrontAxle maxSteering="0.5" wheelDiameter="0.6" trackWidth="1.8" positionX="3.1" positionZ="0.3"/>
<RearAxle maxSteering="0.0" wheelDiameter="0.6" 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_17184">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_close_to_standing_17185">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_w_transform_17186">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_w_transform_17187">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_close_to_standing_17188">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_close_to_standing_17189">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_close_to_hero_17190">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_close_to_hero_17191">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_w_transform_17192">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_w_transform_17193">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
</Entities>
<Storyboard>
<Init>
<Actions>
<GlobalAction>
<EnvironmentAction>
<Environment name="Environment1">
<TimeOfDay animation="false" dateTime="2019-06-25T12:00:00"/>
<Weather cloudState="free">
<Sun intensity="0.85" azimuth="0" elevation="1.31"/>
<Fog visualRange="100000.0"/>
<Precipitation precipitationType="dry" intensity="0.0"/>
</Weather>
<RoadCondition frictionScaleFactor="1.0"/>
</Environment>
</EnvironmentAction>
</GlobalAction>
<Private entityRef="hero">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-9.4" y="-152.8" z="0.5" h="1.57079632679"/>
</Position>
</TeleportAction>
</PrivateAction>
<PrivateAction>
<ControllerAction>
<AssignControllerAction>
<Controller name="HeroAgent">
<Properties>
<Property name="module" value="external_control"/>
</Properties>
</Controller>
</AssignControllerAction>
<OverrideControllerValueAction>
<Throttle value="0" active="false"/>
<Brake value="0" active="false"/>
<Clutch value="0" active="false"/>
<ParkingBrake value="0" active="false"/>
<SteeringWheel value="0" active="false"/>
<Gear number="0" active="false"/>
</OverrideControllerValueAction>
</ControllerAction>
</PrivateAction>
</Private>
<Private entityRef="adversary">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-9.4" y="-71.0" z="0.5" h="1.57079632679"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="standing">
<PrivateAction>
<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_17184">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-12.920953750610352" y="-147.48406982421875" z="0.0014286803780123591"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_close_to_standing_17185">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-8.055004119873047" y="36.050228118896484" z="0.0030904007144272327"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_w_transform_17186">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="61.90888977050781" y="-33.47670364379883" z="0.5"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_w_transform_17187">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-6.424100875854492" y="-2.6404385566711426" z="0.5"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_close_to_standing_17188">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-16.06859588623047" y="26.12858009338379" z="0.0030511091463267803"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_close_to_standing_17189">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-5.091163635253906" y="38.12328338623047" z="0.0030281448271125555"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_close_to_hero_17190">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-4.104506015777588" y="-150.09237670898438" z="0.0014286803780123591"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_close_to_hero_17191">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-11.49560832977295" y="-160.8451385498047" z="0.0014286803780123591"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_w_transform_17192">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-97.14764404296875" y="-99.80674743652344" z="0.5"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_w_transform_17193">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-69.07653045654297" y="77.88530731201172" z="0.5"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
</Actions>
</Init>
<Story name="MyStory">
<Act name="Behavior">
<ManeuverGroup maximumExecutionCount="1" name="ManeuverSequence">
<Actors selectTriggeringEntities="false">
<EntityRef entityRef="adversary"/>
</Actors>
<Maneuver name="LaneChangeSimpleManeuver">
<Event name="AdversaryAccelerates" priority="overwrite">
<Action name="AdversaryAccelerates">
<PrivateAction>
<LongitudinalAction>
<SpeedAction>
<SpeedActionDynamics dynamicsShape="step" value="50" dynamicsDimension="distance"/>
<SpeedActionTarget>
<AbsoluteTargetSpeed value="5.0"/>
</SpeedActionTarget>
</SpeedAction>
</LongitudinalAction>
</PrivateAction>
</Action>
<StartTrigger>
<ConditionGroup>
<Condition name="StartCondition" delay="0" conditionEdge="rising">
<ByEntityCondition>
<TriggeringEntities triggeringEntitiesRule="any">
<EntityRef entityRef="hero"/>
</TriggeringEntities>
<EntityCondition>
<RelativeDistanceCondition entityRef="adversary" relativeDistanceType="cartesianDistance" value="40.0" freespace="false" rule="lessThan"/>
</EntityCondition>
</ByEntityCondition>
</Condition>
</ConditionGroup>
</StartTrigger>
</Event>
<Event name="AdversaryChangesLane" priority="overwrite">
<Action name="AdversaryChangesLane">
<PrivateAction>
<LateralAction>
<LaneChangeAction>
<LaneChangeActionDynamics dynamicsShape="linear" value="25" dynamicsDimension="distance"/>
<LaneChangeTarget>
<RelativeTargetLane entityRef="adversary" value="-1"/>
</LaneChangeTarget>
</LaneChangeAction>
</LateralAction>
</PrivateAction>
</Action>
<StartTrigger>
<ConditionGroup>
<Condition name="AfterAdversaryAccelerates" delay="0" conditionEdge="rising">
<ByValueCondition>
<StoryboardElementStateCondition storyboardElementType="action" storyboardElementRef="AdversaryAccelerates" state="completeState"/>
</ByValueCondition>
</Condition>
</ConditionGroup>
</StartTrigger>
</Event>
</Maneuver>
</ManeuverGroup>
<StartTrigger>
<ConditionGroup>
<Condition name="OverallStartCondition" delay="0" conditionEdge="rising">
<ByEntityCondition>
<TriggeringEntities triggeringEntitiesRule="any">
<EntityRef entityRef="hero"/>
</TriggeringEntities>
<EntityCondition>
<TraveledDistanceCondition value="1.0"/>
</EntityCondition>
</ByEntityCondition>
</Condition>
<Condition name="StartTime" delay="0" conditionEdge="rising">
<ByValueCondition>
<SimulationTimeCondition value="0" rule="equalTo"/>
</ByValueCondition>
</Condition>
</ConditionGroup>
</StartTrigger>
<StopTrigger>
<ConditionGroup>
<Condition name="EndCondition" delay="0" conditionEdge="rising">
<ByEntityCondition>
<TriggeringEntities triggeringEntitiesRule="any">
<EntityRef entityRef="hero"/>
</TriggeringEntities>
<EntityCondition>
<TraveledDistanceCondition value="200.0"/>
</EntityCondition>
</ByEntityCondition>
</Condition>
</ConditionGroup>
</StopTrigger>
</Act>
</Story>
<StopTrigger>
<ConditionGroup>
<Condition name="criteria_RunningStopTest" delay="0" conditionEdge="rising">
<ByValueCondition>
<ParameterCondition parameterRef="" value="" rule="lessThan"/>
</ByValueCondition>
</Condition>
<Condition name="criteria_RunningRedLightTest" delay="0" conditionEdge="rising">
<ByValueCondition>
<ParameterCondition parameterRef="" value="" rule="lessThan"/>
</ByValueCondition>
</Condition>
<Condition name="criteria_WrongLaneTest" delay="0" conditionEdge="rising">
<ByValueCondition>
<ParameterCondition parameterRef="" value="" rule="lessThan"/>
</ByValueCondition>
</Condition>
<Condition name="criteria_OnSidewalkTest" delay="0" conditionEdge="rising">
<ByValueCondition>
<ParameterCondition parameterRef="" value="" rule="lessThan"/>
</ByValueCondition>
</Condition>
<Condition name="criteria_KeepLaneTest" delay="0" conditionEdge="rising">
<ByValueCondition>
<ParameterCondition parameterRef="" value="" rule="lessThan"/>
</ByValueCondition>
</Condition>
<Condition name="criteria_CollisionTest" delay="0" conditionEdge="rising">
<ByValueCondition>
<ParameterCondition parameterRef="" value="" rule="lessThan"/>
</ByValueCondition>
</Condition>
<Condition name="criteria_DrivenDistanceTest" delay="0" conditionEdge="rising">
<ByValueCondition>
<ParameterCondition parameterRef="distance_success" value="100" rule="lessThan"/>
</ByValueCondition>
</Condition>
</ConditionGroup>
</StopTrigger>
</Storyboard>
</OpenSCENARIO>
``` |
i would like to direct you to add pedestrian close to hero?
```
<?xml version="1.0" ?>
<OpenSCENARIO>
<FileHeader revMajor="1" revMinor="0" date="2020-03-24T12:00:00" description="CARLA:LaneChangeSimple" author=""/>
<ParameterDeclarations/>
<CatalogLocations/>
<RoadNetwork>
<LogicFile filepath="Town04"/>
<SceneGraphFile filepath=""/>
</RoadNetwork>
<Entities>
<ScenarioObject name="hero">
<Vehicle name="vehicle.tesla.model3" vehicleCategory="car">
<ParameterDeclarations/>
<Performance maxSpeed="69.444" maxAcceleration="200" maxDeceleration="10.0"/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2.1" length="4.5" height="1.8"/>
</BoundingBox>
<Axles>
<FrontAxle maxSteering="0.5" wheelDiameter="0.6" trackWidth="1.8" positionX="3.1" positionZ="0.3"/>
<RearAxle maxSteering="0.0" wheelDiameter="0.6" trackWidth="1.8" positionX="0.0" positionZ="0.3"/>
</Axles>
<Properties>
<Property name="type" value="ego_vehicle"/>
</Properties>
</Vehicle>
</ScenarioObject>
<ScenarioObject name="adversary">
<Vehicle name="vehicle.lincoln.mkz_2017" vehicleCategory="car">
<ParameterDeclarations/>
<Performance maxSpeed="69.444" maxAcceleration="200" maxDeceleration="10.0"/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2.1" length="4.5" height="1.8"/>
</BoundingBox>
<Axles>
<FrontAxle maxSteering="0.5" wheelDiameter="0.6" trackWidth="1.8" positionX="3.1" positionZ="0.3"/>
<RearAxle maxSteering="0.0" wheelDiameter="0.6" trackWidth="1.8" positionX="0.0" positionZ="0.3"/>
</Axles>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Vehicle>
</ScenarioObject>
<ScenarioObject name="standing">
<Vehicle name="vehicle.volkswagen.t2" vehicleCategory="car">
<ParameterDeclarations/>
<Performance maxSpeed="69.444" maxAcceleration="200" maxDeceleration="10.0"/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2.1" length="4.5" height="1.8"/>
</BoundingBox>
<Axles>
<FrontAxle maxSteering="0.5" wheelDiameter="0.6" trackWidth="1.8" positionX="3.1" positionZ="0.3"/>
<RearAxle maxSteering="0.0" wheelDiameter="0.6" trackWidth="1.8" positionX="0.0" positionZ="0.3"/>
</Axles>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Vehicle>
</ScenarioObject>
<ScenarioObject name="pedestrian_close_to_standing_9153">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_w_transform_9154">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_w_transform_9155">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_close_to_hero_9156">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_close_to_hero_9157">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_w_transform_9158">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_w_transform_9159">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_w_transform_9160">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
</Entities>
<Storyboard>
<Init>
<Actions>
<GlobalAction>
<EnvironmentAction>
<Environment name="Environment1">
<TimeOfDay animation="false" dateTime="2019-06-25T12:00:00"/>
<Weather cloudState="free">
<Sun intensity="0.85" azimuth="0" elevation="1.31"/>
<Fog visualRange="100000.0"/>
<Precipitation precipitationType="dry" intensity="0.0"/>
</Weather>
<RoadCondition frictionScaleFactor="1.0"/>
</Environment>
</EnvironmentAction>
</GlobalAction>
<Private entityRef="hero">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-9.4" y="-152.8" z="0.5" h="1.57079632679"/>
</Position>
</TeleportAction>
</PrivateAction>
<PrivateAction>
<ControllerAction>
<AssignControllerAction>
<Controller name="HeroAgent">
<Properties>
<Property name="module" value="external_control"/>
</Properties>
</Controller>
</AssignControllerAction>
<OverrideControllerValueAction>
<Throttle value="0" active="false"/>
<Brake value="0" active="false"/>
<Clutch value="0" active="false"/>
<ParkingBrake value="0" active="false"/>
<SteeringWheel value="0" active="false"/>
<Gear number="0" active="false"/>
</OverrideControllerValueAction>
</ControllerAction>
</PrivateAction>
</Private>
<Private entityRef="adversary">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-9.4" y="-71.0" z="0.5" h="1.57079632679"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="standing">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-8.2" y="29.2" z="0.5" h="1.57079632679"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_close_to_standing_9153">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="3.805654525756836" y="33.113887786865234" z="0.003067130921408534"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_w_transform_9154">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-10.536962509155273" y="79.81719970703125" z="0.5"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_w_transform_9155">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-66.22062683105469" y="62.705142974853516" z="0.5"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_close_to_hero_9156">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-9.944862365722656" y="-151.39944458007812" z="0.0014286803780123591"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_close_to_hero_9157">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-1.9290939569473267" y="-157.989990234375" z="0.0014286803780123591"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_w_transform_9158">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-83.55004119873047" y="40.42081832885742" z="0.5"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_w_transform_9159">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-55.92153549194336" y="-73.60514831542969" z="0.5"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_w_transform_9160">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-47.41749572753906" y="-65.55298614501953" z="0.5"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
</Actions>
</Init>
<Story name="MyStory">
<Act name="Behavior">
<ManeuverGroup maximumExecutionCount="1" name="ManeuverSequence">
<Actors selectTriggeringEntities="false">
<EntityRef entityRef="adversary"/>
</Actors>
<Maneuver name="LaneChangeSimpleManeuver">
<Event name="AdversaryAccelerates" priority="overwrite">
<Action name="AdversaryAccelerates">
<PrivateAction>
<LongitudinalAction>
<SpeedAction>
<SpeedActionDynamics dynamicsShape="step" value="50" dynamicsDimension="distance"/>
<SpeedActionTarget>
<AbsoluteTargetSpeed value="5.0"/>
</SpeedActionTarget>
</SpeedAction>
</LongitudinalAction>
</PrivateAction>
</Action>
<StartTrigger>
<ConditionGroup>
<Condition name="StartCondition" delay="0" conditionEdge="rising">
<ByEntityCondition>
<TriggeringEntities triggeringEntitiesRule="any">
<EntityRef entityRef="hero"/>
</TriggeringEntities>
<EntityCondition>
<RelativeDistanceCondition entityRef="adversary" relativeDistanceType="cartesianDistance" value="40.0" freespace="false" rule="lessThan"/>
</EntityCondition>
</ByEntityCondition>
</Condition>
</ConditionGroup>
</StartTrigger>
</Event>
<Event name="AdversaryChangesLane" priority="overwrite">
<Action name="AdversaryChangesLane">
<PrivateAction>
<LateralAction>
<LaneChangeAction>
<LaneChangeActionDynamics dynamicsShape="linear" value="25" dynamicsDimension="distance"/>
<LaneChangeTarget>
<RelativeTargetLane entityRef="adversary" value="-1"/>
</LaneChangeTarget>
</LaneChangeAction>
</LateralAction>
</PrivateAction>
</Action>
<StartTrigger>
<ConditionGroup>
<Condition name="AfterAdversaryAccelerates" delay="0" conditionEdge="rising">
<ByValueCondition>
<StoryboardElementStateCondition storyboardElementType="action" storyboardElementRef="AdversaryAccelerates" state="completeState"/>
</ByValueCondition>
</Condition>
</ConditionGroup>
</StartTrigger>
</Event>
</Maneuver>
</ManeuverGroup>
<StartTrigger>
<ConditionGroup>
<Condition name="OverallStartCondition" delay="0" conditionEdge="rising">
<ByEntityCondition>
<TriggeringEntities triggeringEntitiesRule="any">
<EntityRef entityRef="hero"/>
</TriggeringEntities>
<EntityCondition>
<TraveledDistanceCondition value="1.0"/>
</EntityCondition>
</ByEntityCondition>
</Condition>
<Condition name="StartTime" delay="0" conditionEdge="rising">
<ByValueCondition>
<SimulationTimeCondition value="0" rule="equalTo"/>
</ByValueCondition>
</Condition>
</ConditionGroup>
</StartTrigger>
<StopTrigger>
<ConditionGroup>
<Condition name="EndCondition" delay="0" conditionEdge="rising">
<ByEntityCondition>
<TriggeringEntities triggeringEntitiesRule="any">
<EntityRef entityRef="hero"/>
</TriggeringEntities>
<EntityCondition>
<TraveledDistanceCondition value="200.0"/>
</EntityCondition>
</ByEntityCondition>
</Condition>
</ConditionGroup>
</StopTrigger>
</Act>
</Story>
<StopTrigger>
<ConditionGroup>
<Condition name="criteria_RunningStopTest" delay="0" conditionEdge="rising">
<ByValueCondition>
<ParameterCondition parameterRef="" value="" rule="lessThan"/>
</ByValueCondition>
</Condition>
<Condition name="criteria_RunningRedLightTest" delay="0" conditionEdge="rising">
<ByValueCondition>
<ParameterCondition parameterRef="" value="" rule="lessThan"/>
</ByValueCondition>
</Condition>
<Condition name="criteria_WrongLaneTest" delay="0" conditionEdge="rising">
<ByValueCondition>
<ParameterCondition parameterRef="" value="" rule="lessThan"/>
</ByValueCondition>
</Condition>
<Condition name="criteria_OnSidewalkTest" delay="0" conditionEdge="rising">
<ByValueCondition>
<ParameterCondition parameterRef="" value="" rule="lessThan"/>
</ByValueCondition>
</Condition>
<Condition name="criteria_KeepLaneTest" delay="0" conditionEdge="rising">
<ByValueCondition>
<ParameterCondition parameterRef="" value="" rule="lessThan"/>
</ByValueCondition>
</Condition>
<Condition name="criteria_CollisionTest" delay="0" conditionEdge="rising">
<ByValueCondition>
<ParameterCondition parameterRef="" value="" rule="lessThan"/>
</ByValueCondition>
</Condition>
<Condition name="criteria_DrivenDistanceTest" delay="0" conditionEdge="rising">
<ByValueCondition>
<ParameterCondition parameterRef="distance_success" value="100" rule="lessThan"/>
</ByValueCondition>
</Condition>
</ConditionGroup>
</StopTrigger>
</Storyboard>
</OpenSCENARIO>
``` | Here is the result:
```
<?xml version="1.0" ?>
<OpenSCENARIO>
<FileHeader revMajor="1" revMinor="0" date="2020-03-24T12:00:00" description="CARLA:LaneChangeSimple" author=""/>
<ParameterDeclarations/>
<CatalogLocations/>
<RoadNetwork>
<LogicFile filepath="Town04"/>
<SceneGraphFile filepath=""/>
</RoadNetwork>
<Entities>
<ScenarioObject name="hero">
<Vehicle name="vehicle.tesla.model3" vehicleCategory="car">
<ParameterDeclarations/>
<Performance maxSpeed="69.444" maxAcceleration="200" maxDeceleration="10.0"/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2.1" length="4.5" height="1.8"/>
</BoundingBox>
<Axles>
<FrontAxle maxSteering="0.5" wheelDiameter="0.6" trackWidth="1.8" positionX="3.1" positionZ="0.3"/>
<RearAxle maxSteering="0.0" wheelDiameter="0.6" trackWidth="1.8" positionX="0.0" positionZ="0.3"/>
</Axles>
<Properties>
<Property name="type" value="ego_vehicle"/>
</Properties>
</Vehicle>
</ScenarioObject>
<ScenarioObject name="adversary">
<Vehicle name="vehicle.lincoln.mkz_2017" vehicleCategory="car">
<ParameterDeclarations/>
<Performance maxSpeed="69.444" maxAcceleration="200" maxDeceleration="10.0"/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2.1" length="4.5" height="1.8"/>
</BoundingBox>
<Axles>
<FrontAxle maxSteering="0.5" wheelDiameter="0.6" trackWidth="1.8" positionX="3.1" positionZ="0.3"/>
<RearAxle maxSteering="0.0" wheelDiameter="0.6" trackWidth="1.8" positionX="0.0" positionZ="0.3"/>
</Axles>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Vehicle>
</ScenarioObject>
<ScenarioObject name="standing">
<Vehicle name="vehicle.volkswagen.t2" vehicleCategory="car">
<ParameterDeclarations/>
<Performance maxSpeed="69.444" maxAcceleration="200" maxDeceleration="10.0"/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2.1" length="4.5" height="1.8"/>
</BoundingBox>
<Axles>
<FrontAxle maxSteering="0.5" wheelDiameter="0.6" trackWidth="1.8" positionX="3.1" positionZ="0.3"/>
<RearAxle maxSteering="0.0" wheelDiameter="0.6" trackWidth="1.8" positionX="0.0" positionZ="0.3"/>
</Axles>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Vehicle>
</ScenarioObject>
<ScenarioObject name="pedestrian_close_to_standing_9153">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_w_transform_9154">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_w_transform_9155">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_close_to_hero_9156">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_close_to_hero_9157">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_w_transform_9158">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_w_transform_9159">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_w_transform_9160">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_close_to_hero_9161">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
</Entities>
<Storyboard>
<Init>
<Actions>
<GlobalAction>
<EnvironmentAction>
<Environment name="Environment1">
<TimeOfDay animation="false" dateTime="2019-06-25T12:00:00"/>
<Weather cloudState="free">
<Sun intensity="0.85" azimuth="0" elevation="1.31"/>
<Fog visualRange="100000.0"/>
<Precipitation precipitationType="dry" intensity="0.0"/>
</Weather>
<RoadCondition frictionScaleFactor="1.0"/>
</Environment>
</EnvironmentAction>
</GlobalAction>
<Private entityRef="hero">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-9.4" y="-152.8" z="0.5" h="1.57079632679"/>
</Position>
</TeleportAction>
</PrivateAction>
<PrivateAction>
<ControllerAction>
<AssignControllerAction>
<Controller name="HeroAgent">
<Properties>
<Property name="module" value="external_control"/>
</Properties>
</Controller>
</AssignControllerAction>
<OverrideControllerValueAction>
<Throttle value="0" active="false"/>
<Brake value="0" active="false"/>
<Clutch value="0" active="false"/>
<ParkingBrake value="0" active="false"/>
<SteeringWheel value="0" active="false"/>
<Gear number="0" active="false"/>
</OverrideControllerValueAction>
</ControllerAction>
</PrivateAction>
</Private>
<Private entityRef="adversary">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-9.4" y="-71.0" z="0.5" h="1.57079632679"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="standing">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-8.2" y="29.2" z="0.5" h="1.57079632679"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_close_to_standing_9153">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="3.805654525756836" y="33.113887786865234" z="0.003067130921408534"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_w_transform_9154">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-10.536962509155273" y="79.81719970703125" z="0.5"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_w_transform_9155">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-66.22062683105469" y="62.705142974853516" z="0.5"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_close_to_hero_9156">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-9.944862365722656" y="-151.39944458007812" z="0.0014286803780123591"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_close_to_hero_9157">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-1.9290939569473267" y="-157.989990234375" z="0.0014286803780123591"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_w_transform_9158">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-83.55004119873047" y="40.42081832885742" z="0.5"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_w_transform_9159">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-55.92153549194336" y="-73.60514831542969" z="0.5"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_w_transform_9160">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-47.41749572753906" y="-65.55298614501953" z="0.5"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_close_to_hero_9161">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-15.426979064941406" y="-161.88072204589844" z="0.0014286803780123591"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
</Actions>
</Init>
<Story name="MyStory">
<Act name="Behavior">
<ManeuverGroup maximumExecutionCount="1" name="ManeuverSequence">
<Actors selectTriggeringEntities="false">
<EntityRef entityRef="adversary"/>
</Actors>
<Maneuver name="LaneChangeSimpleManeuver">
<Event name="AdversaryAccelerates" priority="overwrite">
<Action name="AdversaryAccelerates">
<PrivateAction>
<LongitudinalAction>
<SpeedAction>
<SpeedActionDynamics dynamicsShape="step" value="50" dynamicsDimension="distance"/>
<SpeedActionTarget>
<AbsoluteTargetSpeed value="5.0"/>
</SpeedActionTarget>
</SpeedAction>
</LongitudinalAction>
</PrivateAction>
</Action>
<StartTrigger>
<ConditionGroup>
<Condition name="StartCondition" delay="0" conditionEdge="rising">
<ByEntityCondition>
<TriggeringEntities triggeringEntitiesRule="any">
<EntityRef entityRef="hero"/>
</TriggeringEntities>
<EntityCondition>
<RelativeDistanceCondition entityRef="adversary" relativeDistanceType="cartesianDistance" value="40.0" freespace="false" rule="lessThan"/>
</EntityCondition>
</ByEntityCondition>
</Condition>
</ConditionGroup>
</StartTrigger>
</Event>
<Event name="AdversaryChangesLane" priority="overwrite">
<Action name="AdversaryChangesLane">
<PrivateAction>
<LateralAction>
<LaneChangeAction>
<LaneChangeActionDynamics dynamicsShape="linear" value="25" dynamicsDimension="distance"/>
<LaneChangeTarget>
<RelativeTargetLane entityRef="adversary" value="-1"/>
</LaneChangeTarget>
</LaneChangeAction>
</LateralAction>
</PrivateAction>
</Action>
<StartTrigger>
<ConditionGroup>
<Condition name="AfterAdversaryAccelerates" delay="0" conditionEdge="rising">
<ByValueCondition>
<StoryboardElementStateCondition storyboardElementType="action" storyboardElementRef="AdversaryAccelerates" state="completeState"/>
</ByValueCondition>
</Condition>
</ConditionGroup>
</StartTrigger>
</Event>
</Maneuver>
</ManeuverGroup>
<StartTrigger>
<ConditionGroup>
<Condition name="OverallStartCondition" delay="0" conditionEdge="rising">
<ByEntityCondition>
<TriggeringEntities triggeringEntitiesRule="any">
<EntityRef entityRef="hero"/>
</TriggeringEntities>
<EntityCondition>
<TraveledDistanceCondition value="1.0"/>
</EntityCondition>
</ByEntityCondition>
</Condition>
<Condition name="StartTime" delay="0" conditionEdge="rising">
<ByValueCondition>
<SimulationTimeCondition value="0" rule="equalTo"/>
</ByValueCondition>
</Condition>
</ConditionGroup>
</StartTrigger>
<StopTrigger>
<ConditionGroup>
<Condition name="EndCondition" delay="0" conditionEdge="rising">
<ByEntityCondition>
<TriggeringEntities triggeringEntitiesRule="any">
<EntityRef entityRef="hero"/>
</TriggeringEntities>
<EntityCondition>
<TraveledDistanceCondition value="200.0"/>
</EntityCondition>
</ByEntityCondition>
</Condition>
</ConditionGroup>
</StopTrigger>
</Act>
</Story>
<StopTrigger>
<ConditionGroup>
<Condition name="criteria_RunningStopTest" delay="0" conditionEdge="rising">
<ByValueCondition>
<ParameterCondition parameterRef="" value="" rule="lessThan"/>
</ByValueCondition>
</Condition>
<Condition name="criteria_RunningRedLightTest" delay="0" conditionEdge="rising">
<ByValueCondition>
<ParameterCondition parameterRef="" value="" rule="lessThan"/>
</ByValueCondition>
</Condition>
<Condition name="criteria_WrongLaneTest" delay="0" conditionEdge="rising">
<ByValueCondition>
<ParameterCondition parameterRef="" value="" rule="lessThan"/>
</ByValueCondition>
</Condition>
<Condition name="criteria_OnSidewalkTest" delay="0" conditionEdge="rising">
<ByValueCondition>
<ParameterCondition parameterRef="" value="" rule="lessThan"/>
</ByValueCondition>
</Condition>
<Condition name="criteria_KeepLaneTest" delay="0" conditionEdge="rising">
<ByValueCondition>
<ParameterCondition parameterRef="" value="" rule="lessThan"/>
</ByValueCondition>
</Condition>
<Condition name="criteria_CollisionTest" delay="0" conditionEdge="rising">
<ByValueCondition>
<ParameterCondition parameterRef="" value="" rule="lessThan"/>
</ByValueCondition>
</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 (-62.89, -36.68, 0.5)?
```
<?xml version="1.0" ?>
<OpenSCENARIO>
<FileHeader revMajor="1" revMinor="0" date="2020-03-24T12:00:00" description="CARLA:LaneChangeSimple" author=""/>
<ParameterDeclarations/>
<CatalogLocations/>
<RoadNetwork>
<LogicFile filepath="Town04"/>
<SceneGraphFile filepath=""/>
</RoadNetwork>
<Entities>
<ScenarioObject name="hero">
<Vehicle name="vehicle.tesla.model3" vehicleCategory="car">
<ParameterDeclarations/>
<Performance maxSpeed="69.444" maxAcceleration="200" maxDeceleration="10.0"/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2.1" length="4.5" height="1.8"/>
</BoundingBox>
<Axles>
<FrontAxle maxSteering="0.5" wheelDiameter="0.6" trackWidth="1.8" positionX="3.1" positionZ="0.3"/>
<RearAxle maxSteering="0.0" wheelDiameter="0.6" trackWidth="1.8" positionX="0.0" positionZ="0.3"/>
</Axles>
<Properties>
<Property name="type" value="ego_vehicle"/>
</Properties>
</Vehicle>
</ScenarioObject>
<ScenarioObject name="adversary">
<Vehicle name="vehicle.lincoln.mkz_2017" vehicleCategory="car">
<ParameterDeclarations/>
<Performance maxSpeed="69.444" maxAcceleration="200" maxDeceleration="10.0"/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2.1" length="4.5" height="1.8"/>
</BoundingBox>
<Axles>
<FrontAxle maxSteering="0.5" wheelDiameter="0.6" trackWidth="1.8" positionX="3.1" positionZ="0.3"/>
<RearAxle maxSteering="0.0" wheelDiameter="0.6" trackWidth="1.8" positionX="0.0" positionZ="0.3"/>
</Axles>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Vehicle>
</ScenarioObject>
<ScenarioObject name="standing">
<Vehicle name="vehicle.volkswagen.t2" vehicleCategory="car">
<ParameterDeclarations/>
<Performance maxSpeed="69.444" maxAcceleration="200" maxDeceleration="10.0"/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2.1" length="4.5" height="1.8"/>
</BoundingBox>
<Axles>
<FrontAxle maxSteering="0.5" wheelDiameter="0.6" trackWidth="1.8" positionX="3.1" positionZ="0.3"/>
<RearAxle maxSteering="0.0" wheelDiameter="0.6" trackWidth="1.8" positionX="0.0" positionZ="0.3"/>
</Axles>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Vehicle>
</ScenarioObject>
<ScenarioObject name="pedestrian_close_to_hero_9082">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
</Entities>
<Storyboard>
<Init>
<Actions>
<GlobalAction>
<EnvironmentAction>
<Environment name="Environment1">
<TimeOfDay animation="false" dateTime="2019-06-25T12:00:00"/>
<Weather cloudState="free">
<Sun intensity="0.85" azimuth="0" elevation="1.31"/>
<Fog visualRange="100000.0"/>
<Precipitation precipitationType="dry" intensity="0.0"/>
</Weather>
<RoadCondition frictionScaleFactor="1.0"/>
</Environment>
</EnvironmentAction>
</GlobalAction>
<Private entityRef="hero">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-9.4" y="-152.8" z="0.5" h="1.57079632679"/>
</Position>
</TeleportAction>
</PrivateAction>
<PrivateAction>
<ControllerAction>
<AssignControllerAction>
<Controller name="HeroAgent">
<Properties>
<Property name="module" value="external_control"/>
</Properties>
</Controller>
</AssignControllerAction>
<OverrideControllerValueAction>
<Throttle value="0" active="false"/>
<Brake value="0" active="false"/>
<Clutch value="0" active="false"/>
<ParkingBrake value="0" active="false"/>
<SteeringWheel value="0" active="false"/>
<Gear number="0" active="false"/>
</OverrideControllerValueAction>
</ControllerAction>
</PrivateAction>
</Private>
<Private entityRef="adversary">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-9.4" y="-71.0" z="0.5" h="1.57079632679"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="standing">
<PrivateAction>
<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_9082">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-13.634303092956543" y="-146.2073974609375" z="0.0014286803780123591"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
</Actions>
</Init>
<Story name="MyStory">
<Act name="Behavior">
<ManeuverGroup maximumExecutionCount="1" name="ManeuverSequence">
<Actors selectTriggeringEntities="false">
<EntityRef entityRef="adversary"/>
</Actors>
<Maneuver name="LaneChangeSimpleManeuver">
<Event name="AdversaryAccelerates" priority="overwrite">
<Action name="AdversaryAccelerates">
<PrivateAction>
<LongitudinalAction>
<SpeedAction>
<SpeedActionDynamics dynamicsShape="step" value="50" dynamicsDimension="distance"/>
<SpeedActionTarget>
<AbsoluteTargetSpeed value="5.0"/>
</SpeedActionTarget>
</SpeedAction>
</LongitudinalAction>
</PrivateAction>
</Action>
<StartTrigger>
<ConditionGroup>
<Condition name="StartCondition" delay="0" conditionEdge="rising">
<ByEntityCondition>
<TriggeringEntities triggeringEntitiesRule="any">
<EntityRef entityRef="hero"/>
</TriggeringEntities>
<EntityCondition>
<RelativeDistanceCondition entityRef="adversary" relativeDistanceType="cartesianDistance" value="40.0" freespace="false" rule="lessThan"/>
</EntityCondition>
</ByEntityCondition>
</Condition>
</ConditionGroup>
</StartTrigger>
</Event>
<Event name="AdversaryChangesLane" priority="overwrite">
<Action name="AdversaryChangesLane">
<PrivateAction>
<LateralAction>
<LaneChangeAction>
<LaneChangeActionDynamics dynamicsShape="linear" value="25" dynamicsDimension="distance"/>
<LaneChangeTarget>
<RelativeTargetLane entityRef="adversary" value="-1"/>
</LaneChangeTarget>
</LaneChangeAction>
</LateralAction>
</PrivateAction>
</Action>
<StartTrigger>
<ConditionGroup>
<Condition name="AfterAdversaryAccelerates" delay="0" conditionEdge="rising">
<ByValueCondition>
<StoryboardElementStateCondition storyboardElementType="action" storyboardElementRef="AdversaryAccelerates" state="completeState"/>
</ByValueCondition>
</Condition>
</ConditionGroup>
</StartTrigger>
</Event>
</Maneuver>
</ManeuverGroup>
<StartTrigger>
<ConditionGroup>
<Condition name="OverallStartCondition" delay="0" conditionEdge="rising">
<ByEntityCondition>
<TriggeringEntities triggeringEntitiesRule="any">
<EntityRef entityRef="hero"/>
</TriggeringEntities>
<EntityCondition>
<TraveledDistanceCondition value="1.0"/>
</EntityCondition>
</ByEntityCondition>
</Condition>
<Condition name="StartTime" delay="0" conditionEdge="rising">
<ByValueCondition>
<SimulationTimeCondition value="0" rule="equalTo"/>
</ByValueCondition>
</Condition>
</ConditionGroup>
</StartTrigger>
<StopTrigger>
<ConditionGroup>
<Condition name="EndCondition" delay="0" conditionEdge="rising">
<ByEntityCondition>
<TriggeringEntities triggeringEntitiesRule="any">
<EntityRef entityRef="hero"/>
</TriggeringEntities>
<EntityCondition>
<TraveledDistanceCondition value="200.0"/>
</EntityCondition>
</ByEntityCondition>
</Condition>
</ConditionGroup>
</StopTrigger>
</Act>
</Story>
<StopTrigger>
<ConditionGroup>
<Condition name="criteria_RunningStopTest" delay="0" conditionEdge="rising">
<ByValueCondition>
<ParameterCondition parameterRef="" value="" rule="lessThan"/>
</ByValueCondition>
</Condition>
<Condition name="criteria_RunningRedLightTest" delay="0" conditionEdge="rising">
<ByValueCondition>
<ParameterCondition parameterRef="" value="" rule="lessThan"/>
</ByValueCondition>
</Condition>
<Condition name="criteria_WrongLaneTest" delay="0" conditionEdge="rising">
<ByValueCondition>
<ParameterCondition parameterRef="" value="" rule="lessThan"/>
</ByValueCondition>
</Condition>
<Condition name="criteria_OnSidewalkTest" delay="0" conditionEdge="rising">
<ByValueCondition>
<ParameterCondition parameterRef="" value="" rule="lessThan"/>
</ByValueCondition>
</Condition>
<Condition name="criteria_KeepLaneTest" delay="0" conditionEdge="rising">
<ByValueCondition>
<ParameterCondition parameterRef="" value="" rule="lessThan"/>
</ByValueCondition>
</Condition>
<Condition name="criteria_CollisionTest" delay="0" conditionEdge="rising">
<ByValueCondition>
<ParameterCondition parameterRef="" value="" rule="lessThan"/>
</ByValueCondition>
</Condition>
<Condition name="criteria_DrivenDistanceTest" delay="0" conditionEdge="rising">
<ByValueCondition>
<ParameterCondition parameterRef="distance_success" value="100" rule="lessThan"/>
</ByValueCondition>
</Condition>
</ConditionGroup>
</StopTrigger>
</Storyboard>
</OpenSCENARIO>
``` | Here is the result:
```
<?xml version="1.0" ?>
<OpenSCENARIO>
<FileHeader revMajor="1" revMinor="0" date="2020-03-24T12:00:00" description="CARLA:LaneChangeSimple" author=""/>
<ParameterDeclarations/>
<CatalogLocations/>
<RoadNetwork>
<LogicFile filepath="Town04"/>
<SceneGraphFile filepath=""/>
</RoadNetwork>
<Entities>
<ScenarioObject name="hero">
<Vehicle name="vehicle.tesla.model3" vehicleCategory="car">
<ParameterDeclarations/>
<Performance maxSpeed="69.444" maxAcceleration="200" maxDeceleration="10.0"/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2.1" length="4.5" height="1.8"/>
</BoundingBox>
<Axles>
<FrontAxle maxSteering="0.5" wheelDiameter="0.6" trackWidth="1.8" positionX="3.1" positionZ="0.3"/>
<RearAxle maxSteering="0.0" wheelDiameter="0.6" trackWidth="1.8" positionX="0.0" positionZ="0.3"/>
</Axles>
<Properties>
<Property name="type" value="ego_vehicle"/>
</Properties>
</Vehicle>
</ScenarioObject>
<ScenarioObject name="adversary">
<Vehicle name="vehicle.lincoln.mkz_2017" vehicleCategory="car">
<ParameterDeclarations/>
<Performance maxSpeed="69.444" maxAcceleration="200" maxDeceleration="10.0"/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2.1" length="4.5" height="1.8"/>
</BoundingBox>
<Axles>
<FrontAxle maxSteering="0.5" wheelDiameter="0.6" trackWidth="1.8" positionX="3.1" positionZ="0.3"/>
<RearAxle maxSteering="0.0" wheelDiameter="0.6" trackWidth="1.8" positionX="0.0" positionZ="0.3"/>
</Axles>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Vehicle>
</ScenarioObject>
<ScenarioObject name="standing">
<Vehicle name="vehicle.volkswagen.t2" vehicleCategory="car">
<ParameterDeclarations/>
<Performance maxSpeed="69.444" maxAcceleration="200" maxDeceleration="10.0"/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2.1" length="4.5" height="1.8"/>
</BoundingBox>
<Axles>
<FrontAxle maxSteering="0.5" wheelDiameter="0.6" trackWidth="1.8" positionX="3.1" positionZ="0.3"/>
<RearAxle maxSteering="0.0" wheelDiameter="0.6" 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_9082">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_w_transform_9083">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
</Entities>
<Storyboard>
<Init>
<Actions>
<GlobalAction>
<EnvironmentAction>
<Environment name="Environment1">
<TimeOfDay animation="false" dateTime="2019-06-25T12:00:00"/>
<Weather cloudState="free">
<Sun intensity="0.85" azimuth="0" elevation="1.31"/>
<Fog visualRange="100000.0"/>
<Precipitation precipitationType="dry" intensity="0.0"/>
</Weather>
<RoadCondition frictionScaleFactor="1.0"/>
</Environment>
</EnvironmentAction>
</GlobalAction>
<Private entityRef="hero">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-9.4" y="-152.8" z="0.5" h="1.57079632679"/>
</Position>
</TeleportAction>
</PrivateAction>
<PrivateAction>
<ControllerAction>
<AssignControllerAction>
<Controller name="HeroAgent">
<Properties>
<Property name="module" value="external_control"/>
</Properties>
</Controller>
</AssignControllerAction>
<OverrideControllerValueAction>
<Throttle value="0" active="false"/>
<Brake value="0" active="false"/>
<Clutch value="0" active="false"/>
<ParkingBrake value="0" active="false"/>
<SteeringWheel value="0" active="false"/>
<Gear number="0" active="false"/>
</OverrideControllerValueAction>
</ControllerAction>
</PrivateAction>
</Private>
<Private entityRef="adversary">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-9.4" y="-71.0" z="0.5" h="1.57079632679"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="standing">
<PrivateAction>
<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_9082">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-13.634303092956543" y="-146.2073974609375" z="0.0014286803780123591"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_w_transform_9083">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-62.88520431518555" y="-36.67627716064453" z="0.5"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
</Actions>
</Init>
<Story name="MyStory">
<Act name="Behavior">
<ManeuverGroup maximumExecutionCount="1" name="ManeuverSequence">
<Actors selectTriggeringEntities="false">
<EntityRef entityRef="adversary"/>
</Actors>
<Maneuver name="LaneChangeSimpleManeuver">
<Event name="AdversaryAccelerates" priority="overwrite">
<Action name="AdversaryAccelerates">
<PrivateAction>
<LongitudinalAction>
<SpeedAction>
<SpeedActionDynamics dynamicsShape="step" value="50" dynamicsDimension="distance"/>
<SpeedActionTarget>
<AbsoluteTargetSpeed value="5.0"/>
</SpeedActionTarget>
</SpeedAction>
</LongitudinalAction>
</PrivateAction>
</Action>
<StartTrigger>
<ConditionGroup>
<Condition name="StartCondition" delay="0" conditionEdge="rising">
<ByEntityCondition>
<TriggeringEntities triggeringEntitiesRule="any">
<EntityRef entityRef="hero"/>
</TriggeringEntities>
<EntityCondition>
<RelativeDistanceCondition entityRef="adversary" relativeDistanceType="cartesianDistance" value="40.0" freespace="false" rule="lessThan"/>
</EntityCondition>
</ByEntityCondition>
</Condition>
</ConditionGroup>
</StartTrigger>
</Event>
<Event name="AdversaryChangesLane" priority="overwrite">
<Action name="AdversaryChangesLane">
<PrivateAction>
<LateralAction>
<LaneChangeAction>
<LaneChangeActionDynamics dynamicsShape="linear" value="25" dynamicsDimension="distance"/>
<LaneChangeTarget>
<RelativeTargetLane entityRef="adversary" value="-1"/>
</LaneChangeTarget>
</LaneChangeAction>
</LateralAction>
</PrivateAction>
</Action>
<StartTrigger>
<ConditionGroup>
<Condition name="AfterAdversaryAccelerates" delay="0" conditionEdge="rising">
<ByValueCondition>
<StoryboardElementStateCondition storyboardElementType="action" storyboardElementRef="AdversaryAccelerates" state="completeState"/>
</ByValueCondition>
</Condition>
</ConditionGroup>
</StartTrigger>
</Event>
</Maneuver>
</ManeuverGroup>
<StartTrigger>
<ConditionGroup>
<Condition name="OverallStartCondition" delay="0" conditionEdge="rising">
<ByEntityCondition>
<TriggeringEntities triggeringEntitiesRule="any">
<EntityRef entityRef="hero"/>
</TriggeringEntities>
<EntityCondition>
<TraveledDistanceCondition value="1.0"/>
</EntityCondition>
</ByEntityCondition>
</Condition>
<Condition name="StartTime" delay="0" conditionEdge="rising">
<ByValueCondition>
<SimulationTimeCondition value="0" rule="equalTo"/>
</ByValueCondition>
</Condition>
</ConditionGroup>
</StartTrigger>
<StopTrigger>
<ConditionGroup>
<Condition name="EndCondition" delay="0" conditionEdge="rising">
<ByEntityCondition>
<TriggeringEntities triggeringEntitiesRule="any">
<EntityRef entityRef="hero"/>
</TriggeringEntities>
<EntityCondition>
<TraveledDistanceCondition value="200.0"/>
</EntityCondition>
</ByEntityCondition>
</Condition>
</ConditionGroup>
</StopTrigger>
</Act>
</Story>
<StopTrigger>
<ConditionGroup>
<Condition name="criteria_RunningStopTest" delay="0" conditionEdge="rising">
<ByValueCondition>
<ParameterCondition parameterRef="" value="" rule="lessThan"/>
</ByValueCondition>
</Condition>
<Condition name="criteria_RunningRedLightTest" delay="0" conditionEdge="rising">
<ByValueCondition>
<ParameterCondition parameterRef="" value="" rule="lessThan"/>
</ByValueCondition>
</Condition>
<Condition name="criteria_WrongLaneTest" delay="0" conditionEdge="rising">
<ByValueCondition>
<ParameterCondition parameterRef="" value="" rule="lessThan"/>
</ByValueCondition>
</Condition>
<Condition name="criteria_OnSidewalkTest" delay="0" conditionEdge="rising">
<ByValueCondition>
<ParameterCondition parameterRef="" value="" rule="lessThan"/>
</ByValueCondition>
</Condition>
<Condition name="criteria_KeepLaneTest" delay="0" conditionEdge="rising">
<ByValueCondition>
<ParameterCondition parameterRef="" value="" rule="lessThan"/>
</ByValueCondition>
</Condition>
<Condition name="criteria_CollisionTest" delay="0" conditionEdge="rising">
<ByValueCondition>
<ParameterCondition parameterRef="" value="" rule="lessThan"/>
</ByValueCondition>
</Condition>
<Condition name="criteria_DrivenDistanceTest" delay="0" conditionEdge="rising">
<ByValueCondition>
<ParameterCondition parameterRef="distance_success" value="100" rule="lessThan"/>
</ByValueCondition>
</Condition>
</ConditionGroup>
</StopTrigger>
</Storyboard>
</OpenSCENARIO>
``` |
i would like you to display add pedestrian close to adversary?
```
<?xml version="1.0" ?>
<OpenSCENARIO>
<FileHeader revMajor="1" revMinor="0" date="2020-03-24T12:00:00" description="CARLA:LaneChangeSimple" author=""/>
<ParameterDeclarations/>
<CatalogLocations/>
<RoadNetwork>
<LogicFile filepath="Town04"/>
<SceneGraphFile filepath=""/>
</RoadNetwork>
<Entities>
<ScenarioObject name="hero">
<Vehicle name="vehicle.tesla.model3" vehicleCategory="car">
<ParameterDeclarations/>
<Performance maxSpeed="69.444" maxAcceleration="200" maxDeceleration="10.0"/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2.1" length="4.5" height="1.8"/>
</BoundingBox>
<Axles>
<FrontAxle maxSteering="0.5" wheelDiameter="0.6" trackWidth="1.8" positionX="3.1" positionZ="0.3"/>
<RearAxle maxSteering="0.0" wheelDiameter="0.6" trackWidth="1.8" positionX="0.0" positionZ="0.3"/>
</Axles>
<Properties>
<Property name="type" value="ego_vehicle"/>
</Properties>
</Vehicle>
</ScenarioObject>
<ScenarioObject name="adversary">
<Vehicle name="vehicle.lincoln.mkz_2017" vehicleCategory="car">
<ParameterDeclarations/>
<Performance maxSpeed="69.444" maxAcceleration="200" maxDeceleration="10.0"/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2.1" length="4.5" height="1.8"/>
</BoundingBox>
<Axles>
<FrontAxle maxSteering="0.5" wheelDiameter="0.6" trackWidth="1.8" positionX="3.1" positionZ="0.3"/>
<RearAxle maxSteering="0.0" wheelDiameter="0.6" trackWidth="1.8" positionX="0.0" positionZ="0.3"/>
</Axles>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Vehicle>
</ScenarioObject>
<ScenarioObject name="standing">
<Vehicle name="vehicle.volkswagen.t2" vehicleCategory="car">
<ParameterDeclarations/>
<Performance maxSpeed="69.444" maxAcceleration="200" maxDeceleration="10.0"/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2.1" length="4.5" height="1.8"/>
</BoundingBox>
<Axles>
<FrontAxle maxSteering="0.5" wheelDiameter="0.6" trackWidth="1.8" positionX="3.1" positionZ="0.3"/>
<RearAxle maxSteering="0.0" wheelDiameter="0.6" trackWidth="1.8" positionX="0.0" positionZ="0.3"/>
</Axles>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Vehicle>
</ScenarioObject>
<ScenarioObject name="pedestrian_close_to_adversary_21817">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_close_to_adversary_21818">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_w_transform_21819">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_w_transform_21820">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_w_transform_21821">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_w_transform_21822">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_w_transform_21823">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_close_to_hero_21824">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_w_transform_21826">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_close_to_adversary_21827">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
</Entities>
<Storyboard>
<Init>
<Actions>
<GlobalAction>
<EnvironmentAction>
<Environment name="Environment1">
<TimeOfDay animation="false" dateTime="2019-06-25T12:00:00"/>
<Weather cloudState="free">
<Sun intensity="0.85" azimuth="0" elevation="1.31"/>
<Fog visualRange="100000.0"/>
<Precipitation precipitationType="dry" intensity="0.0"/>
</Weather>
<RoadCondition frictionScaleFactor="1.0"/>
</Environment>
</EnvironmentAction>
</GlobalAction>
<Private entityRef="hero">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-9.4" y="-152.8" z="0.5" h="1.57079632679"/>
</Position>
</TeleportAction>
</PrivateAction>
<PrivateAction>
<ControllerAction>
<AssignControllerAction>
<Controller name="HeroAgent">
<Properties>
<Property name="module" value="external_control"/>
</Properties>
</Controller>
</AssignControllerAction>
<OverrideControllerValueAction>
<Throttle value="0" active="false"/>
<Brake value="0" active="false"/>
<Clutch value="0" active="false"/>
<ParkingBrake value="0" active="false"/>
<SteeringWheel value="0" active="false"/>
<Gear number="0" active="false"/>
</OverrideControllerValueAction>
</ControllerAction>
</PrivateAction>
</Private>
<Private entityRef="adversary">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-9.4" y="-71.0" z="0.5" h="1.57079632679"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="standing">
<PrivateAction>
<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_21817">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-12.670090675354004" y="-73.12240600585938" z="0.03372916951775551"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_close_to_adversary_21818">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-11.890578269958496" y="-71.53208923339844" z="0.03378826007246971"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_w_transform_21819">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="38.372467041015625" y="15.733353614807129" z="0.5"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_w_transform_21820">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-75.50506591796875" y="60.00246047973633" z="0.5"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_w_transform_21821">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="27.304637908935547" y="-82.6028060913086" z="0.5"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_w_transform_21822">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="90.40785217285156" y="90.79579162597656" z="0.5"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_w_transform_21823">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="29.576982498168945" y="-0.9503506422042847" z="0.5"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_close_to_hero_21824">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-9.023213386535645" y="-161.19285583496094" z="0.0014286803780123591"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_w_transform_21826">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="7.922017574310303" y="26.25554084777832" z="0.5"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_close_to_adversary_21827">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-21.92254066467285" y="-78.32955169677734" z="0.03374778851866722"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
</Actions>
</Init>
<Story name="MyStory">
<Act name="Behavior">
<ManeuverGroup maximumExecutionCount="1" name="ManeuverSequence">
<Actors selectTriggeringEntities="false">
<EntityRef entityRef="adversary"/>
</Actors>
<Maneuver name="LaneChangeSimpleManeuver">
<Event name="AdversaryAccelerates" priority="overwrite">
<Action name="AdversaryAccelerates">
<PrivateAction>
<LongitudinalAction>
<SpeedAction>
<SpeedActionDynamics dynamicsShape="step" value="50" dynamicsDimension="distance"/>
<SpeedActionTarget>
<AbsoluteTargetSpeed value="5.0"/>
</SpeedActionTarget>
</SpeedAction>
</LongitudinalAction>
</PrivateAction>
</Action>
<StartTrigger>
<ConditionGroup>
<Condition name="StartCondition" delay="0" conditionEdge="rising">
<ByEntityCondition>
<TriggeringEntities triggeringEntitiesRule="any">
<EntityRef entityRef="hero"/>
</TriggeringEntities>
<EntityCondition>
<RelativeDistanceCondition entityRef="adversary" relativeDistanceType="cartesianDistance" value="40.0" freespace="false" rule="lessThan"/>
</EntityCondition>
</ByEntityCondition>
</Condition>
</ConditionGroup>
</StartTrigger>
</Event>
<Event name="AdversaryChangesLane" priority="overwrite">
<Action name="AdversaryChangesLane">
<PrivateAction>
<LateralAction>
<LaneChangeAction>
<LaneChangeActionDynamics dynamicsShape="linear" value="25" dynamicsDimension="distance"/>
<LaneChangeTarget>
<RelativeTargetLane entityRef="adversary" value="-1"/>
</LaneChangeTarget>
</LaneChangeAction>
</LateralAction>
</PrivateAction>
</Action>
<StartTrigger>
<ConditionGroup>
<Condition name="AfterAdversaryAccelerates" delay="0" conditionEdge="rising">
<ByValueCondition>
<StoryboardElementStateCondition storyboardElementType="action" storyboardElementRef="AdversaryAccelerates" state="completeState"/>
</ByValueCondition>
</Condition>
</ConditionGroup>
</StartTrigger>
</Event>
</Maneuver>
</ManeuverGroup>
<StartTrigger>
<ConditionGroup>
<Condition name="OverallStartCondition" delay="0" conditionEdge="rising">
<ByEntityCondition>
<TriggeringEntities triggeringEntitiesRule="any">
<EntityRef entityRef="hero"/>
</TriggeringEntities>
<EntityCondition>
<TraveledDistanceCondition value="1.0"/>
</EntityCondition>
</ByEntityCondition>
</Condition>
<Condition name="StartTime" delay="0" conditionEdge="rising">
<ByValueCondition>
<SimulationTimeCondition value="0" rule="equalTo"/>
</ByValueCondition>
</Condition>
</ConditionGroup>
</StartTrigger>
<StopTrigger>
<ConditionGroup>
<Condition name="EndCondition" delay="0" conditionEdge="rising">
<ByEntityCondition>
<TriggeringEntities triggeringEntitiesRule="any">
<EntityRef entityRef="hero"/>
</TriggeringEntities>
<EntityCondition>
<TraveledDistanceCondition value="200.0"/>
</EntityCondition>
</ByEntityCondition>
</Condition>
</ConditionGroup>
</StopTrigger>
</Act>
</Story>
<StopTrigger>
<ConditionGroup>
<Condition name="criteria_RunningStopTest" delay="0" conditionEdge="rising">
<ByValueCondition>
<ParameterCondition parameterRef="" value="" rule="lessThan"/>
</ByValueCondition>
</Condition>
<Condition name="criteria_RunningRedLightTest" delay="0" conditionEdge="rising">
<ByValueCondition>
<ParameterCondition parameterRef="" value="" rule="lessThan"/>
</ByValueCondition>
</Condition>
<Condition name="criteria_WrongLaneTest" delay="0" conditionEdge="rising">
<ByValueCondition>
<ParameterCondition parameterRef="" value="" rule="lessThan"/>
</ByValueCondition>
</Condition>
<Condition name="criteria_OnSidewalkTest" delay="0" conditionEdge="rising">
<ByValueCondition>
<ParameterCondition parameterRef="" value="" rule="lessThan"/>
</ByValueCondition>
</Condition>
<Condition name="criteria_KeepLaneTest" delay="0" conditionEdge="rising">
<ByValueCondition>
<ParameterCondition parameterRef="" value="" rule="lessThan"/>
</ByValueCondition>
</Condition>
<Condition name="criteria_CollisionTest" delay="0" conditionEdge="rising">
<ByValueCondition>
<ParameterCondition parameterRef="" value="" rule="lessThan"/>
</ByValueCondition>
</Condition>
<Condition name="criteria_DrivenDistanceTest" delay="0" conditionEdge="rising">
<ByValueCondition>
<ParameterCondition parameterRef="distance_success" value="100" rule="lessThan"/>
</ByValueCondition>
</Condition>
</ConditionGroup>
</StopTrigger>
</Storyboard>
</OpenSCENARIO>
``` | Here is the result:
```
<?xml version="1.0" ?>
<OpenSCENARIO>
<FileHeader revMajor="1" revMinor="0" date="2020-03-24T12:00:00" description="CARLA:LaneChangeSimple" author=""/>
<ParameterDeclarations/>
<CatalogLocations/>
<RoadNetwork>
<LogicFile filepath="Town04"/>
<SceneGraphFile filepath=""/>
</RoadNetwork>
<Entities>
<ScenarioObject name="hero">
<Vehicle name="vehicle.tesla.model3" vehicleCategory="car">
<ParameterDeclarations/>
<Performance maxSpeed="69.444" maxAcceleration="200" maxDeceleration="10.0"/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2.1" length="4.5" height="1.8"/>
</BoundingBox>
<Axles>
<FrontAxle maxSteering="0.5" wheelDiameter="0.6" trackWidth="1.8" positionX="3.1" positionZ="0.3"/>
<RearAxle maxSteering="0.0" wheelDiameter="0.6" trackWidth="1.8" positionX="0.0" positionZ="0.3"/>
</Axles>
<Properties>
<Property name="type" value="ego_vehicle"/>
</Properties>
</Vehicle>
</ScenarioObject>
<ScenarioObject name="adversary">
<Vehicle name="vehicle.lincoln.mkz_2017" vehicleCategory="car">
<ParameterDeclarations/>
<Performance maxSpeed="69.444" maxAcceleration="200" maxDeceleration="10.0"/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2.1" length="4.5" height="1.8"/>
</BoundingBox>
<Axles>
<FrontAxle maxSteering="0.5" wheelDiameter="0.6" trackWidth="1.8" positionX="3.1" positionZ="0.3"/>
<RearAxle maxSteering="0.0" wheelDiameter="0.6" trackWidth="1.8" positionX="0.0" positionZ="0.3"/>
</Axles>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Vehicle>
</ScenarioObject>
<ScenarioObject name="standing">
<Vehicle name="vehicle.volkswagen.t2" vehicleCategory="car">
<ParameterDeclarations/>
<Performance maxSpeed="69.444" maxAcceleration="200" maxDeceleration="10.0"/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2.1" length="4.5" height="1.8"/>
</BoundingBox>
<Axles>
<FrontAxle maxSteering="0.5" wheelDiameter="0.6" trackWidth="1.8" positionX="3.1" positionZ="0.3"/>
<RearAxle maxSteering="0.0" wheelDiameter="0.6" 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_21817">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_close_to_adversary_21818">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_w_transform_21819">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_w_transform_21820">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_w_transform_21821">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_w_transform_21822">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_w_transform_21823">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_close_to_hero_21824">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_w_transform_21826">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_close_to_adversary_21827">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_close_to_adversary_21828">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
</Entities>
<Storyboard>
<Init>
<Actions>
<GlobalAction>
<EnvironmentAction>
<Environment name="Environment1">
<TimeOfDay animation="false" dateTime="2019-06-25T12:00:00"/>
<Weather cloudState="free">
<Sun intensity="0.85" azimuth="0" elevation="1.31"/>
<Fog visualRange="100000.0"/>
<Precipitation precipitationType="dry" intensity="0.0"/>
</Weather>
<RoadCondition frictionScaleFactor="1.0"/>
</Environment>
</EnvironmentAction>
</GlobalAction>
<Private entityRef="hero">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-9.4" y="-152.8" z="0.5" h="1.57079632679"/>
</Position>
</TeleportAction>
</PrivateAction>
<PrivateAction>
<ControllerAction>
<AssignControllerAction>
<Controller name="HeroAgent">
<Properties>
<Property name="module" value="external_control"/>
</Properties>
</Controller>
</AssignControllerAction>
<OverrideControllerValueAction>
<Throttle value="0" active="false"/>
<Brake value="0" active="false"/>
<Clutch value="0" active="false"/>
<ParkingBrake value="0" active="false"/>
<SteeringWheel value="0" active="false"/>
<Gear number="0" active="false"/>
</OverrideControllerValueAction>
</ControllerAction>
</PrivateAction>
</Private>
<Private entityRef="adversary">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-9.4" y="-71.0" z="0.5" h="1.57079632679"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="standing">
<PrivateAction>
<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_21817">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-12.670090675354004" y="-73.12240600585938" z="0.03372916951775551"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_close_to_adversary_21818">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-11.890578269958496" y="-71.53208923339844" z="0.03378826007246971"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_w_transform_21819">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="38.372467041015625" y="15.733353614807129" z="0.5"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_w_transform_21820">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-75.50506591796875" y="60.00246047973633" z="0.5"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_w_transform_21821">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="27.304637908935547" y="-82.6028060913086" z="0.5"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_w_transform_21822">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="90.40785217285156" y="90.79579162597656" z="0.5"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_w_transform_21823">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="29.576982498168945" y="-0.9503506422042847" z="0.5"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_close_to_hero_21824">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-9.023213386535645" y="-161.19285583496094" z="0.0014286803780123591"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_w_transform_21826">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="7.922017574310303" y="26.25554084777832" z="0.5"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_close_to_adversary_21827">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-21.92254066467285" y="-78.32955169677734" z="0.03374778851866722"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_close_to_adversary_21828">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-9.258489608764648" y="-61.113983154296875" z="0.03374805301427841"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
</Actions>
</Init>
<Story name="MyStory">
<Act name="Behavior">
<ManeuverGroup maximumExecutionCount="1" name="ManeuverSequence">
<Actors selectTriggeringEntities="false">
<EntityRef entityRef="adversary"/>
</Actors>
<Maneuver name="LaneChangeSimpleManeuver">
<Event name="AdversaryAccelerates" priority="overwrite">
<Action name="AdversaryAccelerates">
<PrivateAction>
<LongitudinalAction>
<SpeedAction>
<SpeedActionDynamics dynamicsShape="step" value="50" dynamicsDimension="distance"/>
<SpeedActionTarget>
<AbsoluteTargetSpeed value="5.0"/>
</SpeedActionTarget>
</SpeedAction>
</LongitudinalAction>
</PrivateAction>
</Action>
<StartTrigger>
<ConditionGroup>
<Condition name="StartCondition" delay="0" conditionEdge="rising">
<ByEntityCondition>
<TriggeringEntities triggeringEntitiesRule="any">
<EntityRef entityRef="hero"/>
</TriggeringEntities>
<EntityCondition>
<RelativeDistanceCondition entityRef="adversary" relativeDistanceType="cartesianDistance" value="40.0" freespace="false" rule="lessThan"/>
</EntityCondition>
</ByEntityCondition>
</Condition>
</ConditionGroup>
</StartTrigger>
</Event>
<Event name="AdversaryChangesLane" priority="overwrite">
<Action name="AdversaryChangesLane">
<PrivateAction>
<LateralAction>
<LaneChangeAction>
<LaneChangeActionDynamics dynamicsShape="linear" value="25" dynamicsDimension="distance"/>
<LaneChangeTarget>
<RelativeTargetLane entityRef="adversary" value="-1"/>
</LaneChangeTarget>
</LaneChangeAction>
</LateralAction>
</PrivateAction>
</Action>
<StartTrigger>
<ConditionGroup>
<Condition name="AfterAdversaryAccelerates" delay="0" conditionEdge="rising">
<ByValueCondition>
<StoryboardElementStateCondition storyboardElementType="action" storyboardElementRef="AdversaryAccelerates" state="completeState"/>
</ByValueCondition>
</Condition>
</ConditionGroup>
</StartTrigger>
</Event>
</Maneuver>
</ManeuverGroup>
<StartTrigger>
<ConditionGroup>
<Condition name="OverallStartCondition" delay="0" conditionEdge="rising">
<ByEntityCondition>
<TriggeringEntities triggeringEntitiesRule="any">
<EntityRef entityRef="hero"/>
</TriggeringEntities>
<EntityCondition>
<TraveledDistanceCondition value="1.0"/>
</EntityCondition>
</ByEntityCondition>
</Condition>
<Condition name="StartTime" delay="0" conditionEdge="rising">
<ByValueCondition>
<SimulationTimeCondition value="0" rule="equalTo"/>
</ByValueCondition>
</Condition>
</ConditionGroup>
</StartTrigger>
<StopTrigger>
<ConditionGroup>
<Condition name="EndCondition" delay="0" conditionEdge="rising">
<ByEntityCondition>
<TriggeringEntities triggeringEntitiesRule="any">
<EntityRef entityRef="hero"/>
</TriggeringEntities>
<EntityCondition>
<TraveledDistanceCondition value="200.0"/>
</EntityCondition>
</ByEntityCondition>
</Condition>
</ConditionGroup>
</StopTrigger>
</Act>
</Story>
<StopTrigger>
<ConditionGroup>
<Condition name="criteria_RunningStopTest" delay="0" conditionEdge="rising">
<ByValueCondition>
<ParameterCondition parameterRef="" value="" rule="lessThan"/>
</ByValueCondition>
</Condition>
<Condition name="criteria_RunningRedLightTest" delay="0" conditionEdge="rising">
<ByValueCondition>
<ParameterCondition parameterRef="" value="" rule="lessThan"/>
</ByValueCondition>
</Condition>
<Condition name="criteria_WrongLaneTest" delay="0" conditionEdge="rising">
<ByValueCondition>
<ParameterCondition parameterRef="" value="" rule="lessThan"/>
</ByValueCondition>
</Condition>
<Condition name="criteria_OnSidewalkTest" delay="0" conditionEdge="rising">
<ByValueCondition>
<ParameterCondition parameterRef="" value="" rule="lessThan"/>
</ByValueCondition>
</Condition>
<Condition name="criteria_KeepLaneTest" delay="0" conditionEdge="rising">
<ByValueCondition>
<ParameterCondition parameterRef="" value="" rule="lessThan"/>
</ByValueCondition>
</Condition>
<Condition name="criteria_CollisionTest" delay="0" conditionEdge="rising">
<ByValueCondition>
<ParameterCondition parameterRef="" value="" rule="lessThan"/>
</ByValueCondition>
</Condition>
<Condition name="criteria_DrivenDistanceTest" delay="0" conditionEdge="rising">
<ByValueCondition>
<ParameterCondition parameterRef="distance_success" value="100" rule="lessThan"/>
</ByValueCondition>
</Condition>
</ConditionGroup>
</StopTrigger>
</Storyboard>
</OpenSCENARIO>
``` |
can you add pedestrian close to hero?
```
<?xml version="1.0" ?>
<OpenSCENARIO>
<FileHeader revMajor="1" revMinor="0" date="2020-03-24T12:00:00" description="CARLA:LaneChangeSimple" author=""/>
<ParameterDeclarations/>
<CatalogLocations/>
<RoadNetwork>
<LogicFile filepath="Town04"/>
<SceneGraphFile filepath=""/>
</RoadNetwork>
<Entities>
<ScenarioObject name="hero">
<Vehicle name="vehicle.tesla.model3" vehicleCategory="car">
<ParameterDeclarations/>
<Performance maxSpeed="69.444" maxAcceleration="200" maxDeceleration="10.0"/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2.1" length="4.5" height="1.8"/>
</BoundingBox>
<Axles>
<FrontAxle maxSteering="0.5" wheelDiameter="0.6" trackWidth="1.8" positionX="3.1" positionZ="0.3"/>
<RearAxle maxSteering="0.0" wheelDiameter="0.6" trackWidth="1.8" positionX="0.0" positionZ="0.3"/>
</Axles>
<Properties>
<Property name="type" value="ego_vehicle"/>
</Properties>
</Vehicle>
</ScenarioObject>
<ScenarioObject name="adversary">
<Vehicle name="vehicle.lincoln.mkz_2017" vehicleCategory="car">
<ParameterDeclarations/>
<Performance maxSpeed="69.444" maxAcceleration="200" maxDeceleration="10.0"/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2.1" length="4.5" height="1.8"/>
</BoundingBox>
<Axles>
<FrontAxle maxSteering="0.5" wheelDiameter="0.6" trackWidth="1.8" positionX="3.1" positionZ="0.3"/>
<RearAxle maxSteering="0.0" wheelDiameter="0.6" trackWidth="1.8" positionX="0.0" positionZ="0.3"/>
</Axles>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Vehicle>
</ScenarioObject>
<ScenarioObject name="standing">
<Vehicle name="vehicle.volkswagen.t2" vehicleCategory="car">
<ParameterDeclarations/>
<Performance maxSpeed="69.444" maxAcceleration="200" maxDeceleration="10.0"/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2.1" length="4.5" height="1.8"/>
</BoundingBox>
<Axles>
<FrontAxle maxSteering="0.5" wheelDiameter="0.6" trackWidth="1.8" positionX="3.1" positionZ="0.3"/>
<RearAxle maxSteering="0.0" wheelDiameter="0.6" trackWidth="1.8" positionX="0.0" positionZ="0.3"/>
</Axles>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Vehicle>
</ScenarioObject>
<ScenarioObject name="pedestrian_close_to_adversary_7796">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_close_to_hero_7797">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_close_to_hero_7798">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_close_to_adversary_7799">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_close_to_hero_7800">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
</Entities>
<Storyboard>
<Init>
<Actions>
<GlobalAction>
<EnvironmentAction>
<Environment name="Environment1">
<TimeOfDay animation="false" dateTime="2019-06-25T12:00:00"/>
<Weather cloudState="free">
<Sun intensity="0.85" azimuth="0" elevation="1.31"/>
<Fog visualRange="100000.0"/>
<Precipitation precipitationType="dry" intensity="0.0"/>
</Weather>
<RoadCondition frictionScaleFactor="1.0"/>
</Environment>
</EnvironmentAction>
</GlobalAction>
<Private entityRef="hero">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-9.4" y="-152.8" z="0.5" h="1.57079632679"/>
</Position>
</TeleportAction>
</PrivateAction>
<PrivateAction>
<ControllerAction>
<AssignControllerAction>
<Controller name="HeroAgent">
<Properties>
<Property name="module" value="external_control"/>
</Properties>
</Controller>
</AssignControllerAction>
<OverrideControllerValueAction>
<Throttle value="0" active="false"/>
<Brake value="0" active="false"/>
<Clutch value="0" active="false"/>
<ParkingBrake value="0" active="false"/>
<SteeringWheel value="0" active="false"/>
<Gear number="0" active="false"/>
</OverrideControllerValueAction>
</ControllerAction>
</PrivateAction>
</Private>
<Private entityRef="adversary">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-9.4" y="-71.0" z="0.5" h="1.57079632679"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="standing">
<PrivateAction>
<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_7796">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-5.306539535522461" y="-68.46017456054688" z="0.033804815262556076"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_close_to_hero_7797">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-3.884935140609741" y="-150.5774688720703" z="0.0014286803780123591"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_close_to_hero_7798">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-11.835103988647461" y="-144.1981658935547" z="0.0014286803780123591"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_close_to_adversary_7799">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-7.651233673095703" y="-62.816226959228516" z="0.033740460872650146"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_close_to_hero_7800">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-3.085571527481079" y="-149.04713439941406" z="0.0014286803780123591"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
</Actions>
</Init>
<Story name="MyStory">
<Act name="Behavior">
<ManeuverGroup maximumExecutionCount="1" name="ManeuverSequence">
<Actors selectTriggeringEntities="false">
<EntityRef entityRef="adversary"/>
</Actors>
<Maneuver name="LaneChangeSimpleManeuver">
<Event name="AdversaryAccelerates" priority="overwrite">
<Action name="AdversaryAccelerates">
<PrivateAction>
<LongitudinalAction>
<SpeedAction>
<SpeedActionDynamics dynamicsShape="step" value="50" dynamicsDimension="distance"/>
<SpeedActionTarget>
<AbsoluteTargetSpeed value="5.0"/>
</SpeedActionTarget>
</SpeedAction>
</LongitudinalAction>
</PrivateAction>
</Action>
<StartTrigger>
<ConditionGroup>
<Condition name="StartCondition" delay="0" conditionEdge="rising">
<ByEntityCondition>
<TriggeringEntities triggeringEntitiesRule="any">
<EntityRef entityRef="hero"/>
</TriggeringEntities>
<EntityCondition>
<RelativeDistanceCondition entityRef="adversary" relativeDistanceType="cartesianDistance" value="40.0" freespace="false" rule="lessThan"/>
</EntityCondition>
</ByEntityCondition>
</Condition>
</ConditionGroup>
</StartTrigger>
</Event>
<Event name="AdversaryChangesLane" priority="overwrite">
<Action name="AdversaryChangesLane">
<PrivateAction>
<LateralAction>
<LaneChangeAction>
<LaneChangeActionDynamics dynamicsShape="linear" value="25" dynamicsDimension="distance"/>
<LaneChangeTarget>
<RelativeTargetLane entityRef="adversary" value="-1"/>
</LaneChangeTarget>
</LaneChangeAction>
</LateralAction>
</PrivateAction>
</Action>
<StartTrigger>
<ConditionGroup>
<Condition name="AfterAdversaryAccelerates" delay="0" conditionEdge="rising">
<ByValueCondition>
<StoryboardElementStateCondition storyboardElementType="action" storyboardElementRef="AdversaryAccelerates" state="completeState"/>
</ByValueCondition>
</Condition>
</ConditionGroup>
</StartTrigger>
</Event>
</Maneuver>
</ManeuverGroup>
<StartTrigger>
<ConditionGroup>
<Condition name="OverallStartCondition" delay="0" conditionEdge="rising">
<ByEntityCondition>
<TriggeringEntities triggeringEntitiesRule="any">
<EntityRef entityRef="hero"/>
</TriggeringEntities>
<EntityCondition>
<TraveledDistanceCondition value="1.0"/>
</EntityCondition>
</ByEntityCondition>
</Condition>
<Condition name="StartTime" delay="0" conditionEdge="rising">
<ByValueCondition>
<SimulationTimeCondition value="0" rule="equalTo"/>
</ByValueCondition>
</Condition>
</ConditionGroup>
</StartTrigger>
<StopTrigger>
<ConditionGroup>
<Condition name="EndCondition" delay="0" conditionEdge="rising">
<ByEntityCondition>
<TriggeringEntities triggeringEntitiesRule="any">
<EntityRef entityRef="hero"/>
</TriggeringEntities>
<EntityCondition>
<TraveledDistanceCondition value="200.0"/>
</EntityCondition>
</ByEntityCondition>
</Condition>
</ConditionGroup>
</StopTrigger>
</Act>
</Story>
<StopTrigger>
<ConditionGroup>
<Condition name="criteria_RunningStopTest" delay="0" conditionEdge="rising">
<ByValueCondition>
<ParameterCondition parameterRef="" value="" rule="lessThan"/>
</ByValueCondition>
</Condition>
<Condition name="criteria_RunningRedLightTest" delay="0" conditionEdge="rising">
<ByValueCondition>
<ParameterCondition parameterRef="" value="" rule="lessThan"/>
</ByValueCondition>
</Condition>
<Condition name="criteria_WrongLaneTest" delay="0" conditionEdge="rising">
<ByValueCondition>
<ParameterCondition parameterRef="" value="" rule="lessThan"/>
</ByValueCondition>
</Condition>
<Condition name="criteria_OnSidewalkTest" delay="0" conditionEdge="rising">
<ByValueCondition>
<ParameterCondition parameterRef="" value="" rule="lessThan"/>
</ByValueCondition>
</Condition>
<Condition name="criteria_KeepLaneTest" delay="0" conditionEdge="rising">
<ByValueCondition>
<ParameterCondition parameterRef="" value="" rule="lessThan"/>
</ByValueCondition>
</Condition>
<Condition name="criteria_CollisionTest" delay="0" conditionEdge="rising">
<ByValueCondition>
<ParameterCondition parameterRef="" value="" rule="lessThan"/>
</ByValueCondition>
</Condition>
<Condition name="criteria_DrivenDistanceTest" delay="0" conditionEdge="rising">
<ByValueCondition>
<ParameterCondition parameterRef="distance_success" value="100" rule="lessThan"/>
</ByValueCondition>
</Condition>
</ConditionGroup>
</StopTrigger>
</Storyboard>
</OpenSCENARIO>
``` | Here is the result:
```
<?xml version="1.0" ?>
<OpenSCENARIO>
<FileHeader revMajor="1" revMinor="0" date="2020-03-24T12:00:00" description="CARLA:LaneChangeSimple" author=""/>
<ParameterDeclarations/>
<CatalogLocations/>
<RoadNetwork>
<LogicFile filepath="Town04"/>
<SceneGraphFile filepath=""/>
</RoadNetwork>
<Entities>
<ScenarioObject name="hero">
<Vehicle name="vehicle.tesla.model3" vehicleCategory="car">
<ParameterDeclarations/>
<Performance maxSpeed="69.444" maxAcceleration="200" maxDeceleration="10.0"/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2.1" length="4.5" height="1.8"/>
</BoundingBox>
<Axles>
<FrontAxle maxSteering="0.5" wheelDiameter="0.6" trackWidth="1.8" positionX="3.1" positionZ="0.3"/>
<RearAxle maxSteering="0.0" wheelDiameter="0.6" trackWidth="1.8" positionX="0.0" positionZ="0.3"/>
</Axles>
<Properties>
<Property name="type" value="ego_vehicle"/>
</Properties>
</Vehicle>
</ScenarioObject>
<ScenarioObject name="adversary">
<Vehicle name="vehicle.lincoln.mkz_2017" vehicleCategory="car">
<ParameterDeclarations/>
<Performance maxSpeed="69.444" maxAcceleration="200" maxDeceleration="10.0"/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2.1" length="4.5" height="1.8"/>
</BoundingBox>
<Axles>
<FrontAxle maxSteering="0.5" wheelDiameter="0.6" trackWidth="1.8" positionX="3.1" positionZ="0.3"/>
<RearAxle maxSteering="0.0" wheelDiameter="0.6" trackWidth="1.8" positionX="0.0" positionZ="0.3"/>
</Axles>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Vehicle>
</ScenarioObject>
<ScenarioObject name="standing">
<Vehicle name="vehicle.volkswagen.t2" vehicleCategory="car">
<ParameterDeclarations/>
<Performance maxSpeed="69.444" maxAcceleration="200" maxDeceleration="10.0"/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2.1" length="4.5" height="1.8"/>
</BoundingBox>
<Axles>
<FrontAxle maxSteering="0.5" wheelDiameter="0.6" trackWidth="1.8" positionX="3.1" positionZ="0.3"/>
<RearAxle maxSteering="0.0" wheelDiameter="0.6" 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_7796">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_close_to_hero_7797">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_close_to_hero_7798">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_close_to_adversary_7799">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_close_to_hero_7800">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_close_to_hero_7801">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
</Entities>
<Storyboard>
<Init>
<Actions>
<GlobalAction>
<EnvironmentAction>
<Environment name="Environment1">
<TimeOfDay animation="false" dateTime="2019-06-25T12:00:00"/>
<Weather cloudState="free">
<Sun intensity="0.85" azimuth="0" elevation="1.31"/>
<Fog visualRange="100000.0"/>
<Precipitation precipitationType="dry" intensity="0.0"/>
</Weather>
<RoadCondition frictionScaleFactor="1.0"/>
</Environment>
</EnvironmentAction>
</GlobalAction>
<Private entityRef="hero">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-9.4" y="-152.8" z="0.5" h="1.57079632679"/>
</Position>
</TeleportAction>
</PrivateAction>
<PrivateAction>
<ControllerAction>
<AssignControllerAction>
<Controller name="HeroAgent">
<Properties>
<Property name="module" value="external_control"/>
</Properties>
</Controller>
</AssignControllerAction>
<OverrideControllerValueAction>
<Throttle value="0" active="false"/>
<Brake value="0" active="false"/>
<Clutch value="0" active="false"/>
<ParkingBrake value="0" active="false"/>
<SteeringWheel value="0" active="false"/>
<Gear number="0" active="false"/>
</OverrideControllerValueAction>
</ControllerAction>
</PrivateAction>
</Private>
<Private entityRef="adversary">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-9.4" y="-71.0" z="0.5" h="1.57079632679"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="standing">
<PrivateAction>
<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_7796">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-5.306539535522461" y="-68.46017456054688" z="0.033804815262556076"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_close_to_hero_7797">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-3.884935140609741" y="-150.5774688720703" z="0.0014286803780123591"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_close_to_hero_7798">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-11.835103988647461" y="-144.1981658935547" z="0.0014286803780123591"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_close_to_adversary_7799">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-7.651233673095703" y="-62.816226959228516" z="0.033740460872650146"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_close_to_hero_7800">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-3.085571527481079" y="-149.04713439941406" z="0.0014286803780123591"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_close_to_hero_7801">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-6.584667205810547" y="-160.90863037109375" z="0.0014286803780123591"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
</Actions>
</Init>
<Story name="MyStory">
<Act name="Behavior">
<ManeuverGroup maximumExecutionCount="1" name="ManeuverSequence">
<Actors selectTriggeringEntities="false">
<EntityRef entityRef="adversary"/>
</Actors>
<Maneuver name="LaneChangeSimpleManeuver">
<Event name="AdversaryAccelerates" priority="overwrite">
<Action name="AdversaryAccelerates">
<PrivateAction>
<LongitudinalAction>
<SpeedAction>
<SpeedActionDynamics dynamicsShape="step" value="50" dynamicsDimension="distance"/>
<SpeedActionTarget>
<AbsoluteTargetSpeed value="5.0"/>
</SpeedActionTarget>
</SpeedAction>
</LongitudinalAction>
</PrivateAction>
</Action>
<StartTrigger>
<ConditionGroup>
<Condition name="StartCondition" delay="0" conditionEdge="rising">
<ByEntityCondition>
<TriggeringEntities triggeringEntitiesRule="any">
<EntityRef entityRef="hero"/>
</TriggeringEntities>
<EntityCondition>
<RelativeDistanceCondition entityRef="adversary" relativeDistanceType="cartesianDistance" value="40.0" freespace="false" rule="lessThan"/>
</EntityCondition>
</ByEntityCondition>
</Condition>
</ConditionGroup>
</StartTrigger>
</Event>
<Event name="AdversaryChangesLane" priority="overwrite">
<Action name="AdversaryChangesLane">
<PrivateAction>
<LateralAction>
<LaneChangeAction>
<LaneChangeActionDynamics dynamicsShape="linear" value="25" dynamicsDimension="distance"/>
<LaneChangeTarget>
<RelativeTargetLane entityRef="adversary" value="-1"/>
</LaneChangeTarget>
</LaneChangeAction>
</LateralAction>
</PrivateAction>
</Action>
<StartTrigger>
<ConditionGroup>
<Condition name="AfterAdversaryAccelerates" delay="0" conditionEdge="rising">
<ByValueCondition>
<StoryboardElementStateCondition storyboardElementType="action" storyboardElementRef="AdversaryAccelerates" state="completeState"/>
</ByValueCondition>
</Condition>
</ConditionGroup>
</StartTrigger>
</Event>
</Maneuver>
</ManeuverGroup>
<StartTrigger>
<ConditionGroup>
<Condition name="OverallStartCondition" delay="0" conditionEdge="rising">
<ByEntityCondition>
<TriggeringEntities triggeringEntitiesRule="any">
<EntityRef entityRef="hero"/>
</TriggeringEntities>
<EntityCondition>
<TraveledDistanceCondition value="1.0"/>
</EntityCondition>
</ByEntityCondition>
</Condition>
<Condition name="StartTime" delay="0" conditionEdge="rising">
<ByValueCondition>
<SimulationTimeCondition value="0" rule="equalTo"/>
</ByValueCondition>
</Condition>
</ConditionGroup>
</StartTrigger>
<StopTrigger>
<ConditionGroup>
<Condition name="EndCondition" delay="0" conditionEdge="rising">
<ByEntityCondition>
<TriggeringEntities triggeringEntitiesRule="any">
<EntityRef entityRef="hero"/>
</TriggeringEntities>
<EntityCondition>
<TraveledDistanceCondition value="200.0"/>
</EntityCondition>
</ByEntityCondition>
</Condition>
</ConditionGroup>
</StopTrigger>
</Act>
</Story>
<StopTrigger>
<ConditionGroup>
<Condition name="criteria_RunningStopTest" delay="0" conditionEdge="rising">
<ByValueCondition>
<ParameterCondition parameterRef="" value="" rule="lessThan"/>
</ByValueCondition>
</Condition>
<Condition name="criteria_RunningRedLightTest" delay="0" conditionEdge="rising">
<ByValueCondition>
<ParameterCondition parameterRef="" value="" rule="lessThan"/>
</ByValueCondition>
</Condition>
<Condition name="criteria_WrongLaneTest" delay="0" conditionEdge="rising">
<ByValueCondition>
<ParameterCondition parameterRef="" value="" rule="lessThan"/>
</ByValueCondition>
</Condition>
<Condition name="criteria_OnSidewalkTest" delay="0" conditionEdge="rising">
<ByValueCondition>
<ParameterCondition parameterRef="" value="" rule="lessThan"/>
</ByValueCondition>
</Condition>
<Condition name="criteria_KeepLaneTest" delay="0" conditionEdge="rising">
<ByValueCondition>
<ParameterCondition parameterRef="" value="" rule="lessThan"/>
</ByValueCondition>
</Condition>
<Condition name="criteria_CollisionTest" delay="0" conditionEdge="rising">
<ByValueCondition>
<ParameterCondition parameterRef="" value="" rule="lessThan"/>
</ByValueCondition>
</Condition>
<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_4274">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_close_to_standing_4275">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_w_transform_4276">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_w_transform_4277">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_w_transform_4278">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_close_to_hero_4279">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_w_transform_4280">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_w_transform_4281">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_w_transform_4282">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_w_transform_4283">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_w_transform_4284">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_close_to_hero_4285">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_w_transform_4286">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_close_to_adversary_4287">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
</Entities>
<Storyboard>
<Init>
<Actions>
<GlobalAction>
<EnvironmentAction>
<Environment name="Environment1">
<TimeOfDay animation="false" dateTime="2019-06-25T12:00:00"/>
<Weather cloudState="free">
<Sun intensity="0.85" azimuth="0" elevation="1.31"/>
<Fog visualRange="100000.0"/>
<Precipitation precipitationType="dry" intensity="0.0"/>
</Weather>
<RoadCondition frictionScaleFactor="1.0"/>
</Environment>
</EnvironmentAction>
</GlobalAction>
<Private entityRef="hero">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-9.4" y="-152.8" z="0.5" h="1.57079632679"/>
</Position>
</TeleportAction>
</PrivateAction>
<PrivateAction>
<ControllerAction>
<AssignControllerAction>
<Controller name="HeroAgent">
<Properties>
<Property name="module" value="external_control"/>
</Properties>
</Controller>
</AssignControllerAction>
<OverrideControllerValueAction>
<Throttle value="0" active="false"/>
<Brake value="0" active="false"/>
<Clutch value="0" active="false"/>
<ParkingBrake value="0" active="false"/>
<SteeringWheel value="0" active="false"/>
<Gear number="0" active="false"/>
</OverrideControllerValueAction>
</ControllerAction>
</PrivateAction>
</Private>
<Private entityRef="adversary">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-9.4" y="-71.0" z="0.5" h="1.57079632679"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="standing">
<PrivateAction>
<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_4274">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-11.575815200805664" y="-153.5027313232422" z="0.0014286803780123591"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_close_to_standing_4275">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-3.4426870346069336" y="38.3311653137207" z="0.0030695341993123293"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_w_transform_4276">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="38.45903778076172" y="87.57963562011719" z="0.5"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_w_transform_4277">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="12.412755012512207" y="99.77900695800781" z="0.5"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_w_transform_4278">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="22.696691513061523" y="-9.22829818725586" z="0.5"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_close_to_hero_4279">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-9.351595878601074" y="-148.0016326904297" z="0.0014286803780123591"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_w_transform_4280">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="51.558937072753906" y="-3.05773663520813" z="0.5"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_w_transform_4281">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-37.56132125854492" y="88.1329345703125" z="0.5"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_w_transform_4282">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-86.17662811279297" y="-54.904842376708984" z="0.5"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_w_transform_4283">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-51.781227111816406" y="56.081695556640625" z="0.5"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_w_transform_4284">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="17.994728088378906" y="32.561527252197266" z="0.5"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_close_to_hero_4285">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-2.006643295288086" y="-145.93728637695312" z="0.0014286803780123591"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_w_transform_4286">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="18.829177856445312" y="-7.747620582580566" z="0.5"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_close_to_adversary_4287">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="6.898899555206299" y="-60.08877944946289" z="0.033803366124629974"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
</Actions>
</Init>
<Story name="MyStory">
<Act name="Behavior">
<ManeuverGroup maximumExecutionCount="1" name="ManeuverSequence">
<Actors selectTriggeringEntities="false">
<EntityRef entityRef="adversary"/>
</Actors>
<Maneuver name="LaneChangeSimpleManeuver">
<Event name="AdversaryAccelerates" priority="overwrite">
<Action name="AdversaryAccelerates">
<PrivateAction>
<LongitudinalAction>
<SpeedAction>
<SpeedActionDynamics dynamicsShape="step" value="50" dynamicsDimension="distance"/>
<SpeedActionTarget>
<AbsoluteTargetSpeed value="5.0"/>
</SpeedActionTarget>
</SpeedAction>
</LongitudinalAction>
</PrivateAction>
</Action>
<StartTrigger>
<ConditionGroup>
<Condition name="StartCondition" delay="0" conditionEdge="rising">
<ByEntityCondition>
<TriggeringEntities triggeringEntitiesRule="any">
<EntityRef entityRef="hero"/>
</TriggeringEntities>
<EntityCondition>
<RelativeDistanceCondition entityRef="adversary" relativeDistanceType="cartesianDistance" value="40.0" freespace="false" rule="lessThan"/>
</EntityCondition>
</ByEntityCondition>
</Condition>
</ConditionGroup>
</StartTrigger>
</Event>
<Event name="AdversaryChangesLane" priority="overwrite">
<Action name="AdversaryChangesLane">
<PrivateAction>
<LateralAction>
<LaneChangeAction>
<LaneChangeActionDynamics dynamicsShape="linear" value="25" dynamicsDimension="distance"/>
<LaneChangeTarget>
<RelativeTargetLane entityRef="adversary" value="-1"/>
</LaneChangeTarget>
</LaneChangeAction>
</LateralAction>
</PrivateAction>
</Action>
<StartTrigger>
<ConditionGroup>
<Condition name="AfterAdversaryAccelerates" delay="0" conditionEdge="rising">
<ByValueCondition>
<StoryboardElementStateCondition storyboardElementType="action" storyboardElementRef="AdversaryAccelerates" state="completeState"/>
</ByValueCondition>
</Condition>
</ConditionGroup>
</StartTrigger>
</Event>
</Maneuver>
</ManeuverGroup>
<StartTrigger>
<ConditionGroup>
<Condition name="OverallStartCondition" delay="0" conditionEdge="rising">
<ByEntityCondition>
<TriggeringEntities triggeringEntitiesRule="any">
<EntityRef entityRef="hero"/>
</TriggeringEntities>
<EntityCondition>
<TraveledDistanceCondition value="1.0"/>
</EntityCondition>
</ByEntityCondition>
</Condition>
<Condition name="StartTime" delay="0" conditionEdge="rising">
<ByValueCondition>
<SimulationTimeCondition value="0" rule="equalTo"/>
</ByValueCondition>
</Condition>
</ConditionGroup>
</StartTrigger>
<StopTrigger>
<ConditionGroup>
<Condition name="EndCondition" delay="0" conditionEdge="rising">
<ByEntityCondition>
<TriggeringEntities triggeringEntitiesRule="any">
<EntityRef entityRef="hero"/>
</TriggeringEntities>
<EntityCondition>
<TraveledDistanceCondition value="200.0"/>
</EntityCondition>
</ByEntityCondition>
</Condition>
</ConditionGroup>
</StopTrigger>
</Act>
</Story>
<StopTrigger>
<ConditionGroup>
<Condition name="criteria_RunningStopTest" delay="0" conditionEdge="rising">
<ByValueCondition>
<ParameterCondition parameterRef="" value="" rule="lessThan"/>
</ByValueCondition>
</Condition>
<Condition name="criteria_RunningRedLightTest" delay="0" conditionEdge="rising">
<ByValueCondition>
<ParameterCondition parameterRef="" value="" rule="lessThan"/>
</ByValueCondition>
</Condition>
<Condition name="criteria_WrongLaneTest" delay="0" conditionEdge="rising">
<ByValueCondition>
<ParameterCondition parameterRef="" value="" rule="lessThan"/>
</ByValueCondition>
</Condition>
<Condition name="criteria_OnSidewalkTest" delay="0" conditionEdge="rising">
<ByValueCondition>
<ParameterCondition parameterRef="" value="" rule="lessThan"/>
</ByValueCondition>
</Condition>
<Condition name="criteria_KeepLaneTest" delay="0" conditionEdge="rising">
<ByValueCondition>
<ParameterCondition parameterRef="" value="" rule="lessThan"/>
</ByValueCondition>
</Condition>
<Condition name="criteria_CollisionTest" delay="0" conditionEdge="rising">
<ByValueCondition>
<ParameterCondition parameterRef="" value="" rule="lessThan"/>
</ByValueCondition>
</Condition>
<Condition name="criteria_DrivenDistanceTest" delay="0" conditionEdge="rising">
<ByValueCondition>
<ParameterCondition parameterRef="distance_success" value="100" rule="lessThan"/>
</ByValueCondition>
</Condition>
</ConditionGroup>
</StopTrigger>
</Storyboard>
</OpenSCENARIO>
``` | Here is the result:
```
<?xml version="1.0" ?>
<OpenSCENARIO>
<FileHeader revMajor="1" revMinor="0" date="2020-03-24T12:00:00" description="CARLA:LaneChangeSimple" author=""/>
<ParameterDeclarations/>
<CatalogLocations/>
<RoadNetwork>
<LogicFile filepath="Town04"/>
<SceneGraphFile filepath=""/>
</RoadNetwork>
<Entities>
<ScenarioObject name="hero">
<Vehicle name="vehicle.tesla.model3" vehicleCategory="car">
<ParameterDeclarations/>
<Performance maxSpeed="69.444" maxAcceleration="200" maxDeceleration="10.0"/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2.1" length="4.5" height="1.8"/>
</BoundingBox>
<Axles>
<FrontAxle maxSteering="0.5" wheelDiameter="0.6" trackWidth="1.8" positionX="3.1" positionZ="0.3"/>
<RearAxle maxSteering="0.0" wheelDiameter="0.6" trackWidth="1.8" positionX="0.0" positionZ="0.3"/>
</Axles>
<Properties>
<Property name="type" value="ego_vehicle"/>
</Properties>
</Vehicle>
</ScenarioObject>
<ScenarioObject name="adversary">
<Vehicle name="vehicle.lincoln.mkz_2017" vehicleCategory="car">
<ParameterDeclarations/>
<Performance maxSpeed="69.444" maxAcceleration="200" maxDeceleration="10.0"/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2.1" length="4.5" height="1.8"/>
</BoundingBox>
<Axles>
<FrontAxle maxSteering="0.5" wheelDiameter="0.6" trackWidth="1.8" positionX="3.1" positionZ="0.3"/>
<RearAxle maxSteering="0.0" wheelDiameter="0.6" trackWidth="1.8" positionX="0.0" positionZ="0.3"/>
</Axles>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Vehicle>
</ScenarioObject>
<ScenarioObject name="standing">
<Vehicle name="vehicle.volkswagen.t2" vehicleCategory="car">
<ParameterDeclarations/>
<Performance maxSpeed="69.444" maxAcceleration="200" maxDeceleration="10.0"/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2.1" length="4.5" height="1.8"/>
</BoundingBox>
<Axles>
<FrontAxle maxSteering="0.5" wheelDiameter="0.6" trackWidth="1.8" positionX="3.1" positionZ="0.3"/>
<RearAxle maxSteering="0.0" wheelDiameter="0.6" 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_4274">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_close_to_standing_4275">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_w_transform_4276">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_w_transform_4277">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_w_transform_4278">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_close_to_hero_4279">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_w_transform_4280">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_w_transform_4281">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_w_transform_4282">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_w_transform_4283">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_w_transform_4284">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_close_to_hero_4285">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_w_transform_4286">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_close_to_adversary_4287">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_close_to_standing_4288">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
</Entities>
<Storyboard>
<Init>
<Actions>
<GlobalAction>
<EnvironmentAction>
<Environment name="Environment1">
<TimeOfDay animation="false" dateTime="2019-06-25T12:00:00"/>
<Weather cloudState="free">
<Sun intensity="0.85" azimuth="0" elevation="1.31"/>
<Fog visualRange="100000.0"/>
<Precipitation precipitationType="dry" intensity="0.0"/>
</Weather>
<RoadCondition frictionScaleFactor="1.0"/>
</Environment>
</EnvironmentAction>
</GlobalAction>
<Private entityRef="hero">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-9.4" y="-152.8" z="0.5" h="1.57079632679"/>
</Position>
</TeleportAction>
</PrivateAction>
<PrivateAction>
<ControllerAction>
<AssignControllerAction>
<Controller name="HeroAgent">
<Properties>
<Property name="module" value="external_control"/>
</Properties>
</Controller>
</AssignControllerAction>
<OverrideControllerValueAction>
<Throttle value="0" active="false"/>
<Brake value="0" active="false"/>
<Clutch value="0" active="false"/>
<ParkingBrake value="0" active="false"/>
<SteeringWheel value="0" active="false"/>
<Gear number="0" active="false"/>
</OverrideControllerValueAction>
</ControllerAction>
</PrivateAction>
</Private>
<Private entityRef="adversary">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-9.4" y="-71.0" z="0.5" h="1.57079632679"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="standing">
<PrivateAction>
<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_4274">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-11.575815200805664" y="-153.5027313232422" z="0.0014286803780123591"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_close_to_standing_4275">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-3.4426870346069336" y="38.3311653137207" z="0.0030695341993123293"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_w_transform_4276">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="38.45903778076172" y="87.57963562011719" z="0.5"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_w_transform_4277">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="12.412755012512207" y="99.77900695800781" z="0.5"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_w_transform_4278">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="22.696691513061523" y="-9.22829818725586" z="0.5"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_close_to_hero_4279">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-9.351595878601074" y="-148.0016326904297" z="0.0014286803780123591"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_w_transform_4280">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="51.558937072753906" y="-3.05773663520813" z="0.5"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_w_transform_4281">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-37.56132125854492" y="88.1329345703125" z="0.5"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_w_transform_4282">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-86.17662811279297" y="-54.904842376708984" z="0.5"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_w_transform_4283">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-51.781227111816406" y="56.081695556640625" z="0.5"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_w_transform_4284">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="17.994728088378906" y="32.561527252197266" z="0.5"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_close_to_hero_4285">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-2.006643295288086" y="-145.93728637695312" z="0.0014286803780123591"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_w_transform_4286">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="18.829177856445312" y="-7.747620582580566" z="0.5"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_close_to_adversary_4287">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="6.898899555206299" y="-60.08877944946289" z="0.033803366124629974"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_close_to_standing_4288">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="1.6780054569244385" y="37.69733810424805" z="0.003074073698371649"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
</Actions>
</Init>
<Story name="MyStory">
<Act name="Behavior">
<ManeuverGroup maximumExecutionCount="1" name="ManeuverSequence">
<Actors selectTriggeringEntities="false">
<EntityRef entityRef="adversary"/>
</Actors>
<Maneuver name="LaneChangeSimpleManeuver">
<Event name="AdversaryAccelerates" priority="overwrite">
<Action name="AdversaryAccelerates">
<PrivateAction>
<LongitudinalAction>
<SpeedAction>
<SpeedActionDynamics dynamicsShape="step" value="50" dynamicsDimension="distance"/>
<SpeedActionTarget>
<AbsoluteTargetSpeed value="5.0"/>
</SpeedActionTarget>
</SpeedAction>
</LongitudinalAction>
</PrivateAction>
</Action>
<StartTrigger>
<ConditionGroup>
<Condition name="StartCondition" delay="0" conditionEdge="rising">
<ByEntityCondition>
<TriggeringEntities triggeringEntitiesRule="any">
<EntityRef entityRef="hero"/>
</TriggeringEntities>
<EntityCondition>
<RelativeDistanceCondition entityRef="adversary" relativeDistanceType="cartesianDistance" value="40.0" freespace="false" rule="lessThan"/>
</EntityCondition>
</ByEntityCondition>
</Condition>
</ConditionGroup>
</StartTrigger>
</Event>
<Event name="AdversaryChangesLane" priority="overwrite">
<Action name="AdversaryChangesLane">
<PrivateAction>
<LateralAction>
<LaneChangeAction>
<LaneChangeActionDynamics dynamicsShape="linear" value="25" dynamicsDimension="distance"/>
<LaneChangeTarget>
<RelativeTargetLane entityRef="adversary" value="-1"/>
</LaneChangeTarget>
</LaneChangeAction>
</LateralAction>
</PrivateAction>
</Action>
<StartTrigger>
<ConditionGroup>
<Condition name="AfterAdversaryAccelerates" delay="0" conditionEdge="rising">
<ByValueCondition>
<StoryboardElementStateCondition storyboardElementType="action" storyboardElementRef="AdversaryAccelerates" state="completeState"/>
</ByValueCondition>
</Condition>
</ConditionGroup>
</StartTrigger>
</Event>
</Maneuver>
</ManeuverGroup>
<StartTrigger>
<ConditionGroup>
<Condition name="OverallStartCondition" delay="0" conditionEdge="rising">
<ByEntityCondition>
<TriggeringEntities triggeringEntitiesRule="any">
<EntityRef entityRef="hero"/>
</TriggeringEntities>
<EntityCondition>
<TraveledDistanceCondition value="1.0"/>
</EntityCondition>
</ByEntityCondition>
</Condition>
<Condition name="StartTime" delay="0" conditionEdge="rising">
<ByValueCondition>
<SimulationTimeCondition value="0" rule="equalTo"/>
</ByValueCondition>
</Condition>
</ConditionGroup>
</StartTrigger>
<StopTrigger>
<ConditionGroup>
<Condition name="EndCondition" delay="0" conditionEdge="rising">
<ByEntityCondition>
<TriggeringEntities triggeringEntitiesRule="any">
<EntityRef entityRef="hero"/>
</TriggeringEntities>
<EntityCondition>
<TraveledDistanceCondition value="200.0"/>
</EntityCondition>
</ByEntityCondition>
</Condition>
</ConditionGroup>
</StopTrigger>
</Act>
</Story>
<StopTrigger>
<ConditionGroup>
<Condition name="criteria_RunningStopTest" delay="0" conditionEdge="rising">
<ByValueCondition>
<ParameterCondition parameterRef="" value="" rule="lessThan"/>
</ByValueCondition>
</Condition>
<Condition name="criteria_RunningRedLightTest" delay="0" conditionEdge="rising">
<ByValueCondition>
<ParameterCondition parameterRef="" value="" rule="lessThan"/>
</ByValueCondition>
</Condition>
<Condition name="criteria_WrongLaneTest" delay="0" conditionEdge="rising">
<ByValueCondition>
<ParameterCondition parameterRef="" value="" rule="lessThan"/>
</ByValueCondition>
</Condition>
<Condition name="criteria_OnSidewalkTest" delay="0" conditionEdge="rising">
<ByValueCondition>
<ParameterCondition parameterRef="" value="" rule="lessThan"/>
</ByValueCondition>
</Condition>
<Condition name="criteria_KeepLaneTest" delay="0" conditionEdge="rising">
<ByValueCondition>
<ParameterCondition parameterRef="" value="" rule="lessThan"/>
</ByValueCondition>
</Condition>
<Condition name="criteria_CollisionTest" delay="0" conditionEdge="rising">
<ByValueCondition>
<ParameterCondition parameterRef="" value="" rule="lessThan"/>
</ByValueCondition>
</Condition>
<Condition name="criteria_DrivenDistanceTest" delay="0" conditionEdge="rising">
<ByValueCondition>
<ParameterCondition parameterRef="distance_success" value="100" rule="lessThan"/>
</ByValueCondition>
</Condition>
</ConditionGroup>
</StopTrigger>
</Storyboard>
</OpenSCENARIO>
``` |
would you add pedestrian close to adversary?
```
<?xml version="1.0" ?>
<OpenSCENARIO>
<FileHeader revMajor="1" revMinor="0" date="2020-03-24T12:00:00" description="CARLA:LaneChangeSimple" author=""/>
<ParameterDeclarations/>
<CatalogLocations/>
<RoadNetwork>
<LogicFile filepath="Town04"/>
<SceneGraphFile filepath=""/>
</RoadNetwork>
<Entities>
<ScenarioObject name="hero">
<Vehicle name="vehicle.tesla.model3" vehicleCategory="car">
<ParameterDeclarations/>
<Performance maxSpeed="69.444" maxAcceleration="200" maxDeceleration="10.0"/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2.1" length="4.5" height="1.8"/>
</BoundingBox>
<Axles>
<FrontAxle maxSteering="0.5" wheelDiameter="0.6" trackWidth="1.8" positionX="3.1" positionZ="0.3"/>
<RearAxle maxSteering="0.0" wheelDiameter="0.6" trackWidth="1.8" positionX="0.0" positionZ="0.3"/>
</Axles>
<Properties>
<Property name="type" value="ego_vehicle"/>
</Properties>
</Vehicle>
</ScenarioObject>
<ScenarioObject name="adversary">
<Vehicle name="vehicle.lincoln.mkz_2017" vehicleCategory="car">
<ParameterDeclarations/>
<Performance maxSpeed="69.444" maxAcceleration="200" maxDeceleration="10.0"/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2.1" length="4.5" height="1.8"/>
</BoundingBox>
<Axles>
<FrontAxle maxSteering="0.5" wheelDiameter="0.6" trackWidth="1.8" positionX="3.1" positionZ="0.3"/>
<RearAxle maxSteering="0.0" wheelDiameter="0.6" trackWidth="1.8" positionX="0.0" positionZ="0.3"/>
</Axles>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Vehicle>
</ScenarioObject>
<ScenarioObject name="standing">
<Vehicle name="vehicle.volkswagen.t2" vehicleCategory="car">
<ParameterDeclarations/>
<Performance maxSpeed="69.444" maxAcceleration="200" maxDeceleration="10.0"/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2.1" length="4.5" height="1.8"/>
</BoundingBox>
<Axles>
<FrontAxle maxSteering="0.5" wheelDiameter="0.6" trackWidth="1.8" positionX="3.1" positionZ="0.3"/>
<RearAxle maxSteering="0.0" wheelDiameter="0.6" trackWidth="1.8" positionX="0.0" positionZ="0.3"/>
</Axles>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Vehicle>
</ScenarioObject>
<ScenarioObject name="pedestrian_close_to_adversary_14525">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_w_transform_14526">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_w_transform_14527">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_w_transform_14528">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_w_transform_14529">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_w_transform_14530">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_w_transform_14531">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_w_transform_14532">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_close_to_hero_14533">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_w_transform_14534">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_w_transform_14535">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_w_transform_14536">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_w_transform_14537">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_w_transform_14538">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_w_transform_14539">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_close_to_adversary_14540">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_close_to_standing_14541">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_w_transform_14542">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_w_transform_14543">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_close_to_standing_14544">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_close_to_hero_14545">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
</Entities>
<Storyboard>
<Init>
<Actions>
<GlobalAction>
<EnvironmentAction>
<Environment name="Environment1">
<TimeOfDay animation="false" dateTime="2019-06-25T12:00:00"/>
<Weather cloudState="free">
<Sun intensity="0.85" azimuth="0" elevation="1.31"/>
<Fog visualRange="100000.0"/>
<Precipitation precipitationType="dry" intensity="0.0"/>
</Weather>
<RoadCondition frictionScaleFactor="1.0"/>
</Environment>
</EnvironmentAction>
</GlobalAction>
<Private entityRef="hero">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-9.4" y="-152.8" z="0.5" h="1.57079632679"/>
</Position>
</TeleportAction>
</PrivateAction>
<PrivateAction>
<ControllerAction>
<AssignControllerAction>
<Controller name="HeroAgent">
<Properties>
<Property name="module" value="external_control"/>
</Properties>
</Controller>
</AssignControllerAction>
<OverrideControllerValueAction>
<Throttle value="0" active="false"/>
<Brake value="0" active="false"/>
<Clutch value="0" active="false"/>
<ParkingBrake value="0" active="false"/>
<SteeringWheel value="0" active="false"/>
<Gear number="0" active="false"/>
</OverrideControllerValueAction>
</ControllerAction>
</PrivateAction>
</Private>
<Private entityRef="adversary">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-9.4" y="-71.0" z="0.5" h="1.57079632679"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="standing">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-8.2" y="29.2" z="0.5" h="1.57079632679"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_close_to_adversary_14525">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-18.3381290435791" y="-75.2737045288086" z="0.033790092915296555"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_w_transform_14526">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-56.01234436035156" y="3.2705836296081543" z="0.5"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_w_transform_14527">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="1.8107218742370605" y="33.24715042114258" z="0.5"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_w_transform_14528">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="13.730735778808594" y="78.42337036132812" z="0.5"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_w_transform_14529">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="20.640247344970703" y="90.85359191894531" z="0.5"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_w_transform_14530">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="87.22517395019531" y="53.88477325439453" z="0.5"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_w_transform_14531">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-53.06377029418945" y="52.53348922729492" z="0.5"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_w_transform_14532">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="2.010098934173584" y="-27.53154182434082" z="0.5"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_close_to_hero_14533">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-6.968897342681885" y="-160.7616424560547" z="0.0014286803780123591"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_w_transform_14534">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-58.05228042602539" y="33.03984832763672" z="0.5"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_w_transform_14535">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="23.623519897460938" y="96.40071105957031" z="0.5"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_w_transform_14536">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-71.46648406982422" y="-27.357290267944336" z="0.5"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_w_transform_14537">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="5.77756929397583" y="-55.809722900390625" z="0.5"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_w_transform_14538">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="84.00178527832031" y="-37.69733428955078" z="0.5"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_w_transform_14539">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-19.266094207763672" y="82.75418090820312" z="0.5"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_close_to_adversary_14540">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-15.866621017456055" y="-66.80957794189453" z="0.03376636281609535"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_close_to_standing_14541">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="1.3215616941452026" y="29.27849769592285" z="0.0030832672491669655"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_w_transform_14542">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-44.89462661743164" y="3.5382773876190186" z="0.5"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_w_transform_14543">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-2.16412615776062" y="44.09730529785156" z="0.5"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_close_to_standing_14544">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-12.164441108703613" y="33.851749420166016" z="0.0031182097736746073"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_close_to_hero_14545">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-14.329877853393555" y="-154.6316375732422" z="0.0014286803780123591"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
</Actions>
</Init>
<Story name="MyStory">
<Act name="Behavior">
<ManeuverGroup maximumExecutionCount="1" name="ManeuverSequence">
<Actors selectTriggeringEntities="false">
<EntityRef entityRef="adversary"/>
</Actors>
<Maneuver name="LaneChangeSimpleManeuver">
<Event name="AdversaryAccelerates" priority="overwrite">
<Action name="AdversaryAccelerates">
<PrivateAction>
<LongitudinalAction>
<SpeedAction>
<SpeedActionDynamics dynamicsShape="step" value="50" dynamicsDimension="distance"/>
<SpeedActionTarget>
<AbsoluteTargetSpeed value="5.0"/>
</SpeedActionTarget>
</SpeedAction>
</LongitudinalAction>
</PrivateAction>
</Action>
<StartTrigger>
<ConditionGroup>
<Condition name="StartCondition" delay="0" conditionEdge="rising">
<ByEntityCondition>
<TriggeringEntities triggeringEntitiesRule="any">
<EntityRef entityRef="hero"/>
</TriggeringEntities>
<EntityCondition>
<RelativeDistanceCondition entityRef="adversary" relativeDistanceType="cartesianDistance" value="40.0" freespace="false" rule="lessThan"/>
</EntityCondition>
</ByEntityCondition>
</Condition>
</ConditionGroup>
</StartTrigger>
</Event>
<Event name="AdversaryChangesLane" priority="overwrite">
<Action name="AdversaryChangesLane">
<PrivateAction>
<LateralAction>
<LaneChangeAction>
<LaneChangeActionDynamics dynamicsShape="linear" value="25" dynamicsDimension="distance"/>
<LaneChangeTarget>
<RelativeTargetLane entityRef="adversary" value="-1"/>
</LaneChangeTarget>
</LaneChangeAction>
</LateralAction>
</PrivateAction>
</Action>
<StartTrigger>
<ConditionGroup>
<Condition name="AfterAdversaryAccelerates" delay="0" conditionEdge="rising">
<ByValueCondition>
<StoryboardElementStateCondition storyboardElementType="action" storyboardElementRef="AdversaryAccelerates" state="completeState"/>
</ByValueCondition>
</Condition>
</ConditionGroup>
</StartTrigger>
</Event>
</Maneuver>
</ManeuverGroup>
<StartTrigger>
<ConditionGroup>
<Condition name="OverallStartCondition" delay="0" conditionEdge="rising">
<ByEntityCondition>
<TriggeringEntities triggeringEntitiesRule="any">
<EntityRef entityRef="hero"/>
</TriggeringEntities>
<EntityCondition>
<TraveledDistanceCondition value="1.0"/>
</EntityCondition>
</ByEntityCondition>
</Condition>
<Condition name="StartTime" delay="0" conditionEdge="rising">
<ByValueCondition>
<SimulationTimeCondition value="0" rule="equalTo"/>
</ByValueCondition>
</Condition>
</ConditionGroup>
</StartTrigger>
<StopTrigger>
<ConditionGroup>
<Condition name="EndCondition" delay="0" conditionEdge="rising">
<ByEntityCondition>
<TriggeringEntities triggeringEntitiesRule="any">
<EntityRef entityRef="hero"/>
</TriggeringEntities>
<EntityCondition>
<TraveledDistanceCondition value="200.0"/>
</EntityCondition>
</ByEntityCondition>
</Condition>
</ConditionGroup>
</StopTrigger>
</Act>
</Story>
<StopTrigger>
<ConditionGroup>
<Condition name="criteria_RunningStopTest" delay="0" conditionEdge="rising">
<ByValueCondition>
<ParameterCondition parameterRef="" value="" rule="lessThan"/>
</ByValueCondition>
</Condition>
<Condition name="criteria_RunningRedLightTest" delay="0" conditionEdge="rising">
<ByValueCondition>
<ParameterCondition parameterRef="" value="" rule="lessThan"/>
</ByValueCondition>
</Condition>
<Condition name="criteria_WrongLaneTest" delay="0" conditionEdge="rising">
<ByValueCondition>
<ParameterCondition parameterRef="" value="" rule="lessThan"/>
</ByValueCondition>
</Condition>
<Condition name="criteria_OnSidewalkTest" delay="0" conditionEdge="rising">
<ByValueCondition>
<ParameterCondition parameterRef="" value="" rule="lessThan"/>
</ByValueCondition>
</Condition>
<Condition name="criteria_KeepLaneTest" delay="0" conditionEdge="rising">
<ByValueCondition>
<ParameterCondition parameterRef="" value="" rule="lessThan"/>
</ByValueCondition>
</Condition>
<Condition name="criteria_CollisionTest" delay="0" conditionEdge="rising">
<ByValueCondition>
<ParameterCondition parameterRef="" value="" rule="lessThan"/>
</ByValueCondition>
</Condition>
<Condition name="criteria_DrivenDistanceTest" delay="0" conditionEdge="rising">
<ByValueCondition>
<ParameterCondition parameterRef="distance_success" value="100" rule="lessThan"/>
</ByValueCondition>
</Condition>
</ConditionGroup>
</StopTrigger>
</Storyboard>
</OpenSCENARIO>
``` | Here is the result:
```
<?xml version="1.0" ?>
<OpenSCENARIO>
<FileHeader revMajor="1" revMinor="0" date="2020-03-24T12:00:00" description="CARLA:LaneChangeSimple" author=""/>
<ParameterDeclarations/>
<CatalogLocations/>
<RoadNetwork>
<LogicFile filepath="Town04"/>
<SceneGraphFile filepath=""/>
</RoadNetwork>
<Entities>
<ScenarioObject name="hero">
<Vehicle name="vehicle.tesla.model3" vehicleCategory="car">
<ParameterDeclarations/>
<Performance maxSpeed="69.444" maxAcceleration="200" maxDeceleration="10.0"/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2.1" length="4.5" height="1.8"/>
</BoundingBox>
<Axles>
<FrontAxle maxSteering="0.5" wheelDiameter="0.6" trackWidth="1.8" positionX="3.1" positionZ="0.3"/>
<RearAxle maxSteering="0.0" wheelDiameter="0.6" trackWidth="1.8" positionX="0.0" positionZ="0.3"/>
</Axles>
<Properties>
<Property name="type" value="ego_vehicle"/>
</Properties>
</Vehicle>
</ScenarioObject>
<ScenarioObject name="adversary">
<Vehicle name="vehicle.lincoln.mkz_2017" vehicleCategory="car">
<ParameterDeclarations/>
<Performance maxSpeed="69.444" maxAcceleration="200" maxDeceleration="10.0"/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2.1" length="4.5" height="1.8"/>
</BoundingBox>
<Axles>
<FrontAxle maxSteering="0.5" wheelDiameter="0.6" trackWidth="1.8" positionX="3.1" positionZ="0.3"/>
<RearAxle maxSteering="0.0" wheelDiameter="0.6" trackWidth="1.8" positionX="0.0" positionZ="0.3"/>
</Axles>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Vehicle>
</ScenarioObject>
<ScenarioObject name="standing">
<Vehicle name="vehicle.volkswagen.t2" vehicleCategory="car">
<ParameterDeclarations/>
<Performance maxSpeed="69.444" maxAcceleration="200" maxDeceleration="10.0"/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2.1" length="4.5" height="1.8"/>
</BoundingBox>
<Axles>
<FrontAxle maxSteering="0.5" wheelDiameter="0.6" trackWidth="1.8" positionX="3.1" positionZ="0.3"/>
<RearAxle maxSteering="0.0" wheelDiameter="0.6" 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_14525">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_w_transform_14526">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_w_transform_14527">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_w_transform_14528">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_w_transform_14529">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_w_transform_14530">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_w_transform_14531">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_w_transform_14532">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_close_to_hero_14533">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_w_transform_14534">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_w_transform_14535">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_w_transform_14536">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_w_transform_14537">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_w_transform_14538">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_w_transform_14539">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_close_to_adversary_14540">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_close_to_standing_14541">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_w_transform_14542">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_w_transform_14543">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_close_to_standing_14544">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_close_to_hero_14545">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_close_to_adversary_14546">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
</Entities>
<Storyboard>
<Init>
<Actions>
<GlobalAction>
<EnvironmentAction>
<Environment name="Environment1">
<TimeOfDay animation="false" dateTime="2019-06-25T12:00:00"/>
<Weather cloudState="free">
<Sun intensity="0.85" azimuth="0" elevation="1.31"/>
<Fog visualRange="100000.0"/>
<Precipitation precipitationType="dry" intensity="0.0"/>
</Weather>
<RoadCondition frictionScaleFactor="1.0"/>
</Environment>
</EnvironmentAction>
</GlobalAction>
<Private entityRef="hero">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-9.4" y="-152.8" z="0.5" h="1.57079632679"/>
</Position>
</TeleportAction>
</PrivateAction>
<PrivateAction>
<ControllerAction>
<AssignControllerAction>
<Controller name="HeroAgent">
<Properties>
<Property name="module" value="external_control"/>
</Properties>
</Controller>
</AssignControllerAction>
<OverrideControllerValueAction>
<Throttle value="0" active="false"/>
<Brake value="0" active="false"/>
<Clutch value="0" active="false"/>
<ParkingBrake value="0" active="false"/>
<SteeringWheel value="0" active="false"/>
<Gear number="0" active="false"/>
</OverrideControllerValueAction>
</ControllerAction>
</PrivateAction>
</Private>
<Private entityRef="adversary">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-9.4" y="-71.0" z="0.5" h="1.57079632679"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="standing">
<PrivateAction>
<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_14525">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-18.3381290435791" y="-75.2737045288086" z="0.033790092915296555"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_w_transform_14526">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-56.01234436035156" y="3.2705836296081543" z="0.5"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_w_transform_14527">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="1.8107218742370605" y="33.24715042114258" z="0.5"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_w_transform_14528">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="13.730735778808594" y="78.42337036132812" z="0.5"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_w_transform_14529">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="20.640247344970703" y="90.85359191894531" z="0.5"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_w_transform_14530">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="87.22517395019531" y="53.88477325439453" z="0.5"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_w_transform_14531">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-53.06377029418945" y="52.53348922729492" z="0.5"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_w_transform_14532">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="2.010098934173584" y="-27.53154182434082" z="0.5"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_close_to_hero_14533">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-6.968897342681885" y="-160.7616424560547" z="0.0014286803780123591"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_w_transform_14534">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-58.05228042602539" y="33.03984832763672" z="0.5"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_w_transform_14535">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="23.623519897460938" y="96.40071105957031" z="0.5"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_w_transform_14536">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-71.46648406982422" y="-27.357290267944336" z="0.5"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_w_transform_14537">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="5.77756929397583" y="-55.809722900390625" z="0.5"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_w_transform_14538">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="84.00178527832031" y="-37.69733428955078" z="0.5"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_w_transform_14539">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-19.266094207763672" y="82.75418090820312" z="0.5"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_close_to_adversary_14540">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-15.866621017456055" y="-66.80957794189453" z="0.03376636281609535"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_close_to_standing_14541">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="1.3215616941452026" y="29.27849769592285" z="0.0030832672491669655"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_w_transform_14542">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-44.89462661743164" y="3.5382773876190186" z="0.5"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_w_transform_14543">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-2.16412615776062" y="44.09730529785156" z="0.5"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_close_to_standing_14544">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-12.164441108703613" y="33.851749420166016" z="0.0031182097736746073"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_close_to_hero_14545">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-14.329877853393555" y="-154.6316375732422" z="0.0014286803780123591"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_close_to_adversary_14546">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-14.974162101745605" y="-71.45030975341797" z="0.033806152641773224"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
</Actions>
</Init>
<Story name="MyStory">
<Act name="Behavior">
<ManeuverGroup maximumExecutionCount="1" name="ManeuverSequence">
<Actors selectTriggeringEntities="false">
<EntityRef entityRef="adversary"/>
</Actors>
<Maneuver name="LaneChangeSimpleManeuver">
<Event name="AdversaryAccelerates" priority="overwrite">
<Action name="AdversaryAccelerates">
<PrivateAction>
<LongitudinalAction>
<SpeedAction>
<SpeedActionDynamics dynamicsShape="step" value="50" dynamicsDimension="distance"/>
<SpeedActionTarget>
<AbsoluteTargetSpeed value="5.0"/>
</SpeedActionTarget>
</SpeedAction>
</LongitudinalAction>
</PrivateAction>
</Action>
<StartTrigger>
<ConditionGroup>
<Condition name="StartCondition" delay="0" conditionEdge="rising">
<ByEntityCondition>
<TriggeringEntities triggeringEntitiesRule="any">
<EntityRef entityRef="hero"/>
</TriggeringEntities>
<EntityCondition>
<RelativeDistanceCondition entityRef="adversary" relativeDistanceType="cartesianDistance" value="40.0" freespace="false" rule="lessThan"/>
</EntityCondition>
</ByEntityCondition>
</Condition>
</ConditionGroup>
</StartTrigger>
</Event>
<Event name="AdversaryChangesLane" priority="overwrite">
<Action name="AdversaryChangesLane">
<PrivateAction>
<LateralAction>
<LaneChangeAction>
<LaneChangeActionDynamics dynamicsShape="linear" value="25" dynamicsDimension="distance"/>
<LaneChangeTarget>
<RelativeTargetLane entityRef="adversary" value="-1"/>
</LaneChangeTarget>
</LaneChangeAction>
</LateralAction>
</PrivateAction>
</Action>
<StartTrigger>
<ConditionGroup>
<Condition name="AfterAdversaryAccelerates" delay="0" conditionEdge="rising">
<ByValueCondition>
<StoryboardElementStateCondition storyboardElementType="action" storyboardElementRef="AdversaryAccelerates" state="completeState"/>
</ByValueCondition>
</Condition>
</ConditionGroup>
</StartTrigger>
</Event>
</Maneuver>
</ManeuverGroup>
<StartTrigger>
<ConditionGroup>
<Condition name="OverallStartCondition" delay="0" conditionEdge="rising">
<ByEntityCondition>
<TriggeringEntities triggeringEntitiesRule="any">
<EntityRef entityRef="hero"/>
</TriggeringEntities>
<EntityCondition>
<TraveledDistanceCondition value="1.0"/>
</EntityCondition>
</ByEntityCondition>
</Condition>
<Condition name="StartTime" delay="0" conditionEdge="rising">
<ByValueCondition>
<SimulationTimeCondition value="0" rule="equalTo"/>
</ByValueCondition>
</Condition>
</ConditionGroup>
</StartTrigger>
<StopTrigger>
<ConditionGroup>
<Condition name="EndCondition" delay="0" conditionEdge="rising">
<ByEntityCondition>
<TriggeringEntities triggeringEntitiesRule="any">
<EntityRef entityRef="hero"/>
</TriggeringEntities>
<EntityCondition>
<TraveledDistanceCondition value="200.0"/>
</EntityCondition>
</ByEntityCondition>
</Condition>
</ConditionGroup>
</StopTrigger>
</Act>
</Story>
<StopTrigger>
<ConditionGroup>
<Condition name="criteria_RunningStopTest" delay="0" conditionEdge="rising">
<ByValueCondition>
<ParameterCondition parameterRef="" value="" rule="lessThan"/>
</ByValueCondition>
</Condition>
<Condition name="criteria_RunningRedLightTest" delay="0" conditionEdge="rising">
<ByValueCondition>
<ParameterCondition parameterRef="" value="" rule="lessThan"/>
</ByValueCondition>
</Condition>
<Condition name="criteria_WrongLaneTest" delay="0" conditionEdge="rising">
<ByValueCondition>
<ParameterCondition parameterRef="" value="" rule="lessThan"/>
</ByValueCondition>
</Condition>
<Condition name="criteria_OnSidewalkTest" delay="0" conditionEdge="rising">
<ByValueCondition>
<ParameterCondition parameterRef="" value="" rule="lessThan"/>
</ByValueCondition>
</Condition>
<Condition name="criteria_KeepLaneTest" delay="0" conditionEdge="rising">
<ByValueCondition>
<ParameterCondition parameterRef="" value="" rule="lessThan"/>
</ByValueCondition>
</Condition>
<Condition name="criteria_CollisionTest" delay="0" conditionEdge="rising">
<ByValueCondition>
<ParameterCondition parameterRef="" value="" rule="lessThan"/>
</ByValueCondition>
</Condition>
<Condition name="criteria_DrivenDistanceTest" delay="0" conditionEdge="rising">
<ByValueCondition>
<ParameterCondition parameterRef="distance_success" value="100" rule="lessThan"/>
</ByValueCondition>
</Condition>
</ConditionGroup>
</StopTrigger>
</Storyboard>
</OpenSCENARIO>
``` |
i need you to add pedestrian close to adversary?
```
<?xml version="1.0" ?>
<OpenSCENARIO>
<FileHeader revMajor="1" revMinor="0" date="2020-03-24T12:00:00" description="CARLA:LaneChangeSimple" author=""/>
<ParameterDeclarations/>
<CatalogLocations/>
<RoadNetwork>
<LogicFile filepath="Town04"/>
<SceneGraphFile filepath=""/>
</RoadNetwork>
<Entities>
<ScenarioObject name="hero">
<Vehicle name="vehicle.tesla.model3" vehicleCategory="car">
<ParameterDeclarations/>
<Performance maxSpeed="69.444" maxAcceleration="200" maxDeceleration="10.0"/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2.1" length="4.5" height="1.8"/>
</BoundingBox>
<Axles>
<FrontAxle maxSteering="0.5" wheelDiameter="0.6" trackWidth="1.8" positionX="3.1" positionZ="0.3"/>
<RearAxle maxSteering="0.0" wheelDiameter="0.6" trackWidth="1.8" positionX="0.0" positionZ="0.3"/>
</Axles>
<Properties>
<Property name="type" value="ego_vehicle"/>
</Properties>
</Vehicle>
</ScenarioObject>
<ScenarioObject name="adversary">
<Vehicle name="vehicle.lincoln.mkz_2017" vehicleCategory="car">
<ParameterDeclarations/>
<Performance maxSpeed="69.444" maxAcceleration="200" maxDeceleration="10.0"/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2.1" length="4.5" height="1.8"/>
</BoundingBox>
<Axles>
<FrontAxle maxSteering="0.5" wheelDiameter="0.6" trackWidth="1.8" positionX="3.1" positionZ="0.3"/>
<RearAxle maxSteering="0.0" wheelDiameter="0.6" trackWidth="1.8" positionX="0.0" positionZ="0.3"/>
</Axles>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Vehicle>
</ScenarioObject>
<ScenarioObject name="standing">
<Vehicle name="vehicle.volkswagen.t2" vehicleCategory="car">
<ParameterDeclarations/>
<Performance maxSpeed="69.444" maxAcceleration="200" maxDeceleration="10.0"/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2.1" length="4.5" height="1.8"/>
</BoundingBox>
<Axles>
<FrontAxle maxSteering="0.5" wheelDiameter="0.6" trackWidth="1.8" positionX="3.1" positionZ="0.3"/>
<RearAxle maxSteering="0.0" wheelDiameter="0.6" trackWidth="1.8" positionX="0.0" positionZ="0.3"/>
</Axles>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Vehicle>
</ScenarioObject>
<ScenarioObject name="pedestrian_close_to_hero_21730">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_close_to_standing_21731">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_close_to_adversary_21732">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_w_transform_21733">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_close_to_hero_21734">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
</Entities>
<Storyboard>
<Init>
<Actions>
<GlobalAction>
<EnvironmentAction>
<Environment name="Environment1">
<TimeOfDay animation="false" dateTime="2019-06-25T12:00:00"/>
<Weather cloudState="free">
<Sun intensity="0.85" azimuth="0" elevation="1.31"/>
<Fog visualRange="100000.0"/>
<Precipitation precipitationType="dry" intensity="0.0"/>
</Weather>
<RoadCondition frictionScaleFactor="1.0"/>
</Environment>
</EnvironmentAction>
</GlobalAction>
<Private entityRef="hero">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-9.4" y="-152.8" z="0.5" h="1.57079632679"/>
</Position>
</TeleportAction>
</PrivateAction>
<PrivateAction>
<ControllerAction>
<AssignControllerAction>
<Controller name="HeroAgent">
<Properties>
<Property name="module" value="external_control"/>
</Properties>
</Controller>
</AssignControllerAction>
<OverrideControllerValueAction>
<Throttle value="0" active="false"/>
<Brake value="0" active="false"/>
<Clutch value="0" active="false"/>
<ParkingBrake value="0" active="false"/>
<SteeringWheel value="0" active="false"/>
<Gear number="0" active="false"/>
</OverrideControllerValueAction>
</ControllerAction>
</PrivateAction>
</Private>
<Private entityRef="adversary">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-9.4" y="-71.0" z="0.5" h="1.57079632679"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="standing">
<PrivateAction>
<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_21730">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-16.87571144104004" y="-152.3560028076172" z="0.0014286803780123591"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_close_to_standing_21731">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-9.876855850219727" y="37.57133102416992" z="0.003001632634550333"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_close_to_adversary_21732">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="1.5094547271728516" y="-67.4935073852539" z="0.03379783406853676"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_w_transform_21733">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="79.60298156738281" y="-15.800093650817871" z="0.5"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_close_to_hero_21734">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-7.933455944061279" y="-157.5098114013672" z="0.0014286803780123591"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
</Actions>
</Init>
<Story name="MyStory">
<Act name="Behavior">
<ManeuverGroup maximumExecutionCount="1" name="ManeuverSequence">
<Actors selectTriggeringEntities="false">
<EntityRef entityRef="adversary"/>
</Actors>
<Maneuver name="LaneChangeSimpleManeuver">
<Event name="AdversaryAccelerates" priority="overwrite">
<Action name="AdversaryAccelerates">
<PrivateAction>
<LongitudinalAction>
<SpeedAction>
<SpeedActionDynamics dynamicsShape="step" value="50" dynamicsDimension="distance"/>
<SpeedActionTarget>
<AbsoluteTargetSpeed value="5.0"/>
</SpeedActionTarget>
</SpeedAction>
</LongitudinalAction>
</PrivateAction>
</Action>
<StartTrigger>
<ConditionGroup>
<Condition name="StartCondition" delay="0" conditionEdge="rising">
<ByEntityCondition>
<TriggeringEntities triggeringEntitiesRule="any">
<EntityRef entityRef="hero"/>
</TriggeringEntities>
<EntityCondition>
<RelativeDistanceCondition entityRef="adversary" relativeDistanceType="cartesianDistance" value="40.0" freespace="false" rule="lessThan"/>
</EntityCondition>
</ByEntityCondition>
</Condition>
</ConditionGroup>
</StartTrigger>
</Event>
<Event name="AdversaryChangesLane" priority="overwrite">
<Action name="AdversaryChangesLane">
<PrivateAction>
<LateralAction>
<LaneChangeAction>
<LaneChangeActionDynamics dynamicsShape="linear" value="25" dynamicsDimension="distance"/>
<LaneChangeTarget>
<RelativeTargetLane entityRef="adversary" value="-1"/>
</LaneChangeTarget>
</LaneChangeAction>
</LateralAction>
</PrivateAction>
</Action>
<StartTrigger>
<ConditionGroup>
<Condition name="AfterAdversaryAccelerates" delay="0" conditionEdge="rising">
<ByValueCondition>
<StoryboardElementStateCondition storyboardElementType="action" storyboardElementRef="AdversaryAccelerates" state="completeState"/>
</ByValueCondition>
</Condition>
</ConditionGroup>
</StartTrigger>
</Event>
</Maneuver>
</ManeuverGroup>
<StartTrigger>
<ConditionGroup>
<Condition name="OverallStartCondition" delay="0" conditionEdge="rising">
<ByEntityCondition>
<TriggeringEntities triggeringEntitiesRule="any">
<EntityRef entityRef="hero"/>
</TriggeringEntities>
<EntityCondition>
<TraveledDistanceCondition value="1.0"/>
</EntityCondition>
</ByEntityCondition>
</Condition>
<Condition name="StartTime" delay="0" conditionEdge="rising">
<ByValueCondition>
<SimulationTimeCondition value="0" rule="equalTo"/>
</ByValueCondition>
</Condition>
</ConditionGroup>
</StartTrigger>
<StopTrigger>
<ConditionGroup>
<Condition name="EndCondition" delay="0" conditionEdge="rising">
<ByEntityCondition>
<TriggeringEntities triggeringEntitiesRule="any">
<EntityRef entityRef="hero"/>
</TriggeringEntities>
<EntityCondition>
<TraveledDistanceCondition value="200.0"/>
</EntityCondition>
</ByEntityCondition>
</Condition>
</ConditionGroup>
</StopTrigger>
</Act>
</Story>
<StopTrigger>
<ConditionGroup>
<Condition name="criteria_RunningStopTest" delay="0" conditionEdge="rising">
<ByValueCondition>
<ParameterCondition parameterRef="" value="" rule="lessThan"/>
</ByValueCondition>
</Condition>
<Condition name="criteria_RunningRedLightTest" delay="0" conditionEdge="rising">
<ByValueCondition>
<ParameterCondition parameterRef="" value="" rule="lessThan"/>
</ByValueCondition>
</Condition>
<Condition name="criteria_WrongLaneTest" delay="0" conditionEdge="rising">
<ByValueCondition>
<ParameterCondition parameterRef="" value="" rule="lessThan"/>
</ByValueCondition>
</Condition>
<Condition name="criteria_OnSidewalkTest" delay="0" conditionEdge="rising">
<ByValueCondition>
<ParameterCondition parameterRef="" value="" rule="lessThan"/>
</ByValueCondition>
</Condition>
<Condition name="criteria_KeepLaneTest" delay="0" conditionEdge="rising">
<ByValueCondition>
<ParameterCondition parameterRef="" value="" rule="lessThan"/>
</ByValueCondition>
</Condition>
<Condition name="criteria_CollisionTest" delay="0" conditionEdge="rising">
<ByValueCondition>
<ParameterCondition parameterRef="" value="" rule="lessThan"/>
</ByValueCondition>
</Condition>
<Condition name="criteria_DrivenDistanceTest" delay="0" conditionEdge="rising">
<ByValueCondition>
<ParameterCondition parameterRef="distance_success" value="100" rule="lessThan"/>
</ByValueCondition>
</Condition>
</ConditionGroup>
</StopTrigger>
</Storyboard>
</OpenSCENARIO>
``` | Here is the result:
```
<?xml version="1.0" ?>
<OpenSCENARIO>
<FileHeader revMajor="1" revMinor="0" date="2020-03-24T12:00:00" description="CARLA:LaneChangeSimple" author=""/>
<ParameterDeclarations/>
<CatalogLocations/>
<RoadNetwork>
<LogicFile filepath="Town04"/>
<SceneGraphFile filepath=""/>
</RoadNetwork>
<Entities>
<ScenarioObject name="hero">
<Vehicle name="vehicle.tesla.model3" vehicleCategory="car">
<ParameterDeclarations/>
<Performance maxSpeed="69.444" maxAcceleration="200" maxDeceleration="10.0"/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2.1" length="4.5" height="1.8"/>
</BoundingBox>
<Axles>
<FrontAxle maxSteering="0.5" wheelDiameter="0.6" trackWidth="1.8" positionX="3.1" positionZ="0.3"/>
<RearAxle maxSteering="0.0" wheelDiameter="0.6" trackWidth="1.8" positionX="0.0" positionZ="0.3"/>
</Axles>
<Properties>
<Property name="type" value="ego_vehicle"/>
</Properties>
</Vehicle>
</ScenarioObject>
<ScenarioObject name="adversary">
<Vehicle name="vehicle.lincoln.mkz_2017" vehicleCategory="car">
<ParameterDeclarations/>
<Performance maxSpeed="69.444" maxAcceleration="200" maxDeceleration="10.0"/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2.1" length="4.5" height="1.8"/>
</BoundingBox>
<Axles>
<FrontAxle maxSteering="0.5" wheelDiameter="0.6" trackWidth="1.8" positionX="3.1" positionZ="0.3"/>
<RearAxle maxSteering="0.0" wheelDiameter="0.6" trackWidth="1.8" positionX="0.0" positionZ="0.3"/>
</Axles>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Vehicle>
</ScenarioObject>
<ScenarioObject name="standing">
<Vehicle name="vehicle.volkswagen.t2" vehicleCategory="car">
<ParameterDeclarations/>
<Performance maxSpeed="69.444" maxAcceleration="200" maxDeceleration="10.0"/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2.1" length="4.5" height="1.8"/>
</BoundingBox>
<Axles>
<FrontAxle maxSteering="0.5" wheelDiameter="0.6" trackWidth="1.8" positionX="3.1" positionZ="0.3"/>
<RearAxle maxSteering="0.0" wheelDiameter="0.6" 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_21730">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_close_to_standing_21731">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_close_to_adversary_21732">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_w_transform_21733">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_close_to_hero_21734">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_close_to_adversary_21735">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
</Entities>
<Storyboard>
<Init>
<Actions>
<GlobalAction>
<EnvironmentAction>
<Environment name="Environment1">
<TimeOfDay animation="false" dateTime="2019-06-25T12:00:00"/>
<Weather cloudState="free">
<Sun intensity="0.85" azimuth="0" elevation="1.31"/>
<Fog visualRange="100000.0"/>
<Precipitation precipitationType="dry" intensity="0.0"/>
</Weather>
<RoadCondition frictionScaleFactor="1.0"/>
</Environment>
</EnvironmentAction>
</GlobalAction>
<Private entityRef="hero">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-9.4" y="-152.8" z="0.5" h="1.57079632679"/>
</Position>
</TeleportAction>
</PrivateAction>
<PrivateAction>
<ControllerAction>
<AssignControllerAction>
<Controller name="HeroAgent">
<Properties>
<Property name="module" value="external_control"/>
</Properties>
</Controller>
</AssignControllerAction>
<OverrideControllerValueAction>
<Throttle value="0" active="false"/>
<Brake value="0" active="false"/>
<Clutch value="0" active="false"/>
<ParkingBrake value="0" active="false"/>
<SteeringWheel value="0" active="false"/>
<Gear number="0" active="false"/>
</OverrideControllerValueAction>
</ControllerAction>
</PrivateAction>
</Private>
<Private entityRef="adversary">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-9.4" y="-71.0" z="0.5" h="1.57079632679"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="standing">
<PrivateAction>
<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_21730">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-16.87571144104004" y="-152.3560028076172" z="0.0014286803780123591"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_close_to_standing_21731">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-9.876855850219727" y="37.57133102416992" z="0.003001632634550333"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_close_to_adversary_21732">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="1.5094547271728516" y="-67.4935073852539" z="0.03379783406853676"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_w_transform_21733">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="79.60298156738281" y="-15.800093650817871" z="0.5"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_close_to_hero_21734">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-7.933455944061279" y="-157.5098114013672" z="0.0014286803780123591"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_close_to_adversary_21735">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-12.233050346374512" y="-75.14735412597656" z="0.033752668648958206"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
</Actions>
</Init>
<Story name="MyStory">
<Act name="Behavior">
<ManeuverGroup maximumExecutionCount="1" name="ManeuverSequence">
<Actors selectTriggeringEntities="false">
<EntityRef entityRef="adversary"/>
</Actors>
<Maneuver name="LaneChangeSimpleManeuver">
<Event name="AdversaryAccelerates" priority="overwrite">
<Action name="AdversaryAccelerates">
<PrivateAction>
<LongitudinalAction>
<SpeedAction>
<SpeedActionDynamics dynamicsShape="step" value="50" dynamicsDimension="distance"/>
<SpeedActionTarget>
<AbsoluteTargetSpeed value="5.0"/>
</SpeedActionTarget>
</SpeedAction>
</LongitudinalAction>
</PrivateAction>
</Action>
<StartTrigger>
<ConditionGroup>
<Condition name="StartCondition" delay="0" conditionEdge="rising">
<ByEntityCondition>
<TriggeringEntities triggeringEntitiesRule="any">
<EntityRef entityRef="hero"/>
</TriggeringEntities>
<EntityCondition>
<RelativeDistanceCondition entityRef="adversary" relativeDistanceType="cartesianDistance" value="40.0" freespace="false" rule="lessThan"/>
</EntityCondition>
</ByEntityCondition>
</Condition>
</ConditionGroup>
</StartTrigger>
</Event>
<Event name="AdversaryChangesLane" priority="overwrite">
<Action name="AdversaryChangesLane">
<PrivateAction>
<LateralAction>
<LaneChangeAction>
<LaneChangeActionDynamics dynamicsShape="linear" value="25" dynamicsDimension="distance"/>
<LaneChangeTarget>
<RelativeTargetLane entityRef="adversary" value="-1"/>
</LaneChangeTarget>
</LaneChangeAction>
</LateralAction>
</PrivateAction>
</Action>
<StartTrigger>
<ConditionGroup>
<Condition name="AfterAdversaryAccelerates" delay="0" conditionEdge="rising">
<ByValueCondition>
<StoryboardElementStateCondition storyboardElementType="action" storyboardElementRef="AdversaryAccelerates" state="completeState"/>
</ByValueCondition>
</Condition>
</ConditionGroup>
</StartTrigger>
</Event>
</Maneuver>
</ManeuverGroup>
<StartTrigger>
<ConditionGroup>
<Condition name="OverallStartCondition" delay="0" conditionEdge="rising">
<ByEntityCondition>
<TriggeringEntities triggeringEntitiesRule="any">
<EntityRef entityRef="hero"/>
</TriggeringEntities>
<EntityCondition>
<TraveledDistanceCondition value="1.0"/>
</EntityCondition>
</ByEntityCondition>
</Condition>
<Condition name="StartTime" delay="0" conditionEdge="rising">
<ByValueCondition>
<SimulationTimeCondition value="0" rule="equalTo"/>
</ByValueCondition>
</Condition>
</ConditionGroup>
</StartTrigger>
<StopTrigger>
<ConditionGroup>
<Condition name="EndCondition" delay="0" conditionEdge="rising">
<ByEntityCondition>
<TriggeringEntities triggeringEntitiesRule="any">
<EntityRef entityRef="hero"/>
</TriggeringEntities>
<EntityCondition>
<TraveledDistanceCondition value="200.0"/>
</EntityCondition>
</ByEntityCondition>
</Condition>
</ConditionGroup>
</StopTrigger>
</Act>
</Story>
<StopTrigger>
<ConditionGroup>
<Condition name="criteria_RunningStopTest" delay="0" conditionEdge="rising">
<ByValueCondition>
<ParameterCondition parameterRef="" value="" rule="lessThan"/>
</ByValueCondition>
</Condition>
<Condition name="criteria_RunningRedLightTest" delay="0" conditionEdge="rising">
<ByValueCondition>
<ParameterCondition parameterRef="" value="" rule="lessThan"/>
</ByValueCondition>
</Condition>
<Condition name="criteria_WrongLaneTest" delay="0" conditionEdge="rising">
<ByValueCondition>
<ParameterCondition parameterRef="" value="" rule="lessThan"/>
</ByValueCondition>
</Condition>
<Condition name="criteria_OnSidewalkTest" delay="0" conditionEdge="rising">
<ByValueCondition>
<ParameterCondition parameterRef="" value="" rule="lessThan"/>
</ByValueCondition>
</Condition>
<Condition name="criteria_KeepLaneTest" delay="0" conditionEdge="rising">
<ByValueCondition>
<ParameterCondition parameterRef="" value="" rule="lessThan"/>
</ByValueCondition>
</Condition>
<Condition name="criteria_CollisionTest" delay="0" conditionEdge="rising">
<ByValueCondition>
<ParameterCondition parameterRef="" value="" rule="lessThan"/>
</ByValueCondition>
</Condition>
<Condition name="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 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_18414">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_w_transform_18415">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_close_to_hero_18416">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_close_to_adversary_18417">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_close_to_hero_18418">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_w_transform_18419">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_w_transform_18420">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_w_transform_18421">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_close_to_adversary_18422">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_close_to_adversary_18423">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
</Entities>
<Storyboard>
<Init>
<Actions>
<GlobalAction>
<EnvironmentAction>
<Environment name="Environment1">
<TimeOfDay animation="false" dateTime="2019-06-25T12:00:00"/>
<Weather cloudState="free">
<Sun intensity="0.85" azimuth="0" elevation="1.31"/>
<Fog visualRange="100000.0"/>
<Precipitation precipitationType="dry" intensity="0.0"/>
</Weather>
<RoadCondition frictionScaleFactor="1.0"/>
</Environment>
</EnvironmentAction>
</GlobalAction>
<Private entityRef="hero">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-9.4" y="-152.8" z="0.5" h="1.57079632679"/>
</Position>
</TeleportAction>
</PrivateAction>
<PrivateAction>
<ControllerAction>
<AssignControllerAction>
<Controller name="HeroAgent">
<Properties>
<Property name="module" value="external_control"/>
</Properties>
</Controller>
</AssignControllerAction>
<OverrideControllerValueAction>
<Throttle value="0" active="false"/>
<Brake value="0" active="false"/>
<Clutch value="0" active="false"/>
<ParkingBrake value="0" active="false"/>
<SteeringWheel value="0" active="false"/>
<Gear number="0" active="false"/>
</OverrideControllerValueAction>
</ControllerAction>
</PrivateAction>
</Private>
<Private entityRef="adversary">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-9.4" y="-71.0" z="0.5" h="1.57079632679"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="standing">
<PrivateAction>
<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_18414">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-6.630834579467773" y="-146.55691528320312" z="0.0014286803780123591"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_w_transform_18415">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-37.981658935546875" y="-15.184700965881348" z="0.5"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_close_to_hero_18416">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-9.738709449768066" y="-158.7367706298828" z="0.0014286803780123591"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_close_to_adversary_18417">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-8.120870590209961" y="-73.41226196289062" z="0.03379375487565994"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_close_to_hero_18418">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-15.875158309936523" y="-166.1030731201172" z="0.0014286803780123591"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_w_transform_18419">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-29.063812255859375" y="7.574399948120117" z="0.5"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_w_transform_18420">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="38.003631591796875" y="70.25350952148438" z="0.5"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_w_transform_18421">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-22.141780853271484" y="-45.93135452270508" z="0.5"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_close_to_adversary_18422">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-6.157161712646484" y="-65.49528503417969" z="0.03380252793431282"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_close_to_adversary_18423">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-3.011651039123535" y="-63.46508026123047" z="0.033802296966314316"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
</Actions>
</Init>
<Story name="MyStory">
<Act name="Behavior">
<ManeuverGroup maximumExecutionCount="1" name="ManeuverSequence">
<Actors selectTriggeringEntities="false">
<EntityRef entityRef="adversary"/>
</Actors>
<Maneuver name="LaneChangeSimpleManeuver">
<Event name="AdversaryAccelerates" priority="overwrite">
<Action name="AdversaryAccelerates">
<PrivateAction>
<LongitudinalAction>
<SpeedAction>
<SpeedActionDynamics dynamicsShape="step" value="50" dynamicsDimension="distance"/>
<SpeedActionTarget>
<AbsoluteTargetSpeed value="5.0"/>
</SpeedActionTarget>
</SpeedAction>
</LongitudinalAction>
</PrivateAction>
</Action>
<StartTrigger>
<ConditionGroup>
<Condition name="StartCondition" delay="0" conditionEdge="rising">
<ByEntityCondition>
<TriggeringEntities triggeringEntitiesRule="any">
<EntityRef entityRef="hero"/>
</TriggeringEntities>
<EntityCondition>
<RelativeDistanceCondition entityRef="adversary" relativeDistanceType="cartesianDistance" value="40.0" freespace="false" rule="lessThan"/>
</EntityCondition>
</ByEntityCondition>
</Condition>
</ConditionGroup>
</StartTrigger>
</Event>
<Event name="AdversaryChangesLane" priority="overwrite">
<Action name="AdversaryChangesLane">
<PrivateAction>
<LateralAction>
<LaneChangeAction>
<LaneChangeActionDynamics dynamicsShape="linear" value="25" dynamicsDimension="distance"/>
<LaneChangeTarget>
<RelativeTargetLane entityRef="adversary" value="-1"/>
</LaneChangeTarget>
</LaneChangeAction>
</LateralAction>
</PrivateAction>
</Action>
<StartTrigger>
<ConditionGroup>
<Condition name="AfterAdversaryAccelerates" delay="0" conditionEdge="rising">
<ByValueCondition>
<StoryboardElementStateCondition storyboardElementType="action" storyboardElementRef="AdversaryAccelerates" state="completeState"/>
</ByValueCondition>
</Condition>
</ConditionGroup>
</StartTrigger>
</Event>
</Maneuver>
</ManeuverGroup>
<StartTrigger>
<ConditionGroup>
<Condition name="OverallStartCondition" delay="0" conditionEdge="rising">
<ByEntityCondition>
<TriggeringEntities triggeringEntitiesRule="any">
<EntityRef entityRef="hero"/>
</TriggeringEntities>
<EntityCondition>
<TraveledDistanceCondition value="1.0"/>
</EntityCondition>
</ByEntityCondition>
</Condition>
<Condition name="StartTime" delay="0" conditionEdge="rising">
<ByValueCondition>
<SimulationTimeCondition value="0" rule="equalTo"/>
</ByValueCondition>
</Condition>
</ConditionGroup>
</StartTrigger>
<StopTrigger>
<ConditionGroup>
<Condition name="EndCondition" delay="0" conditionEdge="rising">
<ByEntityCondition>
<TriggeringEntities triggeringEntitiesRule="any">
<EntityRef entityRef="hero"/>
</TriggeringEntities>
<EntityCondition>
<TraveledDistanceCondition value="200.0"/>
</EntityCondition>
</ByEntityCondition>
</Condition>
</ConditionGroup>
</StopTrigger>
</Act>
</Story>
<StopTrigger>
<ConditionGroup>
<Condition name="criteria_RunningStopTest" delay="0" conditionEdge="rising">
<ByValueCondition>
<ParameterCondition parameterRef="" value="" rule="lessThan"/>
</ByValueCondition>
</Condition>
<Condition name="criteria_RunningRedLightTest" delay="0" conditionEdge="rising">
<ByValueCondition>
<ParameterCondition parameterRef="" value="" rule="lessThan"/>
</ByValueCondition>
</Condition>
<Condition name="criteria_WrongLaneTest" delay="0" conditionEdge="rising">
<ByValueCondition>
<ParameterCondition parameterRef="" value="" rule="lessThan"/>
</ByValueCondition>
</Condition>
<Condition name="criteria_OnSidewalkTest" delay="0" conditionEdge="rising">
<ByValueCondition>
<ParameterCondition parameterRef="" value="" rule="lessThan"/>
</ByValueCondition>
</Condition>
<Condition name="criteria_KeepLaneTest" delay="0" conditionEdge="rising">
<ByValueCondition>
<ParameterCondition parameterRef="" value="" rule="lessThan"/>
</ByValueCondition>
</Condition>
<Condition name="criteria_CollisionTest" delay="0" conditionEdge="rising">
<ByValueCondition>
<ParameterCondition parameterRef="" value="" rule="lessThan"/>
</ByValueCondition>
</Condition>
<Condition name="criteria_DrivenDistanceTest" delay="0" conditionEdge="rising">
<ByValueCondition>
<ParameterCondition parameterRef="distance_success" value="100" rule="lessThan"/>
</ByValueCondition>
</Condition>
</ConditionGroup>
</StopTrigger>
</Storyboard>
</OpenSCENARIO>
``` | Here is the result:
```
<?xml version="1.0" ?>
<OpenSCENARIO>
<FileHeader revMajor="1" revMinor="0" date="2020-03-24T12:00:00" description="CARLA:LaneChangeSimple" author=""/>
<ParameterDeclarations/>
<CatalogLocations/>
<RoadNetwork>
<LogicFile filepath="Town04"/>
<SceneGraphFile filepath=""/>
</RoadNetwork>
<Entities>
<ScenarioObject name="hero">
<Vehicle name="vehicle.tesla.model3" vehicleCategory="car">
<ParameterDeclarations/>
<Performance maxSpeed="69.444" maxAcceleration="200" maxDeceleration="10.0"/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2.1" length="4.5" height="1.8"/>
</BoundingBox>
<Axles>
<FrontAxle maxSteering="0.5" wheelDiameter="0.6" trackWidth="1.8" positionX="3.1" positionZ="0.3"/>
<RearAxle maxSteering="0.0" wheelDiameter="0.6" trackWidth="1.8" positionX="0.0" positionZ="0.3"/>
</Axles>
<Properties>
<Property name="type" value="ego_vehicle"/>
</Properties>
</Vehicle>
</ScenarioObject>
<ScenarioObject name="adversary">
<Vehicle name="vehicle.lincoln.mkz_2017" vehicleCategory="car">
<ParameterDeclarations/>
<Performance maxSpeed="69.444" maxAcceleration="200" maxDeceleration="10.0"/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2.1" length="4.5" height="1.8"/>
</BoundingBox>
<Axles>
<FrontAxle maxSteering="0.5" wheelDiameter="0.6" trackWidth="1.8" positionX="3.1" positionZ="0.3"/>
<RearAxle maxSteering="0.0" wheelDiameter="0.6" trackWidth="1.8" positionX="0.0" positionZ="0.3"/>
</Axles>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Vehicle>
</ScenarioObject>
<ScenarioObject name="standing">
<Vehicle name="vehicle.volkswagen.t2" vehicleCategory="car">
<ParameterDeclarations/>
<Performance maxSpeed="69.444" maxAcceleration="200" maxDeceleration="10.0"/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2.1" length="4.5" height="1.8"/>
</BoundingBox>
<Axles>
<FrontAxle maxSteering="0.5" wheelDiameter="0.6" trackWidth="1.8" positionX="3.1" positionZ="0.3"/>
<RearAxle maxSteering="0.0" wheelDiameter="0.6" 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_18414">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_w_transform_18415">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_close_to_adversary_18417">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_close_to_hero_18418">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_w_transform_18419">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_w_transform_18420">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_w_transform_18421">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_close_to_adversary_18422">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_close_to_adversary_18423">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
</Entities>
<Storyboard>
<Init>
<Actions>
<GlobalAction>
<EnvironmentAction>
<Environment name="Environment1">
<TimeOfDay animation="false" dateTime="2019-06-25T12:00:00"/>
<Weather cloudState="free">
<Sun intensity="0.85" azimuth="0" elevation="1.31"/>
<Fog visualRange="100000.0"/>
<Precipitation precipitationType="dry" intensity="0.0"/>
</Weather>
<RoadCondition frictionScaleFactor="1.0"/>
</Environment>
</EnvironmentAction>
</GlobalAction>
<Private entityRef="hero">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-9.4" y="-152.8" z="0.5" h="1.57079632679"/>
</Position>
</TeleportAction>
</PrivateAction>
<PrivateAction>
<ControllerAction>
<AssignControllerAction>
<Controller name="HeroAgent">
<Properties>
<Property name="module" value="external_control"/>
</Properties>
</Controller>
</AssignControllerAction>
<OverrideControllerValueAction>
<Throttle value="0" active="false"/>
<Brake value="0" active="false"/>
<Clutch value="0" active="false"/>
<ParkingBrake value="0" active="false"/>
<SteeringWheel value="0" active="false"/>
<Gear number="0" active="false"/>
</OverrideControllerValueAction>
</ControllerAction>
</PrivateAction>
</Private>
<Private entityRef="adversary">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-9.4" y="-71.0" z="0.5" h="1.57079632679"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="standing">
<PrivateAction>
<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_18414">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-6.630834579467773" y="-146.55691528320312" z="0.0014286803780123591"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_w_transform_18415">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-37.981658935546875" y="-15.184700965881348" z="0.5"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_close_to_adversary_18417">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-8.120870590209961" y="-73.41226196289062" z="0.03379375487565994"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_close_to_hero_18418">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-15.875158309936523" y="-166.1030731201172" z="0.0014286803780123591"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_w_transform_18419">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-29.063812255859375" y="7.574399948120117" z="0.5"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_w_transform_18420">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="38.003631591796875" y="70.25350952148438" z="0.5"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_w_transform_18421">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-22.141780853271484" y="-45.93135452270508" z="0.5"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_close_to_adversary_18422">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-6.157161712646484" y="-65.49528503417969" z="0.03380252793431282"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_close_to_adversary_18423">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-3.011651039123535" y="-63.46508026123047" z="0.033802296966314316"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
</Actions>
</Init>
<Story name="MyStory">
<Act name="Behavior">
<ManeuverGroup maximumExecutionCount="1" name="ManeuverSequence">
<Actors selectTriggeringEntities="false">
<EntityRef entityRef="adversary"/>
</Actors>
<Maneuver name="LaneChangeSimpleManeuver">
<Event name="AdversaryAccelerates" priority="overwrite">
<Action name="AdversaryAccelerates">
<PrivateAction>
<LongitudinalAction>
<SpeedAction>
<SpeedActionDynamics dynamicsShape="step" value="50" dynamicsDimension="distance"/>
<SpeedActionTarget>
<AbsoluteTargetSpeed value="5.0"/>
</SpeedActionTarget>
</SpeedAction>
</LongitudinalAction>
</PrivateAction>
</Action>
<StartTrigger>
<ConditionGroup>
<Condition name="StartCondition" delay="0" conditionEdge="rising">
<ByEntityCondition>
<TriggeringEntities triggeringEntitiesRule="any">
<EntityRef entityRef="hero"/>
</TriggeringEntities>
<EntityCondition>
<RelativeDistanceCondition entityRef="adversary" relativeDistanceType="cartesianDistance" value="40.0" freespace="false" rule="lessThan"/>
</EntityCondition>
</ByEntityCondition>
</Condition>
</ConditionGroup>
</StartTrigger>
</Event>
<Event name="AdversaryChangesLane" priority="overwrite">
<Action name="AdversaryChangesLane">
<PrivateAction>
<LateralAction>
<LaneChangeAction>
<LaneChangeActionDynamics dynamicsShape="linear" value="25" dynamicsDimension="distance"/>
<LaneChangeTarget>
<RelativeTargetLane entityRef="adversary" value="-1"/>
</LaneChangeTarget>
</LaneChangeAction>
</LateralAction>
</PrivateAction>
</Action>
<StartTrigger>
<ConditionGroup>
<Condition name="AfterAdversaryAccelerates" delay="0" conditionEdge="rising">
<ByValueCondition>
<StoryboardElementStateCondition storyboardElementType="action" storyboardElementRef="AdversaryAccelerates" state="completeState"/>
</ByValueCondition>
</Condition>
</ConditionGroup>
</StartTrigger>
</Event>
</Maneuver>
</ManeuverGroup>
<StartTrigger>
<ConditionGroup>
<Condition name="OverallStartCondition" delay="0" conditionEdge="rising">
<ByEntityCondition>
<TriggeringEntities triggeringEntitiesRule="any">
<EntityRef entityRef="hero"/>
</TriggeringEntities>
<EntityCondition>
<TraveledDistanceCondition value="1.0"/>
</EntityCondition>
</ByEntityCondition>
</Condition>
<Condition name="StartTime" delay="0" conditionEdge="rising">
<ByValueCondition>
<SimulationTimeCondition value="0" rule="equalTo"/>
</ByValueCondition>
</Condition>
</ConditionGroup>
</StartTrigger>
<StopTrigger>
<ConditionGroup>
<Condition name="EndCondition" delay="0" conditionEdge="rising">
<ByEntityCondition>
<TriggeringEntities triggeringEntitiesRule="any">
<EntityRef entityRef="hero"/>
</TriggeringEntities>
<EntityCondition>
<TraveledDistanceCondition value="200.0"/>
</EntityCondition>
</ByEntityCondition>
</Condition>
</ConditionGroup>
</StopTrigger>
</Act>
</Story>
<StopTrigger>
<ConditionGroup>
<Condition name="criteria_RunningStopTest" delay="0" conditionEdge="rising">
<ByValueCondition>
<ParameterCondition parameterRef="" value="" rule="lessThan"/>
</ByValueCondition>
</Condition>
<Condition name="criteria_RunningRedLightTest" delay="0" conditionEdge="rising">
<ByValueCondition>
<ParameterCondition parameterRef="" value="" rule="lessThan"/>
</ByValueCondition>
</Condition>
<Condition name="criteria_WrongLaneTest" delay="0" conditionEdge="rising">
<ByValueCondition>
<ParameterCondition parameterRef="" value="" rule="lessThan"/>
</ByValueCondition>
</Condition>
<Condition name="criteria_OnSidewalkTest" delay="0" conditionEdge="rising">
<ByValueCondition>
<ParameterCondition parameterRef="" value="" rule="lessThan"/>
</ByValueCondition>
</Condition>
<Condition name="criteria_KeepLaneTest" delay="0" conditionEdge="rising">
<ByValueCondition>
<ParameterCondition parameterRef="" value="" rule="lessThan"/>
</ByValueCondition>
</Condition>
<Condition name="criteria_CollisionTest" delay="0" conditionEdge="rising">
<ByValueCondition>
<ParameterCondition parameterRef="" value="" rule="lessThan"/>
</ByValueCondition>
</Condition>
<Condition name="criteria_DrivenDistanceTest" delay="0" conditionEdge="rising">
<ByValueCondition>
<ParameterCondition parameterRef="distance_success" value="100" rule="lessThan"/>
</ByValueCondition>
</Condition>
</ConditionGroup>
</StopTrigger>
</Storyboard>
</OpenSCENARIO>
``` |
can you add pedestrian close to hero?
```
<?xml version="1.0" ?>
<OpenSCENARIO>
<FileHeader revMajor="1" revMinor="0" date="2020-03-24T12:00:00" description="CARLA:LaneChangeSimple" author=""/>
<ParameterDeclarations/>
<CatalogLocations/>
<RoadNetwork>
<LogicFile filepath="Town04"/>
<SceneGraphFile filepath=""/>
</RoadNetwork>
<Entities>
<ScenarioObject name="hero">
<Vehicle name="vehicle.tesla.model3" vehicleCategory="car">
<ParameterDeclarations/>
<Performance maxSpeed="69.444" maxAcceleration="200" maxDeceleration="10.0"/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2.1" length="4.5" height="1.8"/>
</BoundingBox>
<Axles>
<FrontAxle maxSteering="0.5" wheelDiameter="0.6" trackWidth="1.8" positionX="3.1" positionZ="0.3"/>
<RearAxle maxSteering="0.0" wheelDiameter="0.6" trackWidth="1.8" positionX="0.0" positionZ="0.3"/>
</Axles>
<Properties>
<Property name="type" value="ego_vehicle"/>
</Properties>
</Vehicle>
</ScenarioObject>
<ScenarioObject name="adversary">
<Vehicle name="vehicle.lincoln.mkz_2017" vehicleCategory="car">
<ParameterDeclarations/>
<Performance maxSpeed="69.444" maxAcceleration="200" maxDeceleration="10.0"/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2.1" length="4.5" height="1.8"/>
</BoundingBox>
<Axles>
<FrontAxle maxSteering="0.5" wheelDiameter="0.6" trackWidth="1.8" positionX="3.1" positionZ="0.3"/>
<RearAxle maxSteering="0.0" wheelDiameter="0.6" trackWidth="1.8" positionX="0.0" positionZ="0.3"/>
</Axles>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Vehicle>
</ScenarioObject>
<ScenarioObject name="standing">
<Vehicle name="vehicle.volkswagen.t2" vehicleCategory="car">
<ParameterDeclarations/>
<Performance maxSpeed="69.444" maxAcceleration="200" maxDeceleration="10.0"/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2.1" length="4.5" height="1.8"/>
</BoundingBox>
<Axles>
<FrontAxle maxSteering="0.5" wheelDiameter="0.6" trackWidth="1.8" positionX="3.1" positionZ="0.3"/>
<RearAxle maxSteering="0.0" wheelDiameter="0.6" trackWidth="1.8" positionX="0.0" positionZ="0.3"/>
</Axles>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Vehicle>
</ScenarioObject>
<ScenarioObject name="pedestrian_close_to_adversary_3801">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_w_transform_3802">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_close_to_hero_3803">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_close_to_adversary_3804">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_w_transform_3805">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_w_transform_3806">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_w_transform_3807">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_close_to_adversary_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_w_transform_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_standing_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_close_to_adversary_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_w_transform_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>
<ScenarioObject name="pedestrian_w_transform_3815">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_close_to_hero_3816">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_close_to_standing_3817">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_close_to_standing_3818">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_w_transform_3819">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_w_transform_3820">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
</Entities>
<Storyboard>
<Init>
<Actions>
<GlobalAction>
<EnvironmentAction>
<Environment name="Environment1">
<TimeOfDay animation="false" dateTime="2019-06-25T12:00:00"/>
<Weather cloudState="free">
<Sun intensity="0.85" azimuth="0" elevation="1.31"/>
<Fog visualRange="100000.0"/>
<Precipitation precipitationType="dry" intensity="0.0"/>
</Weather>
<RoadCondition frictionScaleFactor="1.0"/>
</Environment>
</EnvironmentAction>
</GlobalAction>
<Private entityRef="hero">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-9.4" y="-152.8" z="0.5" h="1.57079632679"/>
</Position>
</TeleportAction>
</PrivateAction>
<PrivateAction>
<ControllerAction>
<AssignControllerAction>
<Controller name="HeroAgent">
<Properties>
<Property name="module" value="external_control"/>
</Properties>
</Controller>
</AssignControllerAction>
<OverrideControllerValueAction>
<Throttle value="0" active="false"/>
<Brake value="0" active="false"/>
<Clutch value="0" active="false"/>
<ParkingBrake value="0" active="false"/>
<SteeringWheel value="0" active="false"/>
<Gear number="0" active="false"/>
</OverrideControllerValueAction>
</ControllerAction>
</PrivateAction>
</Private>
<Private entityRef="adversary">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-9.4" y="-71.0" z="0.5" h="1.57079632679"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="standing">
<PrivateAction>
<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_3801">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-19.342021942138672" y="-65.08674621582031" z="0.03378257527947426"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_w_transform_3802">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="19.229249954223633" y="74.69379425048828" z="0.5"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_close_to_hero_3803">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-11.55102252960205" y="-152.18533325195312" z="0.0014286803780123591"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_close_to_adversary_3804">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-11.82504940032959" y="-66.02326202392578" z="0.03378467634320259"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_w_transform_3805">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="9.7200345993042" y="17.604219436645508" z="0.5"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_w_transform_3806">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="91.98653411865234" y="93.09062194824219" z="0.5"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_w_transform_3807">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-32.247371673583984" y="54.361080169677734" z="0.5"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_close_to_adversary_3808">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-16.314687728881836" y="-66.21070861816406" z="0.033789634704589844"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_w_transform_3809">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-72.50997161865234" y="16.457565307617188" z="0.5"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_close_to_standing_3810">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-16.401065826416016" y="30.635705947875977" z="0.0030543135944753885"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_close_to_adversary_3811">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-14.09865665435791" y="-63.06602096557617" z="0.03378986194729805"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_close_to_hero_3812">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-10.341018676757812" y="-143.2410430908203" z="0.0014286803780123591"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_w_transform_3813">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="60.42506790161133" y="56.8967170715332" z="0.5"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_w_transform_3814">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="46.26525115966797" y="40.59821319580078" z="0.5"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_w_transform_3815">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-66.81810760498047" y="33.33967971801758" z="0.5"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_close_to_hero_3816">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-12.724226951599121" y="-152.08938598632812" z="0.0014286803780123591"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_close_to_standing_3817">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="4.172447204589844" y="21.47713279724121" z="0.0030671691056340933"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_close_to_standing_3818">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-1.6941640377044678" y="35.94596862792969" z="0.00309551227837801"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_w_transform_3819">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="42.75614929199219" y="1.0815330743789673" z="0.5"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_w_transform_3820">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-2.07688307762146" y="65.21564483642578" z="0.5"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
</Actions>
</Init>
<Story name="MyStory">
<Act name="Behavior">
<ManeuverGroup maximumExecutionCount="1" name="ManeuverSequence">
<Actors selectTriggeringEntities="false">
<EntityRef entityRef="adversary"/>
</Actors>
<Maneuver name="LaneChangeSimpleManeuver">
<Event name="AdversaryAccelerates" priority="overwrite">
<Action name="AdversaryAccelerates">
<PrivateAction>
<LongitudinalAction>
<SpeedAction>
<SpeedActionDynamics dynamicsShape="step" value="50" dynamicsDimension="distance"/>
<SpeedActionTarget>
<AbsoluteTargetSpeed value="5.0"/>
</SpeedActionTarget>
</SpeedAction>
</LongitudinalAction>
</PrivateAction>
</Action>
<StartTrigger>
<ConditionGroup>
<Condition name="StartCondition" delay="0" conditionEdge="rising">
<ByEntityCondition>
<TriggeringEntities triggeringEntitiesRule="any">
<EntityRef entityRef="hero"/>
</TriggeringEntities>
<EntityCondition>
<RelativeDistanceCondition entityRef="adversary" relativeDistanceType="cartesianDistance" value="40.0" freespace="false" rule="lessThan"/>
</EntityCondition>
</ByEntityCondition>
</Condition>
</ConditionGroup>
</StartTrigger>
</Event>
<Event name="AdversaryChangesLane" priority="overwrite">
<Action name="AdversaryChangesLane">
<PrivateAction>
<LateralAction>
<LaneChangeAction>
<LaneChangeActionDynamics dynamicsShape="linear" value="25" dynamicsDimension="distance"/>
<LaneChangeTarget>
<RelativeTargetLane entityRef="adversary" value="-1"/>
</LaneChangeTarget>
</LaneChangeAction>
</LateralAction>
</PrivateAction>
</Action>
<StartTrigger>
<ConditionGroup>
<Condition name="AfterAdversaryAccelerates" delay="0" conditionEdge="rising">
<ByValueCondition>
<StoryboardElementStateCondition storyboardElementType="action" storyboardElementRef="AdversaryAccelerates" state="completeState"/>
</ByValueCondition>
</Condition>
</ConditionGroup>
</StartTrigger>
</Event>
</Maneuver>
</ManeuverGroup>
<StartTrigger>
<ConditionGroup>
<Condition name="OverallStartCondition" delay="0" conditionEdge="rising">
<ByEntityCondition>
<TriggeringEntities triggeringEntitiesRule="any">
<EntityRef entityRef="hero"/>
</TriggeringEntities>
<EntityCondition>
<TraveledDistanceCondition value="1.0"/>
</EntityCondition>
</ByEntityCondition>
</Condition>
<Condition name="StartTime" delay="0" conditionEdge="rising">
<ByValueCondition>
<SimulationTimeCondition value="0" rule="equalTo"/>
</ByValueCondition>
</Condition>
</ConditionGroup>
</StartTrigger>
<StopTrigger>
<ConditionGroup>
<Condition name="EndCondition" delay="0" conditionEdge="rising">
<ByEntityCondition>
<TriggeringEntities triggeringEntitiesRule="any">
<EntityRef entityRef="hero"/>
</TriggeringEntities>
<EntityCondition>
<TraveledDistanceCondition value="200.0"/>
</EntityCondition>
</ByEntityCondition>
</Condition>
</ConditionGroup>
</StopTrigger>
</Act>
</Story>
<StopTrigger>
<ConditionGroup>
<Condition name="criteria_RunningStopTest" delay="0" conditionEdge="rising">
<ByValueCondition>
<ParameterCondition parameterRef="" value="" rule="lessThan"/>
</ByValueCondition>
</Condition>
<Condition name="criteria_RunningRedLightTest" delay="0" conditionEdge="rising">
<ByValueCondition>
<ParameterCondition parameterRef="" value="" rule="lessThan"/>
</ByValueCondition>
</Condition>
<Condition name="criteria_WrongLaneTest" delay="0" conditionEdge="rising">
<ByValueCondition>
<ParameterCondition parameterRef="" value="" rule="lessThan"/>
</ByValueCondition>
</Condition>
<Condition name="criteria_OnSidewalkTest" delay="0" conditionEdge="rising">
<ByValueCondition>
<ParameterCondition parameterRef="" value="" rule="lessThan"/>
</ByValueCondition>
</Condition>
<Condition name="criteria_KeepLaneTest" delay="0" conditionEdge="rising">
<ByValueCondition>
<ParameterCondition parameterRef="" value="" rule="lessThan"/>
</ByValueCondition>
</Condition>
<Condition name="criteria_CollisionTest" delay="0" conditionEdge="rising">
<ByValueCondition>
<ParameterCondition parameterRef="" value="" rule="lessThan"/>
</ByValueCondition>
</Condition>
<Condition name="criteria_DrivenDistanceTest" delay="0" conditionEdge="rising">
<ByValueCondition>
<ParameterCondition parameterRef="distance_success" value="100" rule="lessThan"/>
</ByValueCondition>
</Condition>
</ConditionGroup>
</StopTrigger>
</Storyboard>
</OpenSCENARIO>
``` | Here is the result:
```
<?xml version="1.0" ?>
<OpenSCENARIO>
<FileHeader revMajor="1" revMinor="0" date="2020-03-24T12:00:00" description="CARLA:LaneChangeSimple" author=""/>
<ParameterDeclarations/>
<CatalogLocations/>
<RoadNetwork>
<LogicFile filepath="Town04"/>
<SceneGraphFile filepath=""/>
</RoadNetwork>
<Entities>
<ScenarioObject name="hero">
<Vehicle name="vehicle.tesla.model3" vehicleCategory="car">
<ParameterDeclarations/>
<Performance maxSpeed="69.444" maxAcceleration="200" maxDeceleration="10.0"/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2.1" length="4.5" height="1.8"/>
</BoundingBox>
<Axles>
<FrontAxle maxSteering="0.5" wheelDiameter="0.6" trackWidth="1.8" positionX="3.1" positionZ="0.3"/>
<RearAxle maxSteering="0.0" wheelDiameter="0.6" trackWidth="1.8" positionX="0.0" positionZ="0.3"/>
</Axles>
<Properties>
<Property name="type" value="ego_vehicle"/>
</Properties>
</Vehicle>
</ScenarioObject>
<ScenarioObject name="adversary">
<Vehicle name="vehicle.lincoln.mkz_2017" vehicleCategory="car">
<ParameterDeclarations/>
<Performance maxSpeed="69.444" maxAcceleration="200" maxDeceleration="10.0"/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2.1" length="4.5" height="1.8"/>
</BoundingBox>
<Axles>
<FrontAxle maxSteering="0.5" wheelDiameter="0.6" trackWidth="1.8" positionX="3.1" positionZ="0.3"/>
<RearAxle maxSteering="0.0" wheelDiameter="0.6" trackWidth="1.8" positionX="0.0" positionZ="0.3"/>
</Axles>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Vehicle>
</ScenarioObject>
<ScenarioObject name="standing">
<Vehicle name="vehicle.volkswagen.t2" vehicleCategory="car">
<ParameterDeclarations/>
<Performance maxSpeed="69.444" maxAcceleration="200" maxDeceleration="10.0"/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2.1" length="4.5" height="1.8"/>
</BoundingBox>
<Axles>
<FrontAxle maxSteering="0.5" wheelDiameter="0.6" trackWidth="1.8" positionX="3.1" positionZ="0.3"/>
<RearAxle maxSteering="0.0" wheelDiameter="0.6" 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_3801">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_w_transform_3802">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_close_to_hero_3803">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_close_to_adversary_3804">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_w_transform_3805">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_w_transform_3806">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_w_transform_3807">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_close_to_adversary_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_w_transform_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_standing_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_close_to_adversary_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_w_transform_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>
<ScenarioObject name="pedestrian_w_transform_3815">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_close_to_hero_3816">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_close_to_standing_3817">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_close_to_standing_3818">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_w_transform_3819">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_w_transform_3820">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_close_to_hero_3821">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
</Entities>
<Storyboard>
<Init>
<Actions>
<GlobalAction>
<EnvironmentAction>
<Environment name="Environment1">
<TimeOfDay animation="false" dateTime="2019-06-25T12:00:00"/>
<Weather cloudState="free">
<Sun intensity="0.85" azimuth="0" elevation="1.31"/>
<Fog visualRange="100000.0"/>
<Precipitation precipitationType="dry" intensity="0.0"/>
</Weather>
<RoadCondition frictionScaleFactor="1.0"/>
</Environment>
</EnvironmentAction>
</GlobalAction>
<Private entityRef="hero">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-9.4" y="-152.8" z="0.5" h="1.57079632679"/>
</Position>
</TeleportAction>
</PrivateAction>
<PrivateAction>
<ControllerAction>
<AssignControllerAction>
<Controller name="HeroAgent">
<Properties>
<Property name="module" value="external_control"/>
</Properties>
</Controller>
</AssignControllerAction>
<OverrideControllerValueAction>
<Throttle value="0" active="false"/>
<Brake value="0" active="false"/>
<Clutch value="0" active="false"/>
<ParkingBrake value="0" active="false"/>
<SteeringWheel value="0" active="false"/>
<Gear number="0" active="false"/>
</OverrideControllerValueAction>
</ControllerAction>
</PrivateAction>
</Private>
<Private entityRef="adversary">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-9.4" y="-71.0" z="0.5" h="1.57079632679"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="standing">
<PrivateAction>
<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_3801">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-19.342021942138672" y="-65.08674621582031" z="0.03378257527947426"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_w_transform_3802">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="19.229249954223633" y="74.69379425048828" z="0.5"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_close_to_hero_3803">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-11.55102252960205" y="-152.18533325195312" z="0.0014286803780123591"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_close_to_adversary_3804">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-11.82504940032959" y="-66.02326202392578" z="0.03378467634320259"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_w_transform_3805">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="9.7200345993042" y="17.604219436645508" z="0.5"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_w_transform_3806">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="91.98653411865234" y="93.09062194824219" z="0.5"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_w_transform_3807">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-32.247371673583984" y="54.361080169677734" z="0.5"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_close_to_adversary_3808">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-16.314687728881836" y="-66.21070861816406" z="0.033789634704589844"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_w_transform_3809">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-72.50997161865234" y="16.457565307617188" z="0.5"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_close_to_standing_3810">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-16.401065826416016" y="30.635705947875977" z="0.0030543135944753885"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_close_to_adversary_3811">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-14.09865665435791" y="-63.06602096557617" z="0.03378986194729805"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_close_to_hero_3812">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-10.341018676757812" y="-143.2410430908203" z="0.0014286803780123591"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_w_transform_3813">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="60.42506790161133" y="56.8967170715332" z="0.5"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_w_transform_3814">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="46.26525115966797" y="40.59821319580078" z="0.5"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_w_transform_3815">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-66.81810760498047" y="33.33967971801758" z="0.5"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_close_to_hero_3816">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-12.724226951599121" y="-152.08938598632812" z="0.0014286803780123591"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_close_to_standing_3817">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="4.172447204589844" y="21.47713279724121" z="0.0030671691056340933"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_close_to_standing_3818">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-1.6941640377044678" y="35.94596862792969" z="0.00309551227837801"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_w_transform_3819">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="42.75614929199219" y="1.0815330743789673" z="0.5"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_w_transform_3820">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-2.07688307762146" y="65.21564483642578" z="0.5"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_close_to_hero_3821">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-19.052513122558594" y="-158.00999450683594" z="0.0014286803780123591"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
</Actions>
</Init>
<Story name="MyStory">
<Act name="Behavior">
<ManeuverGroup maximumExecutionCount="1" name="ManeuverSequence">
<Actors selectTriggeringEntities="false">
<EntityRef entityRef="adversary"/>
</Actors>
<Maneuver name="LaneChangeSimpleManeuver">
<Event name="AdversaryAccelerates" priority="overwrite">
<Action name="AdversaryAccelerates">
<PrivateAction>
<LongitudinalAction>
<SpeedAction>
<SpeedActionDynamics dynamicsShape="step" value="50" dynamicsDimension="distance"/>
<SpeedActionTarget>
<AbsoluteTargetSpeed value="5.0"/>
</SpeedActionTarget>
</SpeedAction>
</LongitudinalAction>
</PrivateAction>
</Action>
<StartTrigger>
<ConditionGroup>
<Condition name="StartCondition" delay="0" conditionEdge="rising">
<ByEntityCondition>
<TriggeringEntities triggeringEntitiesRule="any">
<EntityRef entityRef="hero"/>
</TriggeringEntities>
<EntityCondition>
<RelativeDistanceCondition entityRef="adversary" relativeDistanceType="cartesianDistance" value="40.0" freespace="false" rule="lessThan"/>
</EntityCondition>
</ByEntityCondition>
</Condition>
</ConditionGroup>
</StartTrigger>
</Event>
<Event name="AdversaryChangesLane" priority="overwrite">
<Action name="AdversaryChangesLane">
<PrivateAction>
<LateralAction>
<LaneChangeAction>
<LaneChangeActionDynamics dynamicsShape="linear" value="25" dynamicsDimension="distance"/>
<LaneChangeTarget>
<RelativeTargetLane entityRef="adversary" value="-1"/>
</LaneChangeTarget>
</LaneChangeAction>
</LateralAction>
</PrivateAction>
</Action>
<StartTrigger>
<ConditionGroup>
<Condition name="AfterAdversaryAccelerates" delay="0" conditionEdge="rising">
<ByValueCondition>
<StoryboardElementStateCondition storyboardElementType="action" storyboardElementRef="AdversaryAccelerates" state="completeState"/>
</ByValueCondition>
</Condition>
</ConditionGroup>
</StartTrigger>
</Event>
</Maneuver>
</ManeuverGroup>
<StartTrigger>
<ConditionGroup>
<Condition name="OverallStartCondition" delay="0" conditionEdge="rising">
<ByEntityCondition>
<TriggeringEntities triggeringEntitiesRule="any">
<EntityRef entityRef="hero"/>
</TriggeringEntities>
<EntityCondition>
<TraveledDistanceCondition value="1.0"/>
</EntityCondition>
</ByEntityCondition>
</Condition>
<Condition name="StartTime" delay="0" conditionEdge="rising">
<ByValueCondition>
<SimulationTimeCondition value="0" rule="equalTo"/>
</ByValueCondition>
</Condition>
</ConditionGroup>
</StartTrigger>
<StopTrigger>
<ConditionGroup>
<Condition name="EndCondition" delay="0" conditionEdge="rising">
<ByEntityCondition>
<TriggeringEntities triggeringEntitiesRule="any">
<EntityRef entityRef="hero"/>
</TriggeringEntities>
<EntityCondition>
<TraveledDistanceCondition value="200.0"/>
</EntityCondition>
</ByEntityCondition>
</Condition>
</ConditionGroup>
</StopTrigger>
</Act>
</Story>
<StopTrigger>
<ConditionGroup>
<Condition name="criteria_RunningStopTest" delay="0" conditionEdge="rising">
<ByValueCondition>
<ParameterCondition parameterRef="" value="" rule="lessThan"/>
</ByValueCondition>
</Condition>
<Condition name="criteria_RunningRedLightTest" delay="0" conditionEdge="rising">
<ByValueCondition>
<ParameterCondition parameterRef="" value="" rule="lessThan"/>
</ByValueCondition>
</Condition>
<Condition name="criteria_WrongLaneTest" delay="0" conditionEdge="rising">
<ByValueCondition>
<ParameterCondition parameterRef="" value="" rule="lessThan"/>
</ByValueCondition>
</Condition>
<Condition name="criteria_OnSidewalkTest" delay="0" conditionEdge="rising">
<ByValueCondition>
<ParameterCondition parameterRef="" value="" rule="lessThan"/>
</ByValueCondition>
</Condition>
<Condition name="criteria_KeepLaneTest" delay="0" conditionEdge="rising">
<ByValueCondition>
<ParameterCondition parameterRef="" value="" rule="lessThan"/>
</ByValueCondition>
</Condition>
<Condition name="criteria_CollisionTest" delay="0" conditionEdge="rising">
<ByValueCondition>
<ParameterCondition parameterRef="" value="" rule="lessThan"/>
</ByValueCondition>
</Condition>
<Condition name="criteria_DrivenDistanceTest" delay="0" conditionEdge="rising">
<ByValueCondition>
<ParameterCondition parameterRef="distance_success" value="100" rule="lessThan"/>
</ByValueCondition>
</Condition>
</ConditionGroup>
</StopTrigger>
</Storyboard>
</OpenSCENARIO>
``` |
i would like you to demonstrate add pedestrian close to standing?
```
<?xml version="1.0" ?>
<OpenSCENARIO>
<FileHeader revMajor="1" revMinor="0" date="2020-03-24T12:00:00" description="CARLA:LaneChangeSimple" author=""/>
<ParameterDeclarations/>
<CatalogLocations/>
<RoadNetwork>
<LogicFile filepath="Town04"/>
<SceneGraphFile filepath=""/>
</RoadNetwork>
<Entities>
<ScenarioObject name="hero">
<Vehicle name="vehicle.tesla.model3" vehicleCategory="car">
<ParameterDeclarations/>
<Performance maxSpeed="69.444" maxAcceleration="200" maxDeceleration="10.0"/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2.1" length="4.5" height="1.8"/>
</BoundingBox>
<Axles>
<FrontAxle maxSteering="0.5" wheelDiameter="0.6" trackWidth="1.8" positionX="3.1" positionZ="0.3"/>
<RearAxle maxSteering="0.0" wheelDiameter="0.6" trackWidth="1.8" positionX="0.0" positionZ="0.3"/>
</Axles>
<Properties>
<Property name="type" value="ego_vehicle"/>
</Properties>
</Vehicle>
</ScenarioObject>
<ScenarioObject name="adversary">
<Vehicle name="vehicle.lincoln.mkz_2017" vehicleCategory="car">
<ParameterDeclarations/>
<Performance maxSpeed="69.444" maxAcceleration="200" maxDeceleration="10.0"/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2.1" length="4.5" height="1.8"/>
</BoundingBox>
<Axles>
<FrontAxle maxSteering="0.5" wheelDiameter="0.6" trackWidth="1.8" positionX="3.1" positionZ="0.3"/>
<RearAxle maxSteering="0.0" wheelDiameter="0.6" trackWidth="1.8" positionX="0.0" positionZ="0.3"/>
</Axles>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Vehicle>
</ScenarioObject>
<ScenarioObject name="standing">
<Vehicle name="vehicle.volkswagen.t2" vehicleCategory="car">
<ParameterDeclarations/>
<Performance maxSpeed="69.444" maxAcceleration="200" maxDeceleration="10.0"/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2.1" length="4.5" height="1.8"/>
</BoundingBox>
<Axles>
<FrontAxle maxSteering="0.5" wheelDiameter="0.6" trackWidth="1.8" positionX="3.1" positionZ="0.3"/>
<RearAxle maxSteering="0.0" wheelDiameter="0.6" trackWidth="1.8" positionX="0.0" positionZ="0.3"/>
</Axles>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Vehicle>
</ScenarioObject>
<ScenarioObject name="pedestrian_close_to_adversary_13328">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
</Entities>
<Storyboard>
<Init>
<Actions>
<GlobalAction>
<EnvironmentAction>
<Environment name="Environment1">
<TimeOfDay animation="false" dateTime="2019-06-25T12:00:00"/>
<Weather cloudState="free">
<Sun intensity="0.85" azimuth="0" elevation="1.31"/>
<Fog visualRange="100000.0"/>
<Precipitation precipitationType="dry" intensity="0.0"/>
</Weather>
<RoadCondition frictionScaleFactor="1.0"/>
</Environment>
</EnvironmentAction>
</GlobalAction>
<Private entityRef="hero">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-9.4" y="-152.8" z="0.5" h="1.57079632679"/>
</Position>
</TeleportAction>
</PrivateAction>
<PrivateAction>
<ControllerAction>
<AssignControllerAction>
<Controller name="HeroAgent">
<Properties>
<Property name="module" value="external_control"/>
</Properties>
</Controller>
</AssignControllerAction>
<OverrideControllerValueAction>
<Throttle value="0" active="false"/>
<Brake value="0" active="false"/>
<Clutch value="0" active="false"/>
<ParkingBrake value="0" active="false"/>
<SteeringWheel value="0" active="false"/>
<Gear number="0" active="false"/>
</OverrideControllerValueAction>
</ControllerAction>
</PrivateAction>
</Private>
<Private entityRef="adversary">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-9.4" y="-71.0" z="0.5" h="1.57079632679"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="standing">
<PrivateAction>
<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_13328">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-7.434589862823486" y="-62.808773040771484" z="0.03379631042480469"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
</Actions>
</Init>
<Story name="MyStory">
<Act name="Behavior">
<ManeuverGroup maximumExecutionCount="1" name="ManeuverSequence">
<Actors selectTriggeringEntities="false">
<EntityRef entityRef="adversary"/>
</Actors>
<Maneuver name="LaneChangeSimpleManeuver">
<Event name="AdversaryAccelerates" priority="overwrite">
<Action name="AdversaryAccelerates">
<PrivateAction>
<LongitudinalAction>
<SpeedAction>
<SpeedActionDynamics dynamicsShape="step" value="50" dynamicsDimension="distance"/>
<SpeedActionTarget>
<AbsoluteTargetSpeed value="5.0"/>
</SpeedActionTarget>
</SpeedAction>
</LongitudinalAction>
</PrivateAction>
</Action>
<StartTrigger>
<ConditionGroup>
<Condition name="StartCondition" delay="0" conditionEdge="rising">
<ByEntityCondition>
<TriggeringEntities triggeringEntitiesRule="any">
<EntityRef entityRef="hero"/>
</TriggeringEntities>
<EntityCondition>
<RelativeDistanceCondition entityRef="adversary" relativeDistanceType="cartesianDistance" value="40.0" freespace="false" rule="lessThan"/>
</EntityCondition>
</ByEntityCondition>
</Condition>
</ConditionGroup>
</StartTrigger>
</Event>
<Event name="AdversaryChangesLane" priority="overwrite">
<Action name="AdversaryChangesLane">
<PrivateAction>
<LateralAction>
<LaneChangeAction>
<LaneChangeActionDynamics dynamicsShape="linear" value="25" dynamicsDimension="distance"/>
<LaneChangeTarget>
<RelativeTargetLane entityRef="adversary" value="-1"/>
</LaneChangeTarget>
</LaneChangeAction>
</LateralAction>
</PrivateAction>
</Action>
<StartTrigger>
<ConditionGroup>
<Condition name="AfterAdversaryAccelerates" delay="0" conditionEdge="rising">
<ByValueCondition>
<StoryboardElementStateCondition storyboardElementType="action" storyboardElementRef="AdversaryAccelerates" state="completeState"/>
</ByValueCondition>
</Condition>
</ConditionGroup>
</StartTrigger>
</Event>
</Maneuver>
</ManeuverGroup>
<StartTrigger>
<ConditionGroup>
<Condition name="OverallStartCondition" delay="0" conditionEdge="rising">
<ByEntityCondition>
<TriggeringEntities triggeringEntitiesRule="any">
<EntityRef entityRef="hero"/>
</TriggeringEntities>
<EntityCondition>
<TraveledDistanceCondition value="1.0"/>
</EntityCondition>
</ByEntityCondition>
</Condition>
<Condition name="StartTime" delay="0" conditionEdge="rising">
<ByValueCondition>
<SimulationTimeCondition value="0" rule="equalTo"/>
</ByValueCondition>
</Condition>
</ConditionGroup>
</StartTrigger>
<StopTrigger>
<ConditionGroup>
<Condition name="EndCondition" delay="0" conditionEdge="rising">
<ByEntityCondition>
<TriggeringEntities triggeringEntitiesRule="any">
<EntityRef entityRef="hero"/>
</TriggeringEntities>
<EntityCondition>
<TraveledDistanceCondition value="200.0"/>
</EntityCondition>
</ByEntityCondition>
</Condition>
</ConditionGroup>
</StopTrigger>
</Act>
</Story>
<StopTrigger>
<ConditionGroup>
<Condition name="criteria_RunningStopTest" delay="0" conditionEdge="rising">
<ByValueCondition>
<ParameterCondition parameterRef="" value="" rule="lessThan"/>
</ByValueCondition>
</Condition>
<Condition name="criteria_RunningRedLightTest" delay="0" conditionEdge="rising">
<ByValueCondition>
<ParameterCondition parameterRef="" value="" rule="lessThan"/>
</ByValueCondition>
</Condition>
<Condition name="criteria_WrongLaneTest" delay="0" conditionEdge="rising">
<ByValueCondition>
<ParameterCondition parameterRef="" value="" rule="lessThan"/>
</ByValueCondition>
</Condition>
<Condition name="criteria_OnSidewalkTest" delay="0" conditionEdge="rising">
<ByValueCondition>
<ParameterCondition parameterRef="" value="" rule="lessThan"/>
</ByValueCondition>
</Condition>
<Condition name="criteria_KeepLaneTest" delay="0" conditionEdge="rising">
<ByValueCondition>
<ParameterCondition parameterRef="" value="" rule="lessThan"/>
</ByValueCondition>
</Condition>
<Condition name="criteria_CollisionTest" delay="0" conditionEdge="rising">
<ByValueCondition>
<ParameterCondition parameterRef="" value="" rule="lessThan"/>
</ByValueCondition>
</Condition>
<Condition name="criteria_DrivenDistanceTest" delay="0" conditionEdge="rising">
<ByValueCondition>
<ParameterCondition parameterRef="distance_success" value="100" rule="lessThan"/>
</ByValueCondition>
</Condition>
</ConditionGroup>
</StopTrigger>
</Storyboard>
</OpenSCENARIO>
``` | Here is the result:
```
<?xml version="1.0" ?>
<OpenSCENARIO>
<FileHeader revMajor="1" revMinor="0" date="2020-03-24T12:00:00" description="CARLA:LaneChangeSimple" author=""/>
<ParameterDeclarations/>
<CatalogLocations/>
<RoadNetwork>
<LogicFile filepath="Town04"/>
<SceneGraphFile filepath=""/>
</RoadNetwork>
<Entities>
<ScenarioObject name="hero">
<Vehicle name="vehicle.tesla.model3" vehicleCategory="car">
<ParameterDeclarations/>
<Performance maxSpeed="69.444" maxAcceleration="200" maxDeceleration="10.0"/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2.1" length="4.5" height="1.8"/>
</BoundingBox>
<Axles>
<FrontAxle maxSteering="0.5" wheelDiameter="0.6" trackWidth="1.8" positionX="3.1" positionZ="0.3"/>
<RearAxle maxSteering="0.0" wheelDiameter="0.6" trackWidth="1.8" positionX="0.0" positionZ="0.3"/>
</Axles>
<Properties>
<Property name="type" value="ego_vehicle"/>
</Properties>
</Vehicle>
</ScenarioObject>
<ScenarioObject name="adversary">
<Vehicle name="vehicle.lincoln.mkz_2017" vehicleCategory="car">
<ParameterDeclarations/>
<Performance maxSpeed="69.444" maxAcceleration="200" maxDeceleration="10.0"/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2.1" length="4.5" height="1.8"/>
</BoundingBox>
<Axles>
<FrontAxle maxSteering="0.5" wheelDiameter="0.6" trackWidth="1.8" positionX="3.1" positionZ="0.3"/>
<RearAxle maxSteering="0.0" wheelDiameter="0.6" trackWidth="1.8" positionX="0.0" positionZ="0.3"/>
</Axles>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Vehicle>
</ScenarioObject>
<ScenarioObject name="standing">
<Vehicle name="vehicle.volkswagen.t2" vehicleCategory="car">
<ParameterDeclarations/>
<Performance maxSpeed="69.444" maxAcceleration="200" maxDeceleration="10.0"/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2.1" length="4.5" height="1.8"/>
</BoundingBox>
<Axles>
<FrontAxle maxSteering="0.5" wheelDiameter="0.6" trackWidth="1.8" positionX="3.1" positionZ="0.3"/>
<RearAxle maxSteering="0.0" wheelDiameter="0.6" trackWidth="1.8" positionX="0.0" positionZ="0.3"/>
</Axles>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Vehicle>
</ScenarioObject>
<ScenarioObject name="pedestrian_close_to_adversary_13328">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_close_to_standing_13329">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
</Entities>
<Storyboard>
<Init>
<Actions>
<GlobalAction>
<EnvironmentAction>
<Environment name="Environment1">
<TimeOfDay animation="false" dateTime="2019-06-25T12:00:00"/>
<Weather cloudState="free">
<Sun intensity="0.85" azimuth="0" elevation="1.31"/>
<Fog visualRange="100000.0"/>
<Precipitation precipitationType="dry" intensity="0.0"/>
</Weather>
<RoadCondition frictionScaleFactor="1.0"/>
</Environment>
</EnvironmentAction>
</GlobalAction>
<Private entityRef="hero">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-9.4" y="-152.8" z="0.5" h="1.57079632679"/>
</Position>
</TeleportAction>
</PrivateAction>
<PrivateAction>
<ControllerAction>
<AssignControllerAction>
<Controller name="HeroAgent">
<Properties>
<Property name="module" value="external_control"/>
</Properties>
</Controller>
</AssignControllerAction>
<OverrideControllerValueAction>
<Throttle value="0" active="false"/>
<Brake value="0" active="false"/>
<Clutch value="0" active="false"/>
<ParkingBrake value="0" active="false"/>
<SteeringWheel value="0" active="false"/>
<Gear number="0" active="false"/>
</OverrideControllerValueAction>
</ControllerAction>
</PrivateAction>
</Private>
<Private entityRef="adversary">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-9.4" y="-71.0" z="0.5" h="1.57079632679"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="standing">
<PrivateAction>
<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_13328">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-7.434589862823486" y="-62.808773040771484" z="0.03379631042480469"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_close_to_standing_13329">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-10.961502075195312" y="35.03933334350586" z="0.0030739593785256147"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
</Actions>
</Init>
<Story name="MyStory">
<Act name="Behavior">
<ManeuverGroup maximumExecutionCount="1" name="ManeuverSequence">
<Actors selectTriggeringEntities="false">
<EntityRef entityRef="adversary"/>
</Actors>
<Maneuver name="LaneChangeSimpleManeuver">
<Event name="AdversaryAccelerates" priority="overwrite">
<Action name="AdversaryAccelerates">
<PrivateAction>
<LongitudinalAction>
<SpeedAction>
<SpeedActionDynamics dynamicsShape="step" value="50" dynamicsDimension="distance"/>
<SpeedActionTarget>
<AbsoluteTargetSpeed value="5.0"/>
</SpeedActionTarget>
</SpeedAction>
</LongitudinalAction>
</PrivateAction>
</Action>
<StartTrigger>
<ConditionGroup>
<Condition name="StartCondition" delay="0" conditionEdge="rising">
<ByEntityCondition>
<TriggeringEntities triggeringEntitiesRule="any">
<EntityRef entityRef="hero"/>
</TriggeringEntities>
<EntityCondition>
<RelativeDistanceCondition entityRef="adversary" relativeDistanceType="cartesianDistance" value="40.0" freespace="false" rule="lessThan"/>
</EntityCondition>
</ByEntityCondition>
</Condition>
</ConditionGroup>
</StartTrigger>
</Event>
<Event name="AdversaryChangesLane" priority="overwrite">
<Action name="AdversaryChangesLane">
<PrivateAction>
<LateralAction>
<LaneChangeAction>
<LaneChangeActionDynamics dynamicsShape="linear" value="25" dynamicsDimension="distance"/>
<LaneChangeTarget>
<RelativeTargetLane entityRef="adversary" value="-1"/>
</LaneChangeTarget>
</LaneChangeAction>
</LateralAction>
</PrivateAction>
</Action>
<StartTrigger>
<ConditionGroup>
<Condition name="AfterAdversaryAccelerates" delay="0" conditionEdge="rising">
<ByValueCondition>
<StoryboardElementStateCondition storyboardElementType="action" storyboardElementRef="AdversaryAccelerates" state="completeState"/>
</ByValueCondition>
</Condition>
</ConditionGroup>
</StartTrigger>
</Event>
</Maneuver>
</ManeuverGroup>
<StartTrigger>
<ConditionGroup>
<Condition name="OverallStartCondition" delay="0" conditionEdge="rising">
<ByEntityCondition>
<TriggeringEntities triggeringEntitiesRule="any">
<EntityRef entityRef="hero"/>
</TriggeringEntities>
<EntityCondition>
<TraveledDistanceCondition value="1.0"/>
</EntityCondition>
</ByEntityCondition>
</Condition>
<Condition name="StartTime" delay="0" conditionEdge="rising">
<ByValueCondition>
<SimulationTimeCondition value="0" rule="equalTo"/>
</ByValueCondition>
</Condition>
</ConditionGroup>
</StartTrigger>
<StopTrigger>
<ConditionGroup>
<Condition name="EndCondition" delay="0" conditionEdge="rising">
<ByEntityCondition>
<TriggeringEntities triggeringEntitiesRule="any">
<EntityRef entityRef="hero"/>
</TriggeringEntities>
<EntityCondition>
<TraveledDistanceCondition value="200.0"/>
</EntityCondition>
</ByEntityCondition>
</Condition>
</ConditionGroup>
</StopTrigger>
</Act>
</Story>
<StopTrigger>
<ConditionGroup>
<Condition name="criteria_RunningStopTest" delay="0" conditionEdge="rising">
<ByValueCondition>
<ParameterCondition parameterRef="" value="" rule="lessThan"/>
</ByValueCondition>
</Condition>
<Condition name="criteria_RunningRedLightTest" delay="0" conditionEdge="rising">
<ByValueCondition>
<ParameterCondition parameterRef="" value="" rule="lessThan"/>
</ByValueCondition>
</Condition>
<Condition name="criteria_WrongLaneTest" delay="0" conditionEdge="rising">
<ByValueCondition>
<ParameterCondition parameterRef="" value="" rule="lessThan"/>
</ByValueCondition>
</Condition>
<Condition name="criteria_OnSidewalkTest" delay="0" conditionEdge="rising">
<ByValueCondition>
<ParameterCondition parameterRef="" value="" rule="lessThan"/>
</ByValueCondition>
</Condition>
<Condition name="criteria_KeepLaneTest" delay="0" conditionEdge="rising">
<ByValueCondition>
<ParameterCondition parameterRef="" value="" rule="lessThan"/>
</ByValueCondition>
</Condition>
<Condition name="criteria_CollisionTest" delay="0" conditionEdge="rising">
<ByValueCondition>
<ParameterCondition parameterRef="" value="" rule="lessThan"/>
</ByValueCondition>
</Condition>
<Condition name="criteria_DrivenDistanceTest" delay="0" conditionEdge="rising">
<ByValueCondition>
<ParameterCondition parameterRef="distance_success" value="100" rule="lessThan"/>
</ByValueCondition>
</Condition>
</ConditionGroup>
</StopTrigger>
</Storyboard>
</OpenSCENARIO>
``` |
i would like to guide you to add pedestrian close to standing?
```
<?xml version="1.0" ?>
<OpenSCENARIO>
<FileHeader revMajor="1" revMinor="0" date="2020-03-24T12:00:00" description="CARLA:LaneChangeSimple" author=""/>
<ParameterDeclarations/>
<CatalogLocations/>
<RoadNetwork>
<LogicFile filepath="Town04"/>
<SceneGraphFile filepath=""/>
</RoadNetwork>
<Entities>
<ScenarioObject name="hero">
<Vehicle name="vehicle.tesla.model3" vehicleCategory="car">
<ParameterDeclarations/>
<Performance maxSpeed="69.444" maxAcceleration="200" maxDeceleration="10.0"/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2.1" length="4.5" height="1.8"/>
</BoundingBox>
<Axles>
<FrontAxle maxSteering="0.5" wheelDiameter="0.6" trackWidth="1.8" positionX="3.1" positionZ="0.3"/>
<RearAxle maxSteering="0.0" wheelDiameter="0.6" trackWidth="1.8" positionX="0.0" positionZ="0.3"/>
</Axles>
<Properties>
<Property name="type" value="ego_vehicle"/>
</Properties>
</Vehicle>
</ScenarioObject>
<ScenarioObject name="adversary">
<Vehicle name="vehicle.lincoln.mkz_2017" vehicleCategory="car">
<ParameterDeclarations/>
<Performance maxSpeed="69.444" maxAcceleration="200" maxDeceleration="10.0"/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2.1" length="4.5" height="1.8"/>
</BoundingBox>
<Axles>
<FrontAxle maxSteering="0.5" wheelDiameter="0.6" trackWidth="1.8" positionX="3.1" positionZ="0.3"/>
<RearAxle maxSteering="0.0" wheelDiameter="0.6" trackWidth="1.8" positionX="0.0" positionZ="0.3"/>
</Axles>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Vehicle>
</ScenarioObject>
<ScenarioObject name="standing">
<Vehicle name="vehicle.volkswagen.t2" vehicleCategory="car">
<ParameterDeclarations/>
<Performance maxSpeed="69.444" maxAcceleration="200" maxDeceleration="10.0"/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2.1" length="4.5" height="1.8"/>
</BoundingBox>
<Axles>
<FrontAxle maxSteering="0.5" wheelDiameter="0.6" trackWidth="1.8" positionX="3.1" positionZ="0.3"/>
<RearAxle maxSteering="0.0" wheelDiameter="0.6" trackWidth="1.8" positionX="0.0" positionZ="0.3"/>
</Axles>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Vehicle>
</ScenarioObject>
<ScenarioObject name="pedestrian_close_to_hero_6497">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_w_transform_6498">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_close_to_standing_6499">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_close_to_adversary_6500">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_close_to_hero_6501">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_close_to_hero_6503">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_close_to_adversary_6504">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_w_transform_6505">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_w_transform_6506">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_w_transform_6507">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_close_to_adversary_6508">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_close_to_adversary_6509">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_close_to_standing_6510">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_close_to_adversary_6511">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_close_to_hero_6512">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_w_transform_6513">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_close_to_standing_6514">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_w_transform_6515">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_close_to_hero_6516">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_close_to_standing_6517">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_w_transform_6518">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_w_transform_6519">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
</Entities>
<Storyboard>
<Init>
<Actions>
<GlobalAction>
<EnvironmentAction>
<Environment name="Environment1">
<TimeOfDay animation="false" dateTime="2019-06-25T12:00:00"/>
<Weather cloudState="free">
<Sun intensity="0.85" azimuth="0" elevation="1.31"/>
<Fog visualRange="100000.0"/>
<Precipitation precipitationType="dry" intensity="0.0"/>
</Weather>
<RoadCondition frictionScaleFactor="1.0"/>
</Environment>
</EnvironmentAction>
</GlobalAction>
<Private entityRef="hero">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-9.4" y="-152.8" z="0.5" h="1.57079632679"/>
</Position>
</TeleportAction>
</PrivateAction>
<PrivateAction>
<ControllerAction>
<AssignControllerAction>
<Controller name="HeroAgent">
<Properties>
<Property name="module" value="external_control"/>
</Properties>
</Controller>
</AssignControllerAction>
<OverrideControllerValueAction>
<Throttle value="0" active="false"/>
<Brake value="0" active="false"/>
<Clutch value="0" active="false"/>
<ParkingBrake value="0" active="false"/>
<SteeringWheel value="0" active="false"/>
<Gear number="0" active="false"/>
</OverrideControllerValueAction>
</ControllerAction>
</PrivateAction>
</Private>
<Private entityRef="adversary">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-9.4" y="-71.0" z="0.5" h="1.57079632679"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="standing">
<PrivateAction>
<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_6497">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-1.3979034423828125" y="-162.34666442871094" z="0.0014286803780123591"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_w_transform_6498">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="83.05867004394531" y="-63.55458068847656" z="0.5"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_close_to_standing_6499">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-16.032175064086914" y="19.493915557861328" z="0.003061180002987385"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_close_to_adversary_6500">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-14.733025550842285" y="-80.65491485595703" z="0.033762168139219284"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_close_to_hero_6501">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-2.6150941848754883" y="-162.18179321289062" z="0.0014286803780123591"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_close_to_hero_6503">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-12.581153869628906" y="-152.9212188720703" z="0.0014286803780123591"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_close_to_adversary_6504">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-6.530298233032227" y="-75.66670227050781" z="0.03388732671737671"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_w_transform_6505">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-31.72064208984375" y="-20.334152221679688" z="0.5"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_w_transform_6506">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="31.048988342285156" y="62.87535095214844" z="0.5"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_w_transform_6507">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="32.72301483154297" y="66.27391052246094" z="0.5"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_close_to_adversary_6508">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-16.127016067504883" y="-78.46237182617188" z="0.03383800387382507"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_close_to_adversary_6509">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-1.774635672569275" y="-76.61085510253906" z="0.033779144287109375"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_close_to_standing_6510">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-5.091324329376221" y="27.682016372680664" z="0.0029873275198042393"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_close_to_adversary_6511">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-7.820829391479492" y="-80.4352798461914" z="0.033808592706918716"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_close_to_hero_6512">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-17.736711502075195" y="-150.96617126464844" z="0.0014286803780123591"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_w_transform_6513">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-30.221904754638672" y="69.28944396972656" z="0.5"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_close_to_standing_6514">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-11.465357780456543" y="22.155826568603516" z="0.0030405044090002775"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_w_transform_6515">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="84.47125244140625" y="-88.17649841308594" z="0.5"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_close_to_hero_6516">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="0.07307454198598862" y="-156.02552795410156" z="0.0014286803780123591"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_close_to_standing_6517">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-15.822670936584473" y="24.435585021972656" z="0.003046874888241291"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_w_transform_6518">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="98.21817016601562" y="-65.56514739990234" z="0.5"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_w_transform_6519">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="67.9157943725586" y="-38.50730514526367" z="0.5"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
</Actions>
</Init>
<Story name="MyStory">
<Act name="Behavior">
<ManeuverGroup maximumExecutionCount="1" name="ManeuverSequence">
<Actors selectTriggeringEntities="false">
<EntityRef entityRef="adversary"/>
</Actors>
<Maneuver name="LaneChangeSimpleManeuver">
<Event name="AdversaryAccelerates" priority="overwrite">
<Action name="AdversaryAccelerates">
<PrivateAction>
<LongitudinalAction>
<SpeedAction>
<SpeedActionDynamics dynamicsShape="step" value="50" dynamicsDimension="distance"/>
<SpeedActionTarget>
<AbsoluteTargetSpeed value="5.0"/>
</SpeedActionTarget>
</SpeedAction>
</LongitudinalAction>
</PrivateAction>
</Action>
<StartTrigger>
<ConditionGroup>
<Condition name="StartCondition" delay="0" conditionEdge="rising">
<ByEntityCondition>
<TriggeringEntities triggeringEntitiesRule="any">
<EntityRef entityRef="hero"/>
</TriggeringEntities>
<EntityCondition>
<RelativeDistanceCondition entityRef="adversary" relativeDistanceType="cartesianDistance" value="40.0" freespace="false" rule="lessThan"/>
</EntityCondition>
</ByEntityCondition>
</Condition>
</ConditionGroup>
</StartTrigger>
</Event>
<Event name="AdversaryChangesLane" priority="overwrite">
<Action name="AdversaryChangesLane">
<PrivateAction>
<LateralAction>
<LaneChangeAction>
<LaneChangeActionDynamics dynamicsShape="linear" value="25" dynamicsDimension="distance"/>
<LaneChangeTarget>
<RelativeTargetLane entityRef="adversary" value="-1"/>
</LaneChangeTarget>
</LaneChangeAction>
</LateralAction>
</PrivateAction>
</Action>
<StartTrigger>
<ConditionGroup>
<Condition name="AfterAdversaryAccelerates" delay="0" conditionEdge="rising">
<ByValueCondition>
<StoryboardElementStateCondition storyboardElementType="action" storyboardElementRef="AdversaryAccelerates" state="completeState"/>
</ByValueCondition>
</Condition>
</ConditionGroup>
</StartTrigger>
</Event>
</Maneuver>
</ManeuverGroup>
<StartTrigger>
<ConditionGroup>
<Condition name="OverallStartCondition" delay="0" conditionEdge="rising">
<ByEntityCondition>
<TriggeringEntities triggeringEntitiesRule="any">
<EntityRef entityRef="hero"/>
</TriggeringEntities>
<EntityCondition>
<TraveledDistanceCondition value="1.0"/>
</EntityCondition>
</ByEntityCondition>
</Condition>
<Condition name="StartTime" delay="0" conditionEdge="rising">
<ByValueCondition>
<SimulationTimeCondition value="0" rule="equalTo"/>
</ByValueCondition>
</Condition>
</ConditionGroup>
</StartTrigger>
<StopTrigger>
<ConditionGroup>
<Condition name="EndCondition" delay="0" conditionEdge="rising">
<ByEntityCondition>
<TriggeringEntities triggeringEntitiesRule="any">
<EntityRef entityRef="hero"/>
</TriggeringEntities>
<EntityCondition>
<TraveledDistanceCondition value="200.0"/>
</EntityCondition>
</ByEntityCondition>
</Condition>
</ConditionGroup>
</StopTrigger>
</Act>
</Story>
<StopTrigger>
<ConditionGroup>
<Condition name="criteria_RunningStopTest" delay="0" conditionEdge="rising">
<ByValueCondition>
<ParameterCondition parameterRef="" value="" rule="lessThan"/>
</ByValueCondition>
</Condition>
<Condition name="criteria_RunningRedLightTest" delay="0" conditionEdge="rising">
<ByValueCondition>
<ParameterCondition parameterRef="" value="" rule="lessThan"/>
</ByValueCondition>
</Condition>
<Condition name="criteria_WrongLaneTest" delay="0" conditionEdge="rising">
<ByValueCondition>
<ParameterCondition parameterRef="" value="" rule="lessThan"/>
</ByValueCondition>
</Condition>
<Condition name="criteria_OnSidewalkTest" delay="0" conditionEdge="rising">
<ByValueCondition>
<ParameterCondition parameterRef="" value="" rule="lessThan"/>
</ByValueCondition>
</Condition>
<Condition name="criteria_KeepLaneTest" delay="0" conditionEdge="rising">
<ByValueCondition>
<ParameterCondition parameterRef="" value="" rule="lessThan"/>
</ByValueCondition>
</Condition>
<Condition name="criteria_CollisionTest" delay="0" conditionEdge="rising">
<ByValueCondition>
<ParameterCondition parameterRef="" value="" rule="lessThan"/>
</ByValueCondition>
</Condition>
<Condition name="criteria_DrivenDistanceTest" delay="0" conditionEdge="rising">
<ByValueCondition>
<ParameterCondition parameterRef="distance_success" value="100" rule="lessThan"/>
</ByValueCondition>
</Condition>
</ConditionGroup>
</StopTrigger>
</Storyboard>
</OpenSCENARIO>
``` | Here is the result:
```
<?xml version="1.0" ?>
<OpenSCENARIO>
<FileHeader revMajor="1" revMinor="0" date="2020-03-24T12:00:00" description="CARLA:LaneChangeSimple" author=""/>
<ParameterDeclarations/>
<CatalogLocations/>
<RoadNetwork>
<LogicFile filepath="Town04"/>
<SceneGraphFile filepath=""/>
</RoadNetwork>
<Entities>
<ScenarioObject name="hero">
<Vehicle name="vehicle.tesla.model3" vehicleCategory="car">
<ParameterDeclarations/>
<Performance maxSpeed="69.444" maxAcceleration="200" maxDeceleration="10.0"/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2.1" length="4.5" height="1.8"/>
</BoundingBox>
<Axles>
<FrontAxle maxSteering="0.5" wheelDiameter="0.6" trackWidth="1.8" positionX="3.1" positionZ="0.3"/>
<RearAxle maxSteering="0.0" wheelDiameter="0.6" trackWidth="1.8" positionX="0.0" positionZ="0.3"/>
</Axles>
<Properties>
<Property name="type" value="ego_vehicle"/>
</Properties>
</Vehicle>
</ScenarioObject>
<ScenarioObject name="adversary">
<Vehicle name="vehicle.lincoln.mkz_2017" vehicleCategory="car">
<ParameterDeclarations/>
<Performance maxSpeed="69.444" maxAcceleration="200" maxDeceleration="10.0"/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2.1" length="4.5" height="1.8"/>
</BoundingBox>
<Axles>
<FrontAxle maxSteering="0.5" wheelDiameter="0.6" trackWidth="1.8" positionX="3.1" positionZ="0.3"/>
<RearAxle maxSteering="0.0" wheelDiameter="0.6" trackWidth="1.8" positionX="0.0" positionZ="0.3"/>
</Axles>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Vehicle>
</ScenarioObject>
<ScenarioObject name="standing">
<Vehicle name="vehicle.volkswagen.t2" vehicleCategory="car">
<ParameterDeclarations/>
<Performance maxSpeed="69.444" maxAcceleration="200" maxDeceleration="10.0"/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2.1" length="4.5" height="1.8"/>
</BoundingBox>
<Axles>
<FrontAxle maxSteering="0.5" wheelDiameter="0.6" trackWidth="1.8" positionX="3.1" positionZ="0.3"/>
<RearAxle maxSteering="0.0" wheelDiameter="0.6" 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_6497">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_w_transform_6498">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_close_to_standing_6499">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_close_to_adversary_6500">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_close_to_hero_6501">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_close_to_hero_6503">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_close_to_adversary_6504">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_w_transform_6505">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_w_transform_6506">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_w_transform_6507">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_close_to_adversary_6508">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_close_to_adversary_6509">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_close_to_standing_6510">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_close_to_adversary_6511">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_close_to_hero_6512">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_w_transform_6513">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_close_to_standing_6514">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_w_transform_6515">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_close_to_hero_6516">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_close_to_standing_6517">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_w_transform_6518">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_w_transform_6519">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_close_to_standing_6520">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
</Entities>
<Storyboard>
<Init>
<Actions>
<GlobalAction>
<EnvironmentAction>
<Environment name="Environment1">
<TimeOfDay animation="false" dateTime="2019-06-25T12:00:00"/>
<Weather cloudState="free">
<Sun intensity="0.85" azimuth="0" elevation="1.31"/>
<Fog visualRange="100000.0"/>
<Precipitation precipitationType="dry" intensity="0.0"/>
</Weather>
<RoadCondition frictionScaleFactor="1.0"/>
</Environment>
</EnvironmentAction>
</GlobalAction>
<Private entityRef="hero">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-9.4" y="-152.8" z="0.5" h="1.57079632679"/>
</Position>
</TeleportAction>
</PrivateAction>
<PrivateAction>
<ControllerAction>
<AssignControllerAction>
<Controller name="HeroAgent">
<Properties>
<Property name="module" value="external_control"/>
</Properties>
</Controller>
</AssignControllerAction>
<OverrideControllerValueAction>
<Throttle value="0" active="false"/>
<Brake value="0" active="false"/>
<Clutch value="0" active="false"/>
<ParkingBrake value="0" active="false"/>
<SteeringWheel value="0" active="false"/>
<Gear number="0" active="false"/>
</OverrideControllerValueAction>
</ControllerAction>
</PrivateAction>
</Private>
<Private entityRef="adversary">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-9.4" y="-71.0" z="0.5" h="1.57079632679"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="standing">
<PrivateAction>
<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_6497">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-1.3979034423828125" y="-162.34666442871094" z="0.0014286803780123591"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_w_transform_6498">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="83.05867004394531" y="-63.55458068847656" z="0.5"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_close_to_standing_6499">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-16.032175064086914" y="19.493915557861328" z="0.003061180002987385"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_close_to_adversary_6500">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-14.733025550842285" y="-80.65491485595703" z="0.033762168139219284"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_close_to_hero_6501">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-2.6150941848754883" y="-162.18179321289062" z="0.0014286803780123591"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_close_to_hero_6503">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-12.581153869628906" y="-152.9212188720703" z="0.0014286803780123591"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_close_to_adversary_6504">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-6.530298233032227" y="-75.66670227050781" z="0.03388732671737671"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_w_transform_6505">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-31.72064208984375" y="-20.334152221679688" z="0.5"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_w_transform_6506">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="31.048988342285156" y="62.87535095214844" z="0.5"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_w_transform_6507">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="32.72301483154297" y="66.27391052246094" z="0.5"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_close_to_adversary_6508">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-16.127016067504883" y="-78.46237182617188" z="0.03383800387382507"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_close_to_adversary_6509">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-1.774635672569275" y="-76.61085510253906" z="0.033779144287109375"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_close_to_standing_6510">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-5.091324329376221" y="27.682016372680664" z="0.0029873275198042393"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_close_to_adversary_6511">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-7.820829391479492" y="-80.4352798461914" z="0.033808592706918716"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_close_to_hero_6512">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-17.736711502075195" y="-150.96617126464844" z="0.0014286803780123591"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_w_transform_6513">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-30.221904754638672" y="69.28944396972656" z="0.5"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_close_to_standing_6514">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-11.465357780456543" y="22.155826568603516" z="0.0030405044090002775"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_w_transform_6515">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="84.47125244140625" y="-88.17649841308594" z="0.5"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_close_to_hero_6516">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="0.07307454198598862" y="-156.02552795410156" z="0.0014286803780123591"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_close_to_standing_6517">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-15.822670936584473" y="24.435585021972656" z="0.003046874888241291"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_w_transform_6518">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="98.21817016601562" y="-65.56514739990234" z="0.5"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_w_transform_6519">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="67.9157943725586" y="-38.50730514526367" z="0.5"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_close_to_standing_6520">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-11.210615158081055" y="20.529010772705078" z="0.003034400986507535"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
</Actions>
</Init>
<Story name="MyStory">
<Act name="Behavior">
<ManeuverGroup maximumExecutionCount="1" name="ManeuverSequence">
<Actors selectTriggeringEntities="false">
<EntityRef entityRef="adversary"/>
</Actors>
<Maneuver name="LaneChangeSimpleManeuver">
<Event name="AdversaryAccelerates" priority="overwrite">
<Action name="AdversaryAccelerates">
<PrivateAction>
<LongitudinalAction>
<SpeedAction>
<SpeedActionDynamics dynamicsShape="step" value="50" dynamicsDimension="distance"/>
<SpeedActionTarget>
<AbsoluteTargetSpeed value="5.0"/>
</SpeedActionTarget>
</SpeedAction>
</LongitudinalAction>
</PrivateAction>
</Action>
<StartTrigger>
<ConditionGroup>
<Condition name="StartCondition" delay="0" conditionEdge="rising">
<ByEntityCondition>
<TriggeringEntities triggeringEntitiesRule="any">
<EntityRef entityRef="hero"/>
</TriggeringEntities>
<EntityCondition>
<RelativeDistanceCondition entityRef="adversary" relativeDistanceType="cartesianDistance" value="40.0" freespace="false" rule="lessThan"/>
</EntityCondition>
</ByEntityCondition>
</Condition>
</ConditionGroup>
</StartTrigger>
</Event>
<Event name="AdversaryChangesLane" priority="overwrite">
<Action name="AdversaryChangesLane">
<PrivateAction>
<LateralAction>
<LaneChangeAction>
<LaneChangeActionDynamics dynamicsShape="linear" value="25" dynamicsDimension="distance"/>
<LaneChangeTarget>
<RelativeTargetLane entityRef="adversary" value="-1"/>
</LaneChangeTarget>
</LaneChangeAction>
</LateralAction>
</PrivateAction>
</Action>
<StartTrigger>
<ConditionGroup>
<Condition name="AfterAdversaryAccelerates" delay="0" conditionEdge="rising">
<ByValueCondition>
<StoryboardElementStateCondition storyboardElementType="action" storyboardElementRef="AdversaryAccelerates" state="completeState"/>
</ByValueCondition>
</Condition>
</ConditionGroup>
</StartTrigger>
</Event>
</Maneuver>
</ManeuverGroup>
<StartTrigger>
<ConditionGroup>
<Condition name="OverallStartCondition" delay="0" conditionEdge="rising">
<ByEntityCondition>
<TriggeringEntities triggeringEntitiesRule="any">
<EntityRef entityRef="hero"/>
</TriggeringEntities>
<EntityCondition>
<TraveledDistanceCondition value="1.0"/>
</EntityCondition>
</ByEntityCondition>
</Condition>
<Condition name="StartTime" delay="0" conditionEdge="rising">
<ByValueCondition>
<SimulationTimeCondition value="0" rule="equalTo"/>
</ByValueCondition>
</Condition>
</ConditionGroup>
</StartTrigger>
<StopTrigger>
<ConditionGroup>
<Condition name="EndCondition" delay="0" conditionEdge="rising">
<ByEntityCondition>
<TriggeringEntities triggeringEntitiesRule="any">
<EntityRef entityRef="hero"/>
</TriggeringEntities>
<EntityCondition>
<TraveledDistanceCondition value="200.0"/>
</EntityCondition>
</ByEntityCondition>
</Condition>
</ConditionGroup>
</StopTrigger>
</Act>
</Story>
<StopTrigger>
<ConditionGroup>
<Condition name="criteria_RunningStopTest" delay="0" conditionEdge="rising">
<ByValueCondition>
<ParameterCondition parameterRef="" value="" rule="lessThan"/>
</ByValueCondition>
</Condition>
<Condition name="criteria_RunningRedLightTest" delay="0" conditionEdge="rising">
<ByValueCondition>
<ParameterCondition parameterRef="" value="" rule="lessThan"/>
</ByValueCondition>
</Condition>
<Condition name="criteria_WrongLaneTest" delay="0" conditionEdge="rising">
<ByValueCondition>
<ParameterCondition parameterRef="" value="" rule="lessThan"/>
</ByValueCondition>
</Condition>
<Condition name="criteria_OnSidewalkTest" delay="0" conditionEdge="rising">
<ByValueCondition>
<ParameterCondition parameterRef="" value="" rule="lessThan"/>
</ByValueCondition>
</Condition>
<Condition name="criteria_KeepLaneTest" delay="0" conditionEdge="rising">
<ByValueCondition>
<ParameterCondition parameterRef="" value="" rule="lessThan"/>
</ByValueCondition>
</Condition>
<Condition name="criteria_CollisionTest" delay="0" conditionEdge="rising">
<ByValueCondition>
<ParameterCondition parameterRef="" value="" rule="lessThan"/>
</ByValueCondition>
</Condition>
<Condition name="criteria_DrivenDistanceTest" delay="0" conditionEdge="rising">
<ByValueCondition>
<ParameterCondition parameterRef="distance_success" value="100" rule="lessThan"/>
</ByValueCondition>
</Condition>
</ConditionGroup>
</StopTrigger>
</Storyboard>
</OpenSCENARIO>
``` |
please add pedestrian close to hero?
```
<?xml version="1.0" ?>
<OpenSCENARIO>
<FileHeader revMajor="1" revMinor="0" date="2020-03-24T12:00:00" description="CARLA:LaneChangeSimple" author=""/>
<ParameterDeclarations/>
<CatalogLocations/>
<RoadNetwork>
<LogicFile filepath="Town04"/>
<SceneGraphFile filepath=""/>
</RoadNetwork>
<Entities>
<ScenarioObject name="hero">
<Vehicle name="vehicle.tesla.model3" vehicleCategory="car">
<ParameterDeclarations/>
<Performance maxSpeed="69.444" maxAcceleration="200" maxDeceleration="10.0"/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2.1" length="4.5" height="1.8"/>
</BoundingBox>
<Axles>
<FrontAxle maxSteering="0.5" wheelDiameter="0.6" trackWidth="1.8" positionX="3.1" positionZ="0.3"/>
<RearAxle maxSteering="0.0" wheelDiameter="0.6" trackWidth="1.8" positionX="0.0" positionZ="0.3"/>
</Axles>
<Properties>
<Property name="type" value="ego_vehicle"/>
</Properties>
</Vehicle>
</ScenarioObject>
<ScenarioObject name="adversary">
<Vehicle name="vehicle.lincoln.mkz_2017" vehicleCategory="car">
<ParameterDeclarations/>
<Performance maxSpeed="69.444" maxAcceleration="200" maxDeceleration="10.0"/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2.1" length="4.5" height="1.8"/>
</BoundingBox>
<Axles>
<FrontAxle maxSteering="0.5" wheelDiameter="0.6" trackWidth="1.8" positionX="3.1" positionZ="0.3"/>
<RearAxle maxSteering="0.0" wheelDiameter="0.6" trackWidth="1.8" positionX="0.0" positionZ="0.3"/>
</Axles>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Vehicle>
</ScenarioObject>
<ScenarioObject name="standing">
<Vehicle name="vehicle.volkswagen.t2" vehicleCategory="car">
<ParameterDeclarations/>
<Performance maxSpeed="69.444" maxAcceleration="200" maxDeceleration="10.0"/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2.1" length="4.5" height="1.8"/>
</BoundingBox>
<Axles>
<FrontAxle maxSteering="0.5" wheelDiameter="0.6" trackWidth="1.8" positionX="3.1" positionZ="0.3"/>
<RearAxle maxSteering="0.0" wheelDiameter="0.6" trackWidth="1.8" positionX="0.0" positionZ="0.3"/>
</Axles>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Vehicle>
</ScenarioObject>
<ScenarioObject name="pedestrian_close_to_hero_21852">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_w_transform_21853">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_close_to_hero_21854">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_close_to_standing_21855">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_close_to_adversary_21856">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_w_transform_21857">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_w_transform_21859">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_close_to_standing_21860">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_w_transform_21861">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_close_to_standing_21862">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_close_to_adversary_21863">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_w_transform_21864">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
</Entities>
<Storyboard>
<Init>
<Actions>
<GlobalAction>
<EnvironmentAction>
<Environment name="Environment1">
<TimeOfDay animation="false" dateTime="2019-06-25T12:00:00"/>
<Weather cloudState="free">
<Sun intensity="0.85" azimuth="0" elevation="1.31"/>
<Fog visualRange="100000.0"/>
<Precipitation precipitationType="dry" intensity="0.0"/>
</Weather>
<RoadCondition frictionScaleFactor="1.0"/>
</Environment>
</EnvironmentAction>
</GlobalAction>
<Private entityRef="hero">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-9.4" y="-152.8" z="0.5" h="1.57079632679"/>
</Position>
</TeleportAction>
</PrivateAction>
<PrivateAction>
<ControllerAction>
<AssignControllerAction>
<Controller name="HeroAgent">
<Properties>
<Property name="module" value="external_control"/>
</Properties>
</Controller>
</AssignControllerAction>
<OverrideControllerValueAction>
<Throttle value="0" active="false"/>
<Brake value="0" active="false"/>
<Clutch value="0" active="false"/>
<ParkingBrake value="0" active="false"/>
<SteeringWheel value="0" active="false"/>
<Gear number="0" active="false"/>
</OverrideControllerValueAction>
</ControllerAction>
</PrivateAction>
</Private>
<Private entityRef="adversary">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-9.4" y="-71.0" z="0.5" h="1.57079632679"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="standing">
<PrivateAction>
<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_21852">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-6.225771427154541" y="-161.6086883544922" z="0.0014286803780123591"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_w_transform_21853">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="7.585539817810059" y="39.673370361328125" z="0.5"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_close_to_hero_21854">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-16.270193099975586" y="-154.08250427246094" z="0.0014286803780123591"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_close_to_standing_21855">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="1.5844866037368774" y="32.21277618408203" z="0.003081168979406357"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_close_to_adversary_21856">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-16.067363739013672" y="-61.8377685546875" z="0.033748090267181396"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_w_transform_21857">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="68.81101989746094" y="-10.114238739013672" z="0.5"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_w_transform_21859">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="37.14592742919922" y="65.09854888916016" z="0.5"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_close_to_standing_21860">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-6.424057483673096" y="16.579425811767578" z="0.0029971313197165728"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_w_transform_21861">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="17.106481552124023" y="78.5865249633789" z="0.5"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_close_to_standing_21862">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="9.170680046081543" y="32.809791564941406" z="0.0030393600463867188"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_close_to_adversary_21863">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-2.709683656692505" y="-75.1781234741211" z="0.03378494083881378"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_w_transform_21864">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-39.16170883178711" y="93.05884552001953" z="0.5"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
</Actions>
</Init>
<Story name="MyStory">
<Act name="Behavior">
<ManeuverGroup maximumExecutionCount="1" name="ManeuverSequence">
<Actors selectTriggeringEntities="false">
<EntityRef entityRef="adversary"/>
</Actors>
<Maneuver name="LaneChangeSimpleManeuver">
<Event name="AdversaryAccelerates" priority="overwrite">
<Action name="AdversaryAccelerates">
<PrivateAction>
<LongitudinalAction>
<SpeedAction>
<SpeedActionDynamics dynamicsShape="step" value="50" dynamicsDimension="distance"/>
<SpeedActionTarget>
<AbsoluteTargetSpeed value="5.0"/>
</SpeedActionTarget>
</SpeedAction>
</LongitudinalAction>
</PrivateAction>
</Action>
<StartTrigger>
<ConditionGroup>
<Condition name="StartCondition" delay="0" conditionEdge="rising">
<ByEntityCondition>
<TriggeringEntities triggeringEntitiesRule="any">
<EntityRef entityRef="hero"/>
</TriggeringEntities>
<EntityCondition>
<RelativeDistanceCondition entityRef="adversary" relativeDistanceType="cartesianDistance" value="40.0" freespace="false" rule="lessThan"/>
</EntityCondition>
</ByEntityCondition>
</Condition>
</ConditionGroup>
</StartTrigger>
</Event>
<Event name="AdversaryChangesLane" priority="overwrite">
<Action name="AdversaryChangesLane">
<PrivateAction>
<LateralAction>
<LaneChangeAction>
<LaneChangeActionDynamics dynamicsShape="linear" value="25" dynamicsDimension="distance"/>
<LaneChangeTarget>
<RelativeTargetLane entityRef="adversary" value="-1"/>
</LaneChangeTarget>
</LaneChangeAction>
</LateralAction>
</PrivateAction>
</Action>
<StartTrigger>
<ConditionGroup>
<Condition name="AfterAdversaryAccelerates" delay="0" conditionEdge="rising">
<ByValueCondition>
<StoryboardElementStateCondition storyboardElementType="action" storyboardElementRef="AdversaryAccelerates" state="completeState"/>
</ByValueCondition>
</Condition>
</ConditionGroup>
</StartTrigger>
</Event>
</Maneuver>
</ManeuverGroup>
<StartTrigger>
<ConditionGroup>
<Condition name="OverallStartCondition" delay="0" conditionEdge="rising">
<ByEntityCondition>
<TriggeringEntities triggeringEntitiesRule="any">
<EntityRef entityRef="hero"/>
</TriggeringEntities>
<EntityCondition>
<TraveledDistanceCondition value="1.0"/>
</EntityCondition>
</ByEntityCondition>
</Condition>
<Condition name="StartTime" delay="0" conditionEdge="rising">
<ByValueCondition>
<SimulationTimeCondition value="0" rule="equalTo"/>
</ByValueCondition>
</Condition>
</ConditionGroup>
</StartTrigger>
<StopTrigger>
<ConditionGroup>
<Condition name="EndCondition" delay="0" conditionEdge="rising">
<ByEntityCondition>
<TriggeringEntities triggeringEntitiesRule="any">
<EntityRef entityRef="hero"/>
</TriggeringEntities>
<EntityCondition>
<TraveledDistanceCondition value="200.0"/>
</EntityCondition>
</ByEntityCondition>
</Condition>
</ConditionGroup>
</StopTrigger>
</Act>
</Story>
<StopTrigger>
<ConditionGroup>
<Condition name="criteria_RunningStopTest" delay="0" conditionEdge="rising">
<ByValueCondition>
<ParameterCondition parameterRef="" value="" rule="lessThan"/>
</ByValueCondition>
</Condition>
<Condition name="criteria_RunningRedLightTest" delay="0" conditionEdge="rising">
<ByValueCondition>
<ParameterCondition parameterRef="" value="" rule="lessThan"/>
</ByValueCondition>
</Condition>
<Condition name="criteria_WrongLaneTest" delay="0" conditionEdge="rising">
<ByValueCondition>
<ParameterCondition parameterRef="" value="" rule="lessThan"/>
</ByValueCondition>
</Condition>
<Condition name="criteria_OnSidewalkTest" delay="0" conditionEdge="rising">
<ByValueCondition>
<ParameterCondition parameterRef="" value="" rule="lessThan"/>
</ByValueCondition>
</Condition>
<Condition name="criteria_KeepLaneTest" delay="0" conditionEdge="rising">
<ByValueCondition>
<ParameterCondition parameterRef="" value="" rule="lessThan"/>
</ByValueCondition>
</Condition>
<Condition name="criteria_CollisionTest" delay="0" conditionEdge="rising">
<ByValueCondition>
<ParameterCondition parameterRef="" value="" rule="lessThan"/>
</ByValueCondition>
</Condition>
<Condition name="criteria_DrivenDistanceTest" delay="0" conditionEdge="rising">
<ByValueCondition>
<ParameterCondition parameterRef="distance_success" value="100" rule="lessThan"/>
</ByValueCondition>
</Condition>
</ConditionGroup>
</StopTrigger>
</Storyboard>
</OpenSCENARIO>
``` | Here is the result:
```
<?xml version="1.0" ?>
<OpenSCENARIO>
<FileHeader revMajor="1" revMinor="0" date="2020-03-24T12:00:00" description="CARLA:LaneChangeSimple" author=""/>
<ParameterDeclarations/>
<CatalogLocations/>
<RoadNetwork>
<LogicFile filepath="Town04"/>
<SceneGraphFile filepath=""/>
</RoadNetwork>
<Entities>
<ScenarioObject name="hero">
<Vehicle name="vehicle.tesla.model3" vehicleCategory="car">
<ParameterDeclarations/>
<Performance maxSpeed="69.444" maxAcceleration="200" maxDeceleration="10.0"/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2.1" length="4.5" height="1.8"/>
</BoundingBox>
<Axles>
<FrontAxle maxSteering="0.5" wheelDiameter="0.6" trackWidth="1.8" positionX="3.1" positionZ="0.3"/>
<RearAxle maxSteering="0.0" wheelDiameter="0.6" trackWidth="1.8" positionX="0.0" positionZ="0.3"/>
</Axles>
<Properties>
<Property name="type" value="ego_vehicle"/>
</Properties>
</Vehicle>
</ScenarioObject>
<ScenarioObject name="adversary">
<Vehicle name="vehicle.lincoln.mkz_2017" vehicleCategory="car">
<ParameterDeclarations/>
<Performance maxSpeed="69.444" maxAcceleration="200" maxDeceleration="10.0"/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2.1" length="4.5" height="1.8"/>
</BoundingBox>
<Axles>
<FrontAxle maxSteering="0.5" wheelDiameter="0.6" trackWidth="1.8" positionX="3.1" positionZ="0.3"/>
<RearAxle maxSteering="0.0" wheelDiameter="0.6" trackWidth="1.8" positionX="0.0" positionZ="0.3"/>
</Axles>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Vehicle>
</ScenarioObject>
<ScenarioObject name="standing">
<Vehicle name="vehicle.volkswagen.t2" vehicleCategory="car">
<ParameterDeclarations/>
<Performance maxSpeed="69.444" maxAcceleration="200" maxDeceleration="10.0"/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2.1" length="4.5" height="1.8"/>
</BoundingBox>
<Axles>
<FrontAxle maxSteering="0.5" wheelDiameter="0.6" trackWidth="1.8" positionX="3.1" positionZ="0.3"/>
<RearAxle maxSteering="0.0" wheelDiameter="0.6" 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_21852">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_w_transform_21853">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_close_to_hero_21854">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_close_to_standing_21855">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_close_to_adversary_21856">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_w_transform_21857">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_w_transform_21859">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_close_to_standing_21860">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_w_transform_21861">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_close_to_standing_21862">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_close_to_adversary_21863">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_w_transform_21864">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_close_to_hero_21865">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
</Entities>
<Storyboard>
<Init>
<Actions>
<GlobalAction>
<EnvironmentAction>
<Environment name="Environment1">
<TimeOfDay animation="false" dateTime="2019-06-25T12:00:00"/>
<Weather cloudState="free">
<Sun intensity="0.85" azimuth="0" elevation="1.31"/>
<Fog visualRange="100000.0"/>
<Precipitation precipitationType="dry" intensity="0.0"/>
</Weather>
<RoadCondition frictionScaleFactor="1.0"/>
</Environment>
</EnvironmentAction>
</GlobalAction>
<Private entityRef="hero">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-9.4" y="-152.8" z="0.5" h="1.57079632679"/>
</Position>
</TeleportAction>
</PrivateAction>
<PrivateAction>
<ControllerAction>
<AssignControllerAction>
<Controller name="HeroAgent">
<Properties>
<Property name="module" value="external_control"/>
</Properties>
</Controller>
</AssignControllerAction>
<OverrideControllerValueAction>
<Throttle value="0" active="false"/>
<Brake value="0" active="false"/>
<Clutch value="0" active="false"/>
<ParkingBrake value="0" active="false"/>
<SteeringWheel value="0" active="false"/>
<Gear number="0" active="false"/>
</OverrideControllerValueAction>
</ControllerAction>
</PrivateAction>
</Private>
<Private entityRef="adversary">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-9.4" y="-71.0" z="0.5" h="1.57079632679"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="standing">
<PrivateAction>
<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_21852">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-6.225771427154541" y="-161.6086883544922" z="0.0014286803780123591"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_w_transform_21853">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="7.585539817810059" y="39.673370361328125" z="0.5"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_close_to_hero_21854">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-16.270193099975586" y="-154.08250427246094" z="0.0014286803780123591"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_close_to_standing_21855">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="1.5844866037368774" y="32.21277618408203" z="0.003081168979406357"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_close_to_adversary_21856">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-16.067363739013672" y="-61.8377685546875" z="0.033748090267181396"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_w_transform_21857">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="68.81101989746094" y="-10.114238739013672" z="0.5"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_w_transform_21859">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="37.14592742919922" y="65.09854888916016" z="0.5"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_close_to_standing_21860">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-6.424057483673096" y="16.579425811767578" z="0.0029971313197165728"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_w_transform_21861">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="17.106481552124023" y="78.5865249633789" z="0.5"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_close_to_standing_21862">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="9.170680046081543" y="32.809791564941406" z="0.0030393600463867188"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_close_to_adversary_21863">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-2.709683656692505" y="-75.1781234741211" z="0.03378494083881378"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_w_transform_21864">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-39.16170883178711" y="93.05884552001953" z="0.5"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_close_to_hero_21865">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-3.0465118885040283" y="-148.388916015625" z="0.0014286803780123591"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
</Actions>
</Init>
<Story name="MyStory">
<Act name="Behavior">
<ManeuverGroup maximumExecutionCount="1" name="ManeuverSequence">
<Actors selectTriggeringEntities="false">
<EntityRef entityRef="adversary"/>
</Actors>
<Maneuver name="LaneChangeSimpleManeuver">
<Event name="AdversaryAccelerates" priority="overwrite">
<Action name="AdversaryAccelerates">
<PrivateAction>
<LongitudinalAction>
<SpeedAction>
<SpeedActionDynamics dynamicsShape="step" value="50" dynamicsDimension="distance"/>
<SpeedActionTarget>
<AbsoluteTargetSpeed value="5.0"/>
</SpeedActionTarget>
</SpeedAction>
</LongitudinalAction>
</PrivateAction>
</Action>
<StartTrigger>
<ConditionGroup>
<Condition name="StartCondition" delay="0" conditionEdge="rising">
<ByEntityCondition>
<TriggeringEntities triggeringEntitiesRule="any">
<EntityRef entityRef="hero"/>
</TriggeringEntities>
<EntityCondition>
<RelativeDistanceCondition entityRef="adversary" relativeDistanceType="cartesianDistance" value="40.0" freespace="false" rule="lessThan"/>
</EntityCondition>
</ByEntityCondition>
</Condition>
</ConditionGroup>
</StartTrigger>
</Event>
<Event name="AdversaryChangesLane" priority="overwrite">
<Action name="AdversaryChangesLane">
<PrivateAction>
<LateralAction>
<LaneChangeAction>
<LaneChangeActionDynamics dynamicsShape="linear" value="25" dynamicsDimension="distance"/>
<LaneChangeTarget>
<RelativeTargetLane entityRef="adversary" value="-1"/>
</LaneChangeTarget>
</LaneChangeAction>
</LateralAction>
</PrivateAction>
</Action>
<StartTrigger>
<ConditionGroup>
<Condition name="AfterAdversaryAccelerates" delay="0" conditionEdge="rising">
<ByValueCondition>
<StoryboardElementStateCondition storyboardElementType="action" storyboardElementRef="AdversaryAccelerates" state="completeState"/>
</ByValueCondition>
</Condition>
</ConditionGroup>
</StartTrigger>
</Event>
</Maneuver>
</ManeuverGroup>
<StartTrigger>
<ConditionGroup>
<Condition name="OverallStartCondition" delay="0" conditionEdge="rising">
<ByEntityCondition>
<TriggeringEntities triggeringEntitiesRule="any">
<EntityRef entityRef="hero"/>
</TriggeringEntities>
<EntityCondition>
<TraveledDistanceCondition value="1.0"/>
</EntityCondition>
</ByEntityCondition>
</Condition>
<Condition name="StartTime" delay="0" conditionEdge="rising">
<ByValueCondition>
<SimulationTimeCondition value="0" rule="equalTo"/>
</ByValueCondition>
</Condition>
</ConditionGroup>
</StartTrigger>
<StopTrigger>
<ConditionGroup>
<Condition name="EndCondition" delay="0" conditionEdge="rising">
<ByEntityCondition>
<TriggeringEntities triggeringEntitiesRule="any">
<EntityRef entityRef="hero"/>
</TriggeringEntities>
<EntityCondition>
<TraveledDistanceCondition value="200.0"/>
</EntityCondition>
</ByEntityCondition>
</Condition>
</ConditionGroup>
</StopTrigger>
</Act>
</Story>
<StopTrigger>
<ConditionGroup>
<Condition name="criteria_RunningStopTest" delay="0" conditionEdge="rising">
<ByValueCondition>
<ParameterCondition parameterRef="" value="" rule="lessThan"/>
</ByValueCondition>
</Condition>
<Condition name="criteria_RunningRedLightTest" delay="0" conditionEdge="rising">
<ByValueCondition>
<ParameterCondition parameterRef="" value="" rule="lessThan"/>
</ByValueCondition>
</Condition>
<Condition name="criteria_WrongLaneTest" delay="0" conditionEdge="rising">
<ByValueCondition>
<ParameterCondition parameterRef="" value="" rule="lessThan"/>
</ByValueCondition>
</Condition>
<Condition name="criteria_OnSidewalkTest" delay="0" conditionEdge="rising">
<ByValueCondition>
<ParameterCondition parameterRef="" value="" rule="lessThan"/>
</ByValueCondition>
</Condition>
<Condition name="criteria_KeepLaneTest" delay="0" conditionEdge="rising">
<ByValueCondition>
<ParameterCondition parameterRef="" value="" rule="lessThan"/>
</ByValueCondition>
</Condition>
<Condition name="criteria_CollisionTest" delay="0" conditionEdge="rising">
<ByValueCondition>
<ParameterCondition parameterRef="" value="" rule="lessThan"/>
</ByValueCondition>
</Condition>
<Condition name="criteria_DrivenDistanceTest" delay="0" conditionEdge="rising">
<ByValueCondition>
<ParameterCondition parameterRef="distance_success" value="100" rule="lessThan"/>
</ByValueCondition>
</Condition>
</ConditionGroup>
</StopTrigger>
</Storyboard>
</OpenSCENARIO>
``` |
would you add pedestrian close to standing?
```
<?xml version="1.0" ?>
<OpenSCENARIO>
<FileHeader revMajor="1" revMinor="0" date="2020-03-24T12:00:00" description="CARLA:LaneChangeSimple" author=""/>
<ParameterDeclarations/>
<CatalogLocations/>
<RoadNetwork>
<LogicFile filepath="Town04"/>
<SceneGraphFile filepath=""/>
</RoadNetwork>
<Entities>
<ScenarioObject name="hero">
<Vehicle name="vehicle.tesla.model3" vehicleCategory="car">
<ParameterDeclarations/>
<Performance maxSpeed="69.444" maxAcceleration="200" maxDeceleration="10.0"/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2.1" length="4.5" height="1.8"/>
</BoundingBox>
<Axles>
<FrontAxle maxSteering="0.5" wheelDiameter="0.6" trackWidth="1.8" positionX="3.1" positionZ="0.3"/>
<RearAxle maxSteering="0.0" wheelDiameter="0.6" trackWidth="1.8" positionX="0.0" positionZ="0.3"/>
</Axles>
<Properties>
<Property name="type" value="ego_vehicle"/>
</Properties>
</Vehicle>
</ScenarioObject>
<ScenarioObject name="adversary">
<Vehicle name="vehicle.lincoln.mkz_2017" vehicleCategory="car">
<ParameterDeclarations/>
<Performance maxSpeed="69.444" maxAcceleration="200" maxDeceleration="10.0"/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2.1" length="4.5" height="1.8"/>
</BoundingBox>
<Axles>
<FrontAxle maxSteering="0.5" wheelDiameter="0.6" trackWidth="1.8" positionX="3.1" positionZ="0.3"/>
<RearAxle maxSteering="0.0" wheelDiameter="0.6" trackWidth="1.8" positionX="0.0" positionZ="0.3"/>
</Axles>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Vehicle>
</ScenarioObject>
<ScenarioObject name="standing">
<Vehicle name="vehicle.volkswagen.t2" vehicleCategory="car">
<ParameterDeclarations/>
<Performance maxSpeed="69.444" maxAcceleration="200" maxDeceleration="10.0"/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2.1" length="4.5" height="1.8"/>
</BoundingBox>
<Axles>
<FrontAxle maxSteering="0.5" wheelDiameter="0.6" trackWidth="1.8" positionX="3.1" positionZ="0.3"/>
<RearAxle maxSteering="0.0" wheelDiameter="0.6" trackWidth="1.8" positionX="0.0" positionZ="0.3"/>
</Axles>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Vehicle>
</ScenarioObject>
</Entities>
<Storyboard>
<Init>
<Actions>
<GlobalAction>
<EnvironmentAction>
<Environment name="Environment1">
<TimeOfDay animation="false" dateTime="2019-06-25T12:00:00"/>
<Weather cloudState="free">
<Sun intensity="0.85" azimuth="0" elevation="1.31"/>
<Fog visualRange="100000.0"/>
<Precipitation precipitationType="dry" intensity="0.0"/>
</Weather>
<RoadCondition frictionScaleFactor="1.0"/>
</Environment>
</EnvironmentAction>
</GlobalAction>
<Private entityRef="hero">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-9.4" y="-152.8" z="0.5" h="1.57079632679"/>
</Position>
</TeleportAction>
</PrivateAction>
<PrivateAction>
<ControllerAction>
<AssignControllerAction>
<Controller name="HeroAgent">
<Properties>
<Property name="module" value="external_control"/>
</Properties>
</Controller>
</AssignControllerAction>
<OverrideControllerValueAction>
<Throttle value="0" active="false"/>
<Brake value="0" active="false"/>
<Clutch value="0" active="false"/>
<ParkingBrake value="0" active="false"/>
<SteeringWheel value="0" active="false"/>
<Gear number="0" active="false"/>
</OverrideControllerValueAction>
</ControllerAction>
</PrivateAction>
</Private>
<Private entityRef="adversary">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-9.4" y="-71.0" z="0.5" h="1.57079632679"/>
</Position>
</TeleportAction>
</PrivateAction>
</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_19188">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
</Entities>
<Storyboard>
<Init>
<Actions>
<GlobalAction>
<EnvironmentAction>
<Environment name="Environment1">
<TimeOfDay animation="false" dateTime="2019-06-25T12:00:00"/>
<Weather cloudState="free">
<Sun intensity="0.85" azimuth="0" elevation="1.31"/>
<Fog visualRange="100000.0"/>
<Precipitation precipitationType="dry" intensity="0.0"/>
</Weather>
<RoadCondition frictionScaleFactor="1.0"/>
</Environment>
</EnvironmentAction>
</GlobalAction>
<Private entityRef="hero">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-9.4" y="-152.8" z="0.5" h="1.57079632679"/>
</Position>
</TeleportAction>
</PrivateAction>
<PrivateAction>
<ControllerAction>
<AssignControllerAction>
<Controller name="HeroAgent">
<Properties>
<Property name="module" value="external_control"/>
</Properties>
</Controller>
</AssignControllerAction>
<OverrideControllerValueAction>
<Throttle value="0" active="false"/>
<Brake value="0" active="false"/>
<Clutch value="0" active="false"/>
<ParkingBrake value="0" active="false"/>
<SteeringWheel value="0" active="false"/>
<Gear number="0" active="false"/>
</OverrideControllerValueAction>
</ControllerAction>
</PrivateAction>
</Private>
<Private entityRef="adversary">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-9.4" y="-71.0" z="0.5" h="1.57079632679"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="standing">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-8.2" y="29.2" z="0.5" h="1.57079632679"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_close_to_standing_19188">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-11.353557586669922" y="38.6505012512207" z="0.003073844825848937"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
</Actions>
</Init>
<Story name="MyStory">
<Act name="Behavior">
<ManeuverGroup maximumExecutionCount="1" name="ManeuverSequence">
<Actors selectTriggeringEntities="false">
<EntityRef entityRef="adversary"/>
</Actors>
<Maneuver name="LaneChangeSimpleManeuver">
<Event name="AdversaryAccelerates" priority="overwrite">
<Action name="AdversaryAccelerates">
<PrivateAction>
<LongitudinalAction>
<SpeedAction>
<SpeedActionDynamics dynamicsShape="step" value="50" dynamicsDimension="distance"/>
<SpeedActionTarget>
<AbsoluteTargetSpeed value="5.0"/>
</SpeedActionTarget>
</SpeedAction>
</LongitudinalAction>
</PrivateAction>
</Action>
<StartTrigger>
<ConditionGroup>
<Condition name="StartCondition" delay="0" conditionEdge="rising">
<ByEntityCondition>
<TriggeringEntities triggeringEntitiesRule="any">
<EntityRef entityRef="hero"/>
</TriggeringEntities>
<EntityCondition>
<RelativeDistanceCondition entityRef="adversary" relativeDistanceType="cartesianDistance" value="40.0" freespace="false" rule="lessThan"/>
</EntityCondition>
</ByEntityCondition>
</Condition>
</ConditionGroup>
</StartTrigger>
</Event>
<Event name="AdversaryChangesLane" priority="overwrite">
<Action name="AdversaryChangesLane">
<PrivateAction>
<LateralAction>
<LaneChangeAction>
<LaneChangeActionDynamics dynamicsShape="linear" value="25" dynamicsDimension="distance"/>
<LaneChangeTarget>
<RelativeTargetLane entityRef="adversary" value="-1"/>
</LaneChangeTarget>
</LaneChangeAction>
</LateralAction>
</PrivateAction>
</Action>
<StartTrigger>
<ConditionGroup>
<Condition name="AfterAdversaryAccelerates" delay="0" conditionEdge="rising">
<ByValueCondition>
<StoryboardElementStateCondition storyboardElementType="action" storyboardElementRef="AdversaryAccelerates" state="completeState"/>
</ByValueCondition>
</Condition>
</ConditionGroup>
</StartTrigger>
</Event>
</Maneuver>
</ManeuverGroup>
<StartTrigger>
<ConditionGroup>
<Condition name="OverallStartCondition" delay="0" conditionEdge="rising">
<ByEntityCondition>
<TriggeringEntities triggeringEntitiesRule="any">
<EntityRef entityRef="hero"/>
</TriggeringEntities>
<EntityCondition>
<TraveledDistanceCondition value="1.0"/>
</EntityCondition>
</ByEntityCondition>
</Condition>
<Condition name="StartTime" delay="0" conditionEdge="rising">
<ByValueCondition>
<SimulationTimeCondition value="0" rule="equalTo"/>
</ByValueCondition>
</Condition>
</ConditionGroup>
</StartTrigger>
<StopTrigger>
<ConditionGroup>
<Condition name="EndCondition" delay="0" conditionEdge="rising">
<ByEntityCondition>
<TriggeringEntities triggeringEntitiesRule="any">
<EntityRef entityRef="hero"/>
</TriggeringEntities>
<EntityCondition>
<TraveledDistanceCondition value="200.0"/>
</EntityCondition>
</ByEntityCondition>
</Condition>
</ConditionGroup>
</StopTrigger>
</Act>
</Story>
<StopTrigger>
<ConditionGroup>
<Condition name="criteria_RunningStopTest" delay="0" conditionEdge="rising">
<ByValueCondition>
<ParameterCondition parameterRef="" value="" rule="lessThan"/>
</ByValueCondition>
</Condition>
<Condition name="criteria_RunningRedLightTest" delay="0" conditionEdge="rising">
<ByValueCondition>
<ParameterCondition parameterRef="" value="" rule="lessThan"/>
</ByValueCondition>
</Condition>
<Condition name="criteria_WrongLaneTest" delay="0" conditionEdge="rising">
<ByValueCondition>
<ParameterCondition parameterRef="" value="" rule="lessThan"/>
</ByValueCondition>
</Condition>
<Condition name="criteria_OnSidewalkTest" delay="0" conditionEdge="rising">
<ByValueCondition>
<ParameterCondition parameterRef="" value="" rule="lessThan"/>
</ByValueCondition>
</Condition>
<Condition name="criteria_KeepLaneTest" delay="0" conditionEdge="rising">
<ByValueCondition>
<ParameterCondition parameterRef="" value="" rule="lessThan"/>
</ByValueCondition>
</Condition>
<Condition name="criteria_CollisionTest" delay="0" conditionEdge="rising">
<ByValueCondition>
<ParameterCondition parameterRef="" value="" rule="lessThan"/>
</ByValueCondition>
</Condition>
<Condition name="criteria_DrivenDistanceTest" delay="0" conditionEdge="rising">
<ByValueCondition>
<ParameterCondition parameterRef="distance_success" value="100" rule="lessThan"/>
</ByValueCondition>
</Condition>
</ConditionGroup>
</StopTrigger>
</Storyboard>
</OpenSCENARIO>
``` |
i would like you to demonstrate add pedestrian close to standing?
```
<?xml version="1.0" ?>
<OpenSCENARIO>
<FileHeader revMajor="1" revMinor="0" date="2020-03-24T12:00:00" description="CARLA:LaneChangeSimple" author=""/>
<ParameterDeclarations/>
<CatalogLocations/>
<RoadNetwork>
<LogicFile filepath="Town04"/>
<SceneGraphFile filepath=""/>
</RoadNetwork>
<Entities>
<ScenarioObject name="hero">
<Vehicle name="vehicle.tesla.model3" vehicleCategory="car">
<ParameterDeclarations/>
<Performance maxSpeed="69.444" maxAcceleration="200" maxDeceleration="10.0"/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2.1" length="4.5" height="1.8"/>
</BoundingBox>
<Axles>
<FrontAxle maxSteering="0.5" wheelDiameter="0.6" trackWidth="1.8" positionX="3.1" positionZ="0.3"/>
<RearAxle maxSteering="0.0" wheelDiameter="0.6" trackWidth="1.8" positionX="0.0" positionZ="0.3"/>
</Axles>
<Properties>
<Property name="type" value="ego_vehicle"/>
</Properties>
</Vehicle>
</ScenarioObject>
<ScenarioObject name="adversary">
<Vehicle name="vehicle.lincoln.mkz_2017" vehicleCategory="car">
<ParameterDeclarations/>
<Performance maxSpeed="69.444" maxAcceleration="200" maxDeceleration="10.0"/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2.1" length="4.5" height="1.8"/>
</BoundingBox>
<Axles>
<FrontAxle maxSteering="0.5" wheelDiameter="0.6" trackWidth="1.8" positionX="3.1" positionZ="0.3"/>
<RearAxle maxSteering="0.0" wheelDiameter="0.6" trackWidth="1.8" positionX="0.0" positionZ="0.3"/>
</Axles>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Vehicle>
</ScenarioObject>
<ScenarioObject name="standing">
<Vehicle name="vehicle.volkswagen.t2" vehicleCategory="car">
<ParameterDeclarations/>
<Performance maxSpeed="69.444" maxAcceleration="200" maxDeceleration="10.0"/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2.1" length="4.5" height="1.8"/>
</BoundingBox>
<Axles>
<FrontAxle maxSteering="0.5" wheelDiameter="0.6" trackWidth="1.8" positionX="3.1" positionZ="0.3"/>
<RearAxle maxSteering="0.0" wheelDiameter="0.6" trackWidth="1.8" positionX="0.0" positionZ="0.3"/>
</Axles>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Vehicle>
</ScenarioObject>
<ScenarioObject name="pedestrian_close_to_adversary_1981">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_close_to_hero_1982">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_w_transform_1983">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_close_to_adversary_1984">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_close_to_adversary_1985">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_close_to_adversary_1986">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_close_to_standing_1987">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
</Entities>
<Storyboard>
<Init>
<Actions>
<GlobalAction>
<EnvironmentAction>
<Environment name="Environment1">
<TimeOfDay animation="false" dateTime="2019-06-25T12:00:00"/>
<Weather cloudState="free">
<Sun intensity="0.85" azimuth="0" elevation="1.31"/>
<Fog visualRange="100000.0"/>
<Precipitation precipitationType="dry" intensity="0.0"/>
</Weather>
<RoadCondition frictionScaleFactor="1.0"/>
</Environment>
</EnvironmentAction>
</GlobalAction>
<Private entityRef="hero">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-9.4" y="-152.8" z="0.5" h="1.57079632679"/>
</Position>
</TeleportAction>
</PrivateAction>
<PrivateAction>
<ControllerAction>
<AssignControllerAction>
<Controller name="HeroAgent">
<Properties>
<Property name="module" value="external_control"/>
</Properties>
</Controller>
</AssignControllerAction>
<OverrideControllerValueAction>
<Throttle value="0" active="false"/>
<Brake value="0" active="false"/>
<Clutch value="0" active="false"/>
<ParkingBrake value="0" active="false"/>
<SteeringWheel value="0" active="false"/>
<Gear number="0" active="false"/>
</OverrideControllerValueAction>
</ControllerAction>
</PrivateAction>
</Private>
<Private entityRef="adversary">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-9.4" y="-71.0" z="0.5" h="1.57079632679"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="standing">
<PrivateAction>
<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_1981">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-2.640991687774658" y="-76.2538070678711" z="0.03379001468420029"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_close_to_hero_1982">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-1.8040196895599365" y="-150.1489715576172" z="0.0014286803780123591"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_w_transform_1983">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="81.51445007324219" y="-40.52402877807617" z="0.5"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_close_to_adversary_1984">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-6.710534572601318" y="-63.3629035949707" z="0.03375377506017685"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_close_to_adversary_1985">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-0.09345126897096634" y="-69.73599243164062" z="0.033757857978343964"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_close_to_adversary_1986">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-13.460885047912598" y="-72.66858673095703" z="0.033797986805438995"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_close_to_standing_1987">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-9.492568969726562" y="26.644351959228516" z="0.0030461500864475965"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
</Actions>
</Init>
<Story name="MyStory">
<Act name="Behavior">
<ManeuverGroup maximumExecutionCount="1" name="ManeuverSequence">
<Actors selectTriggeringEntities="false">
<EntityRef entityRef="adversary"/>
</Actors>
<Maneuver name="LaneChangeSimpleManeuver">
<Event name="AdversaryAccelerates" priority="overwrite">
<Action name="AdversaryAccelerates">
<PrivateAction>
<LongitudinalAction>
<SpeedAction>
<SpeedActionDynamics dynamicsShape="step" value="50" dynamicsDimension="distance"/>
<SpeedActionTarget>
<AbsoluteTargetSpeed value="5.0"/>
</SpeedActionTarget>
</SpeedAction>
</LongitudinalAction>
</PrivateAction>
</Action>
<StartTrigger>
<ConditionGroup>
<Condition name="StartCondition" delay="0" conditionEdge="rising">
<ByEntityCondition>
<TriggeringEntities triggeringEntitiesRule="any">
<EntityRef entityRef="hero"/>
</TriggeringEntities>
<EntityCondition>
<RelativeDistanceCondition entityRef="adversary" relativeDistanceType="cartesianDistance" value="40.0" freespace="false" rule="lessThan"/>
</EntityCondition>
</ByEntityCondition>
</Condition>
</ConditionGroup>
</StartTrigger>
</Event>
<Event name="AdversaryChangesLane" priority="overwrite">
<Action name="AdversaryChangesLane">
<PrivateAction>
<LateralAction>
<LaneChangeAction>
<LaneChangeActionDynamics dynamicsShape="linear" value="25" dynamicsDimension="distance"/>
<LaneChangeTarget>
<RelativeTargetLane entityRef="adversary" value="-1"/>
</LaneChangeTarget>
</LaneChangeAction>
</LateralAction>
</PrivateAction>
</Action>
<StartTrigger>
<ConditionGroup>
<Condition name="AfterAdversaryAccelerates" delay="0" conditionEdge="rising">
<ByValueCondition>
<StoryboardElementStateCondition storyboardElementType="action" storyboardElementRef="AdversaryAccelerates" state="completeState"/>
</ByValueCondition>
</Condition>
</ConditionGroup>
</StartTrigger>
</Event>
</Maneuver>
</ManeuverGroup>
<StartTrigger>
<ConditionGroup>
<Condition name="OverallStartCondition" delay="0" conditionEdge="rising">
<ByEntityCondition>
<TriggeringEntities triggeringEntitiesRule="any">
<EntityRef entityRef="hero"/>
</TriggeringEntities>
<EntityCondition>
<TraveledDistanceCondition value="1.0"/>
</EntityCondition>
</ByEntityCondition>
</Condition>
<Condition name="StartTime" delay="0" conditionEdge="rising">
<ByValueCondition>
<SimulationTimeCondition value="0" rule="equalTo"/>
</ByValueCondition>
</Condition>
</ConditionGroup>
</StartTrigger>
<StopTrigger>
<ConditionGroup>
<Condition name="EndCondition" delay="0" conditionEdge="rising">
<ByEntityCondition>
<TriggeringEntities triggeringEntitiesRule="any">
<EntityRef entityRef="hero"/>
</TriggeringEntities>
<EntityCondition>
<TraveledDistanceCondition value="200.0"/>
</EntityCondition>
</ByEntityCondition>
</Condition>
</ConditionGroup>
</StopTrigger>
</Act>
</Story>
<StopTrigger>
<ConditionGroup>
<Condition name="criteria_RunningStopTest" delay="0" conditionEdge="rising">
<ByValueCondition>
<ParameterCondition parameterRef="" value="" rule="lessThan"/>
</ByValueCondition>
</Condition>
<Condition name="criteria_RunningRedLightTest" delay="0" conditionEdge="rising">
<ByValueCondition>
<ParameterCondition parameterRef="" value="" rule="lessThan"/>
</ByValueCondition>
</Condition>
<Condition name="criteria_WrongLaneTest" delay="0" conditionEdge="rising">
<ByValueCondition>
<ParameterCondition parameterRef="" value="" rule="lessThan"/>
</ByValueCondition>
</Condition>
<Condition name="criteria_OnSidewalkTest" delay="0" conditionEdge="rising">
<ByValueCondition>
<ParameterCondition parameterRef="" value="" rule="lessThan"/>
</ByValueCondition>
</Condition>
<Condition name="criteria_KeepLaneTest" delay="0" conditionEdge="rising">
<ByValueCondition>
<ParameterCondition parameterRef="" value="" rule="lessThan"/>
</ByValueCondition>
</Condition>
<Condition name="criteria_CollisionTest" delay="0" conditionEdge="rising">
<ByValueCondition>
<ParameterCondition parameterRef="" value="" rule="lessThan"/>
</ByValueCondition>
</Condition>
<Condition name="criteria_DrivenDistanceTest" delay="0" conditionEdge="rising">
<ByValueCondition>
<ParameterCondition parameterRef="distance_success" value="100" rule="lessThan"/>
</ByValueCondition>
</Condition>
</ConditionGroup>
</StopTrigger>
</Storyboard>
</OpenSCENARIO>
``` | Here is the result:
```
<?xml version="1.0" ?>
<OpenSCENARIO>
<FileHeader revMajor="1" revMinor="0" date="2020-03-24T12:00:00" description="CARLA:LaneChangeSimple" author=""/>
<ParameterDeclarations/>
<CatalogLocations/>
<RoadNetwork>
<LogicFile filepath="Town04"/>
<SceneGraphFile filepath=""/>
</RoadNetwork>
<Entities>
<ScenarioObject name="hero">
<Vehicle name="vehicle.tesla.model3" vehicleCategory="car">
<ParameterDeclarations/>
<Performance maxSpeed="69.444" maxAcceleration="200" maxDeceleration="10.0"/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2.1" length="4.5" height="1.8"/>
</BoundingBox>
<Axles>
<FrontAxle maxSteering="0.5" wheelDiameter="0.6" trackWidth="1.8" positionX="3.1" positionZ="0.3"/>
<RearAxle maxSteering="0.0" wheelDiameter="0.6" trackWidth="1.8" positionX="0.0" positionZ="0.3"/>
</Axles>
<Properties>
<Property name="type" value="ego_vehicle"/>
</Properties>
</Vehicle>
</ScenarioObject>
<ScenarioObject name="adversary">
<Vehicle name="vehicle.lincoln.mkz_2017" vehicleCategory="car">
<ParameterDeclarations/>
<Performance maxSpeed="69.444" maxAcceleration="200" maxDeceleration="10.0"/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2.1" length="4.5" height="1.8"/>
</BoundingBox>
<Axles>
<FrontAxle maxSteering="0.5" wheelDiameter="0.6" trackWidth="1.8" positionX="3.1" positionZ="0.3"/>
<RearAxle maxSteering="0.0" wheelDiameter="0.6" trackWidth="1.8" positionX="0.0" positionZ="0.3"/>
</Axles>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Vehicle>
</ScenarioObject>
<ScenarioObject name="standing">
<Vehicle name="vehicle.volkswagen.t2" vehicleCategory="car">
<ParameterDeclarations/>
<Performance maxSpeed="69.444" maxAcceleration="200" maxDeceleration="10.0"/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2.1" length="4.5" height="1.8"/>
</BoundingBox>
<Axles>
<FrontAxle maxSteering="0.5" wheelDiameter="0.6" trackWidth="1.8" positionX="3.1" positionZ="0.3"/>
<RearAxle maxSteering="0.0" wheelDiameter="0.6" trackWidth="1.8" positionX="0.0" positionZ="0.3"/>
</Axles>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Vehicle>
</ScenarioObject>
<ScenarioObject name="pedestrian_close_to_adversary_1981">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_close_to_hero_1982">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_w_transform_1983">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_close_to_adversary_1984">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_close_to_adversary_1985">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_close_to_adversary_1986">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_close_to_standing_1987">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_close_to_standing_1988">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
</Entities>
<Storyboard>
<Init>
<Actions>
<GlobalAction>
<EnvironmentAction>
<Environment name="Environment1">
<TimeOfDay animation="false" dateTime="2019-06-25T12:00:00"/>
<Weather cloudState="free">
<Sun intensity="0.85" azimuth="0" elevation="1.31"/>
<Fog visualRange="100000.0"/>
<Precipitation precipitationType="dry" intensity="0.0"/>
</Weather>
<RoadCondition frictionScaleFactor="1.0"/>
</Environment>
</EnvironmentAction>
</GlobalAction>
<Private entityRef="hero">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-9.4" y="-152.8" z="0.5" h="1.57079632679"/>
</Position>
</TeleportAction>
</PrivateAction>
<PrivateAction>
<ControllerAction>
<AssignControllerAction>
<Controller name="HeroAgent">
<Properties>
<Property name="module" value="external_control"/>
</Properties>
</Controller>
</AssignControllerAction>
<OverrideControllerValueAction>
<Throttle value="0" active="false"/>
<Brake value="0" active="false"/>
<Clutch value="0" active="false"/>
<ParkingBrake value="0" active="false"/>
<SteeringWheel value="0" active="false"/>
<Gear number="0" active="false"/>
</OverrideControllerValueAction>
</ControllerAction>
</PrivateAction>
</Private>
<Private entityRef="adversary">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-9.4" y="-71.0" z="0.5" h="1.57079632679"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="standing">
<PrivateAction>
<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_1981">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-2.640991687774658" y="-76.2538070678711" z="0.03379001468420029"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_close_to_hero_1982">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-1.8040196895599365" y="-150.1489715576172" z="0.0014286803780123591"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_w_transform_1983">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="81.51445007324219" y="-40.52402877807617" z="0.5"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_close_to_adversary_1984">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-6.710534572601318" y="-63.3629035949707" z="0.03375377506017685"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_close_to_adversary_1985">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-0.09345126897096634" y="-69.73599243164062" z="0.033757857978343964"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_close_to_adversary_1986">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-13.460885047912598" y="-72.66858673095703" z="0.033797986805438995"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_close_to_standing_1987">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-9.492568969726562" y="26.644351959228516" z="0.0030461500864475965"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_close_to_standing_1988">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-10.109878540039062" y="23.740127563476562" z="0.003067092737182975"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
</Actions>
</Init>
<Story name="MyStory">
<Act name="Behavior">
<ManeuverGroup maximumExecutionCount="1" name="ManeuverSequence">
<Actors selectTriggeringEntities="false">
<EntityRef entityRef="adversary"/>
</Actors>
<Maneuver name="LaneChangeSimpleManeuver">
<Event name="AdversaryAccelerates" priority="overwrite">
<Action name="AdversaryAccelerates">
<PrivateAction>
<LongitudinalAction>
<SpeedAction>
<SpeedActionDynamics dynamicsShape="step" value="50" dynamicsDimension="distance"/>
<SpeedActionTarget>
<AbsoluteTargetSpeed value="5.0"/>
</SpeedActionTarget>
</SpeedAction>
</LongitudinalAction>
</PrivateAction>
</Action>
<StartTrigger>
<ConditionGroup>
<Condition name="StartCondition" delay="0" conditionEdge="rising">
<ByEntityCondition>
<TriggeringEntities triggeringEntitiesRule="any">
<EntityRef entityRef="hero"/>
</TriggeringEntities>
<EntityCondition>
<RelativeDistanceCondition entityRef="adversary" relativeDistanceType="cartesianDistance" value="40.0" freespace="false" rule="lessThan"/>
</EntityCondition>
</ByEntityCondition>
</Condition>
</ConditionGroup>
</StartTrigger>
</Event>
<Event name="AdversaryChangesLane" priority="overwrite">
<Action name="AdversaryChangesLane">
<PrivateAction>
<LateralAction>
<LaneChangeAction>
<LaneChangeActionDynamics dynamicsShape="linear" value="25" dynamicsDimension="distance"/>
<LaneChangeTarget>
<RelativeTargetLane entityRef="adversary" value="-1"/>
</LaneChangeTarget>
</LaneChangeAction>
</LateralAction>
</PrivateAction>
</Action>
<StartTrigger>
<ConditionGroup>
<Condition name="AfterAdversaryAccelerates" delay="0" conditionEdge="rising">
<ByValueCondition>
<StoryboardElementStateCondition storyboardElementType="action" storyboardElementRef="AdversaryAccelerates" state="completeState"/>
</ByValueCondition>
</Condition>
</ConditionGroup>
</StartTrigger>
</Event>
</Maneuver>
</ManeuverGroup>
<StartTrigger>
<ConditionGroup>
<Condition name="OverallStartCondition" delay="0" conditionEdge="rising">
<ByEntityCondition>
<TriggeringEntities triggeringEntitiesRule="any">
<EntityRef entityRef="hero"/>
</TriggeringEntities>
<EntityCondition>
<TraveledDistanceCondition value="1.0"/>
</EntityCondition>
</ByEntityCondition>
</Condition>
<Condition name="StartTime" delay="0" conditionEdge="rising">
<ByValueCondition>
<SimulationTimeCondition value="0" rule="equalTo"/>
</ByValueCondition>
</Condition>
</ConditionGroup>
</StartTrigger>
<StopTrigger>
<ConditionGroup>
<Condition name="EndCondition" delay="0" conditionEdge="rising">
<ByEntityCondition>
<TriggeringEntities triggeringEntitiesRule="any">
<EntityRef entityRef="hero"/>
</TriggeringEntities>
<EntityCondition>
<TraveledDistanceCondition value="200.0"/>
</EntityCondition>
</ByEntityCondition>
</Condition>
</ConditionGroup>
</StopTrigger>
</Act>
</Story>
<StopTrigger>
<ConditionGroup>
<Condition name="criteria_RunningStopTest" delay="0" conditionEdge="rising">
<ByValueCondition>
<ParameterCondition parameterRef="" value="" rule="lessThan"/>
</ByValueCondition>
</Condition>
<Condition name="criteria_RunningRedLightTest" delay="0" conditionEdge="rising">
<ByValueCondition>
<ParameterCondition parameterRef="" value="" rule="lessThan"/>
</ByValueCondition>
</Condition>
<Condition name="criteria_WrongLaneTest" delay="0" conditionEdge="rising">
<ByValueCondition>
<ParameterCondition parameterRef="" value="" rule="lessThan"/>
</ByValueCondition>
</Condition>
<Condition name="criteria_OnSidewalkTest" delay="0" conditionEdge="rising">
<ByValueCondition>
<ParameterCondition parameterRef="" value="" rule="lessThan"/>
</ByValueCondition>
</Condition>
<Condition name="criteria_KeepLaneTest" delay="0" conditionEdge="rising">
<ByValueCondition>
<ParameterCondition parameterRef="" value="" rule="lessThan"/>
</ByValueCondition>
</Condition>
<Condition name="criteria_CollisionTest" delay="0" conditionEdge="rising">
<ByValueCondition>
<ParameterCondition parameterRef="" value="" rule="lessThan"/>
</ByValueCondition>
</Condition>
<Condition name="criteria_DrivenDistanceTest" delay="0" conditionEdge="rising">
<ByValueCondition>
<ParameterCondition parameterRef="distance_success" value="100" rule="lessThan"/>
</ByValueCondition>
</Condition>
</ConditionGroup>
</StopTrigger>
</Storyboard>
</OpenSCENARIO>
``` |
i would like to instruct you to add pedestrian close to standing?
```
<?xml version="1.0" ?>
<OpenSCENARIO>
<FileHeader revMajor="1" revMinor="0" date="2020-03-24T12:00:00" description="CARLA:LaneChangeSimple" author=""/>
<ParameterDeclarations/>
<CatalogLocations/>
<RoadNetwork>
<LogicFile filepath="Town04"/>
<SceneGraphFile filepath=""/>
</RoadNetwork>
<Entities>
<ScenarioObject name="hero">
<Vehicle name="vehicle.tesla.model3" vehicleCategory="car">
<ParameterDeclarations/>
<Performance maxSpeed="69.444" maxAcceleration="200" maxDeceleration="10.0"/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2.1" length="4.5" height="1.8"/>
</BoundingBox>
<Axles>
<FrontAxle maxSteering="0.5" wheelDiameter="0.6" trackWidth="1.8" positionX="3.1" positionZ="0.3"/>
<RearAxle maxSteering="0.0" wheelDiameter="0.6" trackWidth="1.8" positionX="0.0" positionZ="0.3"/>
</Axles>
<Properties>
<Property name="type" value="ego_vehicle"/>
</Properties>
</Vehicle>
</ScenarioObject>
<ScenarioObject name="adversary">
<Vehicle name="vehicle.lincoln.mkz_2017" vehicleCategory="car">
<ParameterDeclarations/>
<Performance maxSpeed="69.444" maxAcceleration="200" maxDeceleration="10.0"/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2.1" length="4.5" height="1.8"/>
</BoundingBox>
<Axles>
<FrontAxle maxSteering="0.5" wheelDiameter="0.6" trackWidth="1.8" positionX="3.1" positionZ="0.3"/>
<RearAxle maxSteering="0.0" wheelDiameter="0.6" trackWidth="1.8" positionX="0.0" positionZ="0.3"/>
</Axles>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Vehicle>
</ScenarioObject>
<ScenarioObject name="standing">
<Vehicle name="vehicle.volkswagen.t2" vehicleCategory="car">
<ParameterDeclarations/>
<Performance maxSpeed="69.444" maxAcceleration="200" maxDeceleration="10.0"/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2.1" length="4.5" height="1.8"/>
</BoundingBox>
<Axles>
<FrontAxle maxSteering="0.5" wheelDiameter="0.6" trackWidth="1.8" positionX="3.1" positionZ="0.3"/>
<RearAxle maxSteering="0.0" wheelDiameter="0.6" trackWidth="1.8" positionX="0.0" positionZ="0.3"/>
</Axles>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Vehicle>
</ScenarioObject>
<ScenarioObject name="pedestrian_close_to_hero_1471">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_w_transform_1472">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_w_transform_1473">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_w_transform_1474">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_w_transform_1476">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_w_transform_1477">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_w_transform_1478">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_w_transform_1479">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_w_transform_1481">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_close_to_adversary_1482">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_close_to_hero_1483">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_w_transform_1484">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_close_to_hero_1485">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
</Entities>
<Storyboard>
<Init>
<Actions>
<GlobalAction>
<EnvironmentAction>
<Environment name="Environment1">
<TimeOfDay animation="false" dateTime="2019-06-25T12:00:00"/>
<Weather cloudState="free">
<Sun intensity="0.85" azimuth="0" elevation="1.31"/>
<Fog visualRange="100000.0"/>
<Precipitation precipitationType="dry" intensity="0.0"/>
</Weather>
<RoadCondition frictionScaleFactor="1.0"/>
</Environment>
</EnvironmentAction>
</GlobalAction>
<Private entityRef="hero">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-9.4" y="-152.8" z="0.5" h="1.57079632679"/>
</Position>
</TeleportAction>
</PrivateAction>
<PrivateAction>
<ControllerAction>
<AssignControllerAction>
<Controller name="HeroAgent">
<Properties>
<Property name="module" value="external_control"/>
</Properties>
</Controller>
</AssignControllerAction>
<OverrideControllerValueAction>
<Throttle value="0" active="false"/>
<Brake value="0" active="false"/>
<Clutch value="0" active="false"/>
<ParkingBrake value="0" active="false"/>
<SteeringWheel value="0" active="false"/>
<Gear number="0" active="false"/>
</OverrideControllerValueAction>
</ControllerAction>
</PrivateAction>
</Private>
<Private entityRef="adversary">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-9.4" y="-71.0" z="0.5" h="1.57079632679"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="standing">
<PrivateAction>
<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_1471">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-8.598270416259766" y="-159.83718872070312" z="0.0014286803780123591"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_w_transform_1472">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="15.24699592590332" y="0.8387609124183655" z="0.5"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_w_transform_1473">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="4.981964111328125" y="5.398634433746338" z="0.5"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_w_transform_1474">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="2.772753953933716" y="-20.84014320373535" z="0.5"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_w_transform_1476">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="70.27064514160156" y="40.62284469604492" z="0.5"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_w_transform_1477">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-90.71257019042969" y="87.23130798339844" z="0.5"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_w_transform_1478">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="98.86112213134766" y="72.62350463867188" z="0.5"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_w_transform_1479">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="40.29869842529297" y="-8.51453971862793" z="0.5"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_w_transform_1481">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="34.925743103027344" y="73.41621398925781" z="0.5"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_close_to_adversary_1482">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-9.150643348693848" y="-78.75886535644531" z="0.03382182866334915"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_close_to_hero_1483">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-12.0062255859375" y="-137.145263671875" z="0.0014286803780123591"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_w_transform_1484">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-7.081482887268066" y="-98.87687683105469" z="0.5"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_close_to_hero_1485">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-14.436148643493652" y="-145.3720703125" z="0.0014286803780123591"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
</Actions>
</Init>
<Story name="MyStory">
<Act name="Behavior">
<ManeuverGroup maximumExecutionCount="1" name="ManeuverSequence">
<Actors selectTriggeringEntities="false">
<EntityRef entityRef="adversary"/>
</Actors>
<Maneuver name="LaneChangeSimpleManeuver">
<Event name="AdversaryAccelerates" priority="overwrite">
<Action name="AdversaryAccelerates">
<PrivateAction>
<LongitudinalAction>
<SpeedAction>
<SpeedActionDynamics dynamicsShape="step" value="50" dynamicsDimension="distance"/>
<SpeedActionTarget>
<AbsoluteTargetSpeed value="5.0"/>
</SpeedActionTarget>
</SpeedAction>
</LongitudinalAction>
</PrivateAction>
</Action>
<StartTrigger>
<ConditionGroup>
<Condition name="StartCondition" delay="0" conditionEdge="rising">
<ByEntityCondition>
<TriggeringEntities triggeringEntitiesRule="any">
<EntityRef entityRef="hero"/>
</TriggeringEntities>
<EntityCondition>
<RelativeDistanceCondition entityRef="adversary" relativeDistanceType="cartesianDistance" value="40.0" freespace="false" rule="lessThan"/>
</EntityCondition>
</ByEntityCondition>
</Condition>
</ConditionGroup>
</StartTrigger>
</Event>
<Event name="AdversaryChangesLane" priority="overwrite">
<Action name="AdversaryChangesLane">
<PrivateAction>
<LateralAction>
<LaneChangeAction>
<LaneChangeActionDynamics dynamicsShape="linear" value="25" dynamicsDimension="distance"/>
<LaneChangeTarget>
<RelativeTargetLane entityRef="adversary" value="-1"/>
</LaneChangeTarget>
</LaneChangeAction>
</LateralAction>
</PrivateAction>
</Action>
<StartTrigger>
<ConditionGroup>
<Condition name="AfterAdversaryAccelerates" delay="0" conditionEdge="rising">
<ByValueCondition>
<StoryboardElementStateCondition storyboardElementType="action" storyboardElementRef="AdversaryAccelerates" state="completeState"/>
</ByValueCondition>
</Condition>
</ConditionGroup>
</StartTrigger>
</Event>
</Maneuver>
</ManeuverGroup>
<StartTrigger>
<ConditionGroup>
<Condition name="OverallStartCondition" delay="0" conditionEdge="rising">
<ByEntityCondition>
<TriggeringEntities triggeringEntitiesRule="any">
<EntityRef entityRef="hero"/>
</TriggeringEntities>
<EntityCondition>
<TraveledDistanceCondition value="1.0"/>
</EntityCondition>
</ByEntityCondition>
</Condition>
<Condition name="StartTime" delay="0" conditionEdge="rising">
<ByValueCondition>
<SimulationTimeCondition value="0" rule="equalTo"/>
</ByValueCondition>
</Condition>
</ConditionGroup>
</StartTrigger>
<StopTrigger>
<ConditionGroup>
<Condition name="EndCondition" delay="0" conditionEdge="rising">
<ByEntityCondition>
<TriggeringEntities triggeringEntitiesRule="any">
<EntityRef entityRef="hero"/>
</TriggeringEntities>
<EntityCondition>
<TraveledDistanceCondition value="200.0"/>
</EntityCondition>
</ByEntityCondition>
</Condition>
</ConditionGroup>
</StopTrigger>
</Act>
</Story>
<StopTrigger>
<ConditionGroup>
<Condition name="criteria_RunningStopTest" delay="0" conditionEdge="rising">
<ByValueCondition>
<ParameterCondition parameterRef="" value="" rule="lessThan"/>
</ByValueCondition>
</Condition>
<Condition name="criteria_RunningRedLightTest" delay="0" conditionEdge="rising">
<ByValueCondition>
<ParameterCondition parameterRef="" value="" rule="lessThan"/>
</ByValueCondition>
</Condition>
<Condition name="criteria_WrongLaneTest" delay="0" conditionEdge="rising">
<ByValueCondition>
<ParameterCondition parameterRef="" value="" rule="lessThan"/>
</ByValueCondition>
</Condition>
<Condition name="criteria_OnSidewalkTest" delay="0" conditionEdge="rising">
<ByValueCondition>
<ParameterCondition parameterRef="" value="" rule="lessThan"/>
</ByValueCondition>
</Condition>
<Condition name="criteria_KeepLaneTest" delay="0" conditionEdge="rising">
<ByValueCondition>
<ParameterCondition parameterRef="" value="" rule="lessThan"/>
</ByValueCondition>
</Condition>
<Condition name="criteria_CollisionTest" delay="0" conditionEdge="rising">
<ByValueCondition>
<ParameterCondition parameterRef="" value="" rule="lessThan"/>
</ByValueCondition>
</Condition>
<Condition name="criteria_DrivenDistanceTest" delay="0" conditionEdge="rising">
<ByValueCondition>
<ParameterCondition parameterRef="distance_success" value="100" rule="lessThan"/>
</ByValueCondition>
</Condition>
</ConditionGroup>
</StopTrigger>
</Storyboard>
</OpenSCENARIO>
``` | Here is the result:
```
<?xml version="1.0" ?>
<OpenSCENARIO>
<FileHeader revMajor="1" revMinor="0" date="2020-03-24T12:00:00" description="CARLA:LaneChangeSimple" author=""/>
<ParameterDeclarations/>
<CatalogLocations/>
<RoadNetwork>
<LogicFile filepath="Town04"/>
<SceneGraphFile filepath=""/>
</RoadNetwork>
<Entities>
<ScenarioObject name="hero">
<Vehicle name="vehicle.tesla.model3" vehicleCategory="car">
<ParameterDeclarations/>
<Performance maxSpeed="69.444" maxAcceleration="200" maxDeceleration="10.0"/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2.1" length="4.5" height="1.8"/>
</BoundingBox>
<Axles>
<FrontAxle maxSteering="0.5" wheelDiameter="0.6" trackWidth="1.8" positionX="3.1" positionZ="0.3"/>
<RearAxle maxSteering="0.0" wheelDiameter="0.6" trackWidth="1.8" positionX="0.0" positionZ="0.3"/>
</Axles>
<Properties>
<Property name="type" value="ego_vehicle"/>
</Properties>
</Vehicle>
</ScenarioObject>
<ScenarioObject name="adversary">
<Vehicle name="vehicle.lincoln.mkz_2017" vehicleCategory="car">
<ParameterDeclarations/>
<Performance maxSpeed="69.444" maxAcceleration="200" maxDeceleration="10.0"/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2.1" length="4.5" height="1.8"/>
</BoundingBox>
<Axles>
<FrontAxle maxSteering="0.5" wheelDiameter="0.6" trackWidth="1.8" positionX="3.1" positionZ="0.3"/>
<RearAxle maxSteering="0.0" wheelDiameter="0.6" trackWidth="1.8" positionX="0.0" positionZ="0.3"/>
</Axles>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Vehicle>
</ScenarioObject>
<ScenarioObject name="standing">
<Vehicle name="vehicle.volkswagen.t2" vehicleCategory="car">
<ParameterDeclarations/>
<Performance maxSpeed="69.444" maxAcceleration="200" maxDeceleration="10.0"/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2.1" length="4.5" height="1.8"/>
</BoundingBox>
<Axles>
<FrontAxle maxSteering="0.5" wheelDiameter="0.6" trackWidth="1.8" positionX="3.1" positionZ="0.3"/>
<RearAxle maxSteering="0.0" wheelDiameter="0.6" 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_1471">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_w_transform_1472">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_w_transform_1473">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_w_transform_1474">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_w_transform_1476">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_w_transform_1477">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_w_transform_1478">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_w_transform_1479">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_w_transform_1481">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_close_to_adversary_1482">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_close_to_hero_1483">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_w_transform_1484">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_close_to_hero_1485">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_close_to_standing_1486">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
</Entities>
<Storyboard>
<Init>
<Actions>
<GlobalAction>
<EnvironmentAction>
<Environment name="Environment1">
<TimeOfDay animation="false" dateTime="2019-06-25T12:00:00"/>
<Weather cloudState="free">
<Sun intensity="0.85" azimuth="0" elevation="1.31"/>
<Fog visualRange="100000.0"/>
<Precipitation precipitationType="dry" intensity="0.0"/>
</Weather>
<RoadCondition frictionScaleFactor="1.0"/>
</Environment>
</EnvironmentAction>
</GlobalAction>
<Private entityRef="hero">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-9.4" y="-152.8" z="0.5" h="1.57079632679"/>
</Position>
</TeleportAction>
</PrivateAction>
<PrivateAction>
<ControllerAction>
<AssignControllerAction>
<Controller name="HeroAgent">
<Properties>
<Property name="module" value="external_control"/>
</Properties>
</Controller>
</AssignControllerAction>
<OverrideControllerValueAction>
<Throttle value="0" active="false"/>
<Brake value="0" active="false"/>
<Clutch value="0" active="false"/>
<ParkingBrake value="0" active="false"/>
<SteeringWheel value="0" active="false"/>
<Gear number="0" active="false"/>
</OverrideControllerValueAction>
</ControllerAction>
</PrivateAction>
</Private>
<Private entityRef="adversary">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-9.4" y="-71.0" z="0.5" h="1.57079632679"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="standing">
<PrivateAction>
<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_1471">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-8.598270416259766" y="-159.83718872070312" z="0.0014286803780123591"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_w_transform_1472">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="15.24699592590332" y="0.8387609124183655" z="0.5"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_w_transform_1473">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="4.981964111328125" y="5.398634433746338" z="0.5"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_w_transform_1474">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="2.772753953933716" y="-20.84014320373535" z="0.5"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_w_transform_1476">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="70.27064514160156" y="40.62284469604492" z="0.5"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_w_transform_1477">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-90.71257019042969" y="87.23130798339844" z="0.5"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_w_transform_1478">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="98.86112213134766" y="72.62350463867188" z="0.5"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_w_transform_1479">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="40.29869842529297" y="-8.51453971862793" z="0.5"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_w_transform_1481">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="34.925743103027344" y="73.41621398925781" z="0.5"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_close_to_adversary_1482">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-9.150643348693848" y="-78.75886535644531" z="0.03382182866334915"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_close_to_hero_1483">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-12.0062255859375" y="-137.145263671875" z="0.0014286803780123591"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_w_transform_1484">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-7.081482887268066" y="-98.87687683105469" z="0.5"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_close_to_hero_1485">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-14.436148643493652" y="-145.3720703125" z="0.0014286803780123591"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_close_to_standing_1486">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-8.221480369567871" y="27.228744506835938" z="0.0030525587499141693"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
</Actions>
</Init>
<Story name="MyStory">
<Act name="Behavior">
<ManeuverGroup maximumExecutionCount="1" name="ManeuverSequence">
<Actors selectTriggeringEntities="false">
<EntityRef entityRef="adversary"/>
</Actors>
<Maneuver name="LaneChangeSimpleManeuver">
<Event name="AdversaryAccelerates" priority="overwrite">
<Action name="AdversaryAccelerates">
<PrivateAction>
<LongitudinalAction>
<SpeedAction>
<SpeedActionDynamics dynamicsShape="step" value="50" dynamicsDimension="distance"/>
<SpeedActionTarget>
<AbsoluteTargetSpeed value="5.0"/>
</SpeedActionTarget>
</SpeedAction>
</LongitudinalAction>
</PrivateAction>
</Action>
<StartTrigger>
<ConditionGroup>
<Condition name="StartCondition" delay="0" conditionEdge="rising">
<ByEntityCondition>
<TriggeringEntities triggeringEntitiesRule="any">
<EntityRef entityRef="hero"/>
</TriggeringEntities>
<EntityCondition>
<RelativeDistanceCondition entityRef="adversary" relativeDistanceType="cartesianDistance" value="40.0" freespace="false" rule="lessThan"/>
</EntityCondition>
</ByEntityCondition>
</Condition>
</ConditionGroup>
</StartTrigger>
</Event>
<Event name="AdversaryChangesLane" priority="overwrite">
<Action name="AdversaryChangesLane">
<PrivateAction>
<LateralAction>
<LaneChangeAction>
<LaneChangeActionDynamics dynamicsShape="linear" value="25" dynamicsDimension="distance"/>
<LaneChangeTarget>
<RelativeTargetLane entityRef="adversary" value="-1"/>
</LaneChangeTarget>
</LaneChangeAction>
</LateralAction>
</PrivateAction>
</Action>
<StartTrigger>
<ConditionGroup>
<Condition name="AfterAdversaryAccelerates" delay="0" conditionEdge="rising">
<ByValueCondition>
<StoryboardElementStateCondition storyboardElementType="action" storyboardElementRef="AdversaryAccelerates" state="completeState"/>
</ByValueCondition>
</Condition>
</ConditionGroup>
</StartTrigger>
</Event>
</Maneuver>
</ManeuverGroup>
<StartTrigger>
<ConditionGroup>
<Condition name="OverallStartCondition" delay="0" conditionEdge="rising">
<ByEntityCondition>
<TriggeringEntities triggeringEntitiesRule="any">
<EntityRef entityRef="hero"/>
</TriggeringEntities>
<EntityCondition>
<TraveledDistanceCondition value="1.0"/>
</EntityCondition>
</ByEntityCondition>
</Condition>
<Condition name="StartTime" delay="0" conditionEdge="rising">
<ByValueCondition>
<SimulationTimeCondition value="0" rule="equalTo"/>
</ByValueCondition>
</Condition>
</ConditionGroup>
</StartTrigger>
<StopTrigger>
<ConditionGroup>
<Condition name="EndCondition" delay="0" conditionEdge="rising">
<ByEntityCondition>
<TriggeringEntities triggeringEntitiesRule="any">
<EntityRef entityRef="hero"/>
</TriggeringEntities>
<EntityCondition>
<TraveledDistanceCondition value="200.0"/>
</EntityCondition>
</ByEntityCondition>
</Condition>
</ConditionGroup>
</StopTrigger>
</Act>
</Story>
<StopTrigger>
<ConditionGroup>
<Condition name="criteria_RunningStopTest" delay="0" conditionEdge="rising">
<ByValueCondition>
<ParameterCondition parameterRef="" value="" rule="lessThan"/>
</ByValueCondition>
</Condition>
<Condition name="criteria_RunningRedLightTest" delay="0" conditionEdge="rising">
<ByValueCondition>
<ParameterCondition parameterRef="" value="" rule="lessThan"/>
</ByValueCondition>
</Condition>
<Condition name="criteria_WrongLaneTest" delay="0" conditionEdge="rising">
<ByValueCondition>
<ParameterCondition parameterRef="" value="" rule="lessThan"/>
</ByValueCondition>
</Condition>
<Condition name="criteria_OnSidewalkTest" delay="0" conditionEdge="rising">
<ByValueCondition>
<ParameterCondition parameterRef="" value="" rule="lessThan"/>
</ByValueCondition>
</Condition>
<Condition name="criteria_KeepLaneTest" delay="0" conditionEdge="rising">
<ByValueCondition>
<ParameterCondition parameterRef="" value="" rule="lessThan"/>
</ByValueCondition>
</Condition>
<Condition name="criteria_CollisionTest" delay="0" conditionEdge="rising">
<ByValueCondition>
<ParameterCondition parameterRef="" value="" rule="lessThan"/>
</ByValueCondition>
</Condition>
<Condition name="criteria_DrivenDistanceTest" delay="0" conditionEdge="rising">
<ByValueCondition>
<ParameterCondition parameterRef="distance_success" value="100" rule="lessThan"/>
</ByValueCondition>
</Condition>
</ConditionGroup>
</StopTrigger>
</Storyboard>
</OpenSCENARIO>
``` |